CN103687074A - Trunked aircraft communication system - Google Patents
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- CN103687074A CN103687074A CN201310557065.1A CN201310557065A CN103687074A CN 103687074 A CN103687074 A CN 103687074A CN 201310557065 A CN201310557065 A CN 201310557065A CN 103687074 A CN103687074 A CN 103687074A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
Abstract
The invention discloses a trunked aircraft communication system. Each member aircraft is provided with a communication terminal which comprises a platform electronic system, a communication processing module, a control bus, an optical antenna and an omnidirectional antenna. The communication processing module has two channels which are respectively a wireless laser channel and a wireless microwave channel. As for the wireless laser channel, the optical antenna is used as a transmitting antenna. As for the wireless microwave channel, the omnidirectional antenna is used as a transmitting antenna. The wireless laser channel transmits high-speed payload data. The wireless microwave channel transmits low-speed remote control and telemetry data and platform data information. When the high-speed payload data is transmitted, position and attitude information interactions between two laser communication parts are carried out through the wireless microwave channel so as to determine the laser transmission direction and further control optical antenna pointing. And then, the high-speed payload data is transmitted through the wireless laser channel. Combining advantages of microwave communication and laser communication, heterogeneous network interconnections between member aircrafts are realized by cooperation between the two channels.
Description
Technical field
The present invention relates to cluster aircraft mechanics of communication, relate in particular to a kind of cluster vehicular communication system.
Background technology
Distributed type assemblies aerocraft system forms jointly by operating in not co-orbital a plurality of member's aircraft, between member's aircraft, can carry out interkniting of Various types of data information by communication.
Current main communication has microwave communication and laser communication.If distributed type assemblies aircraft is selected laser communication, need member's aircraft constantly to keep laser transmission link, the huge consumption that has therefore brought power consumption, resource and cost.If select microwave communication, cannot meet the transmission of high speed load data between member.
Summary of the invention
In view of this, the invention provides a kind of cluster aircraft communication system, combine the advantage of microwave communication and laser communication, adopt two channels to match, realize heterogeneous network internetworking intercommunication between member's aircraft.
In order to solve the problems of the technologies described above, the present invention is achieved in that
A cluster vehicular communication system, comprises a plurality of communicating terminals, in each member's aircraft of cluster aerocraft system, a communicating terminal is set; Each communicating terminal specifically comprises platform electronic system, Communications Processor Module, control bus, optical antenna and omnidirectional antenna;
Communications Processor Module is responsible for communication link and is set up and communications; This Communications Processor Module has two channels, is respectively wireless laser channel and Wireless microwave channel; Wireless laser channel is usingd optical antenna as transmitting antenna, and Wireless microwave passage be take omnidirectional antenna as transmitting antenna; Wireless laser transmission high speed load data, Wireless microwave transmission low speed remote-control romote-sensing data peace platform data message;
Satellite electron system is responsible for the Star Service management of aircraft, by data/address bus, is connected with Communications Processor Module, by control bus, is connected with optical antenna; When transmitting high speed load data, first by the mutual laser communication both sides' of Wireless microwave channel position and attitude information, satellite electron system is determined laser transmission direction accordingly, and then controls optical antenna and point to, and then by wireless laser transmission high speed load data.
Preferably, establish cluster aerocraft system and have N member's aircraft, the concrete mode that this N member's aircraft adopts Wireless microwave passage to carry out transfer of data is:
(1) mutual self-position and attitude between member's aircraft;
Each member's aircraft, all with maximum transmission power P broadcast handshake information, comprises position, attitude and the identity information of self in this handshake information; Receive position, attitude and the identity information of member's aircraft passback self of handshake information; Each member's aircraft is placed in neighbor node set by the information of other received member's aircraft;
(2) each member's aircraft is according to neighbor node set, calculates the transmitting power weight of the direct communication between itself and arbitrary neighbor node, and this weight is directly proportional to the distance between two member's aircraft;
(3) set up the communication link between member's aircraft between two;
When set up between i member's aircraft and j member's aircraft communication link time, according to transmitting power weight, find k member's aircraft of transmitting power weight minimum while communicating by letter with i member's aircraft, then find except i member's aircraft, q member's aircraft of the transmitting power weight minimum while communicating by letter with k member's aircraft, continue to find except i, outside k member's aircraft, the neighbor node of transmitting power weight minimum while communicating by letter with q member's aircraft, by that analogy, until find j member's aircraft, set up two member's aircraft i, communication link between j,
(4) divide remote measuring and controlling ring;
P the member's aircraft that possesses world observing and controlling function of take is 0 ring, be remote measuring and controlling Huan center, the every other member's aircraft except p member's aircraft is distributed in different rings from the jumping figure of communication link between p member's aircraft according to it;
(5) communication of cluster aerocraft system:
The communication link that communication between member's aircraft in cluster aerocraft system is set up according to step (3) carries out multi-hop communication; When taking remote measurement remote control, according to the remote measuring and controlling ring of setting up, according to the direction of inwardly encircling from outer shroud, carry out communication, while carrying out remote control, according to the direction from interior hoop outer shroud, carry out communication.
Preferably, establishing N member's aircraft is distributed in m ring altogether;
When cluster aerocraft system takes remote measurement, member's aircraft in m ring obtains telemetry communication link according to step (3) is passed to the member's aircraft in m-1 ring, member's aircraft in m-1 ring sends to the member's aircraft in m-2 ring by the telemetry of reception with the communication link obtaining according to step (3) of packing together with self telemetry, the like, until be transferred to the member's aircraft in 0 ring, finally by passing to ground control station under the member's aircraft packing in the 0th ring.
When ground survey station carries out remote control to cluster aerocraft system, remote control command is sent by ground control station, by the member's aircraft in the 0th ring, receive remote control command, the communication link that member's aircraft in the 0th ring strips down one's own data in this remote control command and remaining data in remote control command are obtained according to step (3) is transferred to the member's aircraft in the 1st ring, member's aircraft in the 1st ring obtains by remaining data in remote control command one's own data in remote control command after stripping down again communication link according to step (3) is transferred to the member's aircraft in the 2nd ring, transmission in turn, until be transferred to the member's aircraft in m ring.
Preferably, when two member's aircraft in cluster aerocraft system adopt wireless laser transmission high speed load data, according to the light spot received of two member's aircraft, be built into a cylindrical region, if do not exist other member's aircraft that laser signal is caused and blocked in this cylindrical region, the two directly communicates, otherwise, take and block aircraft and carry out laser communication as relaying.
Beneficial effect:
(1) the present invention combines the advantage of microwave communication and laser communication, for suitable communication mode for dissimilar data acquisition, and when adopting laser channel transmitting high speed load data, also coordinate and adopt microwave channel to carry out the transmission of some quantity of states, thereby reduced the time that keeps laser transmission link, reduced as much as possible the huge consumption of power consumption, resource and cost.
And microwave communication and laser communication can backup each other, improved the reliability of cluster aerocraft system data communication.
(2) for microwave communication, the present invention utilizes communication node apart from building topology, and according to this topology reasonable arrangement remote measuring and controlling process, the method adopts the multi-hop communication mode of the method than traditional situation that all need to cover whole cluster with maximum transmission power that requires each member node, node communicates with less transmitting power, this makes to have reduced the energy resource consumption of network system in the remote measuring and controlling process of information, thereby has improved the life cycle of cluster aerocraft system.
In addition, the communication radius overlay node of each member node reduces, neighbours' node reduces each other, so network topology structure is simple, can greatly reduce because transmitting power is excessive, cause to the interference of adjacent node and communication collision problem, alleviate the competition of communal space channel, thereby increase utilization ratio and the network throughput of system wireless resource.
(3) for laser communication, do not need to aim at/catch/support of tracking system, only by the sensing of control bus control antenna, can set up laser communication link, effective transmission that can guarantee information, has reduced the complexity of system.
Accompanying drawing explanation
Fig. 1 is that system of the present invention forms schematic diagram.
Fig. 2 is distributed type assemblies node coordinate and transmitting power weight.
Fig. 3 is the cluster aircraft topological structure after optimizing.
Fig. 4 is that the member node in the remote measuring and controlling ring in embodiment distributes.
Fig. 5 is the laser communication schematic diagram between nearest member's aircraft.
Fig. 6 is single relaying laser communication schematic diagram.
Fig. 7 is many relayings laser communication schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing embodiment that develops simultaneously, describe the present invention.
Be illustrated in figure 1 the composition frame chart of cluster vehicular communication system, this system comprises a plurality of communicating terminals, and a communicating terminal is set in each member's aircraft in cluster aircraft; Each communicating terminal specifically comprises platform electronic system, Communications Processor Module, control bus, optical antenna and omnidirectional antenna.
Wherein, satellite electron system is mainly responsible for the Star Service management of whole aircraft, by data/address bus, is connected with Communications Processor Module, by control bus, is connected with optical antenna.Communications Processor Module is responsible for the specific implementation of communication link foundation and communications, and Communications Processor Module has two channels, is respectively directed wireless laser channel and the Wireless microwave channel of omnidirectional.Wherein, wireless laser transmission high speed load data, Wireless microwave transmission low speed remote-control romote-sensing data peace platform data message.Microwave transmitting antenna is omnidirectional antenna, and laser transmitting antenna is directed optical antenna.When needs pass through wireless laser transmission high speed load data, first by Wireless microwave transmission laser communication both sides' position and attitude information, satellite electron system is determined laser transmission direction accordingly, then control optical antenna and point to laser transmission destination locations, and then open wireless laser channel transmitting high speed load data.
Visible, the present invention combines the advantage of microwave communication and laser communication, for suitable communication mode for dissimilar data acquisition, and when adopting laser channel transmitting high speed load data, also coordinate and adopt microwave channel to carry out the transmission of some quantity of states, thereby reduced the time that keeps laser transmission link, reduced as much as possible the huge consumption of power consumption, resource and cost.
Respectively microwave communication process and laser communication process are described in detail below.
◎ microwave communication
Traditional microwave information communication method is, the data communication scope that order forms each member's aircraft of distributed type assemblies all covers whole cluster, suppose that a certain moment only has one of them member's flying instrument for the function of world observing and controlling, all can direct communication between any two member's aircraft, possessing so world observing and controlling function member aircraft receives after ground telemetering information, by improving Direct Communication between transmitting power and other all member's aircraft, this belongs to a kind of Y-connection.Although this method is effective fast, easily produce conflict; If communicate between two distant member's aircraft in addition, transmitting power is higher, takies resource more, and overall power is also very large.
In order realizing, to reduce conflict, with the object of energy savings, must to need to optimize the Wireless microwave Communication topology between distributed type assemblies aircraft, and according to this topology reasonable arrangement measurement and control program.Therefore, the present invention has designed a kind of method of topological self-organizing.Specific as follows:
If distributed type assemblies aerocraft system comprises N member's aircraft, the maximum transmission power of each member's aircraft is P, the transmitting power that is member's aircraft is adjustable between 0 to P, and wherein N member's aircraft in this system comprises the member's aircraft that possesses world observing and controlling function.As shown in Figure 2, this system has 5 member's aircraft A (4,0,0), B (0,0,0), C (3 ,-3,1), D (4 ,-1,1), E (4,1,3) to the distributed type assemblies aerocraft system of setting up in the present embodiment.
The first step, make i member's aircraft broadcast handshake information with maximum power, in this handshake information, comprise the coordinate (x of self
i, y
i, z
i) and the ID of self identity information of sign
i, 1≤i≤N wherein.
All member's aircraft in second step, distributed type assemblies aerocraft system except i member's aircraft all receive this handshake information, and each member's aircraft returns self coordinate information and sign self identity information to i member's aircraft after receiving this handshake information.For example j member's aircraft returns to the coordinate information (x of self
j, y
j, z
j), attitude information (α
j, β
j, γ
j) and the ID of self identity information of sign
j, 1≤j≤N wherein.Such i member's aircraft just obtained the information of all other member's aircraft in network, and is placed on neighbor node set.
The 3rd step, for i member's aircraft, calculate respectively the weight of direct communication transmitting power between itself and arbitrary member's aircraft, this weight is directly proportional to the distance between two member's aircraft.As shown in Figure 2, in the neighbor node set of this member's aircraft obtaining at second step, with the coordinate information of member's aircraft, calculate the relative distance L between any two member's aircraft i, j in this set
ij, as be
Due to square being directly proportional of relative distance between the desired transmitting power of the data communication between member's aircraft and two member's aircraft, therefore the calculating by distance between above two member's aircraft i, j can obtain in set up cluster, transmitting power weight during direct communication between member's aircraft i and arbitrary other member's aircraft.
In the 4th step, cluster aerocraft system, each member's aircraft is all processed according to the mode of the first step to the three steps, finally solves the transmitting power weight between every two member's aircraft in N member's aircraft.
The 5th step, set up the communication link between i member's aircraft and j member's aircraft.
According to the 4th step, obtain transmitting power weight, first find k member's aircraft of neighbor node of the transmitting power weight minimum while communicating by letter with i member's aircraft, q member's aircraft of neighbor node of transmitting power weight minimum while then finding except i member's aircraft one to communicate by letter with k member's aircraft by k member's aircraft, q member's aircraft continues to find except i, the neighbor node of transmitting power weight minimum when outside k member's aircraft one communicates by letter with q member's aircraft, by that analogy, until set up the communication link between arbitrary member's aircraft in i member's aircraft and cluster, 1≤k≤N wherein, 1≤q≤N, 1≤j≤N, and i ≠ k ≠ q ≠ j.
The 6th step, according to the mode of the 5th step, set up the communication link between each member's aircraft and other member's aircraft in cluster aerocraft system, finally get the union of the communication link between member's aircraft between two, thereby set up the topological structure of this distributed type assemblies aerocraft system.Cluster aircraft periodically repeats said process, upgrades route list.
For example in the present embodiment, as shown in Figure 3, between member's aircraft A and member's aircraft C, set up multi-hop communication link., for A, first find the neighbor node with respect to A weight minimum, B, then finds the neighbor node D with respect to B weight minimum by B, finally by D, finds the neighbor node C with respect to D weight minimum, thereby set up by A, to three of C, jumps communication link.
In the distributed type assemblies aerocraft system calculate obtaining in this way, each member's aircraft that makes at every turn to communicate by letter of the communication link between member's aircraft all uses less transmitting power between two, and this has just greatly reduced the energy resource consumption of this system.The communication radius overlay node of each member's aircraft reduces simultaneously, neighbours' node reduces each other, so topological structure is simple, can greatly reduce because transmitting power is excessive, cause to the interference of adjacent node and communication collision problem, alleviate the competition of communal space channel, thereby increase utilization ratio and the network throughput of system wireless resource.
Wherein between each member's aircraft in the present embodiment multi-hop communication link set up as shown in table 1
Table 1
According to the communication link of table 2, set up the union of communication link
and building thus cluster aircraft network topology structure, its structure can be with reference to Fig. 3.
The 7th step, p the member's aircraft that possesses world observing and controlling function of take are 0 link point, in the topology of setting up in the 4th step, every other node except p member's aircraft is distributed in different rings from the communication jumping figure between p member's aircraft according to it, N member's aircraft is distributed in m ring altogether, forms the remote measuring and controlling ring of the topological form of many rings.
In the present embodiment, node A is the member's aircraft that possesses world observing and controlling function as shown in Figure 4, and node A jumps communication link to three of node C, therefore node C is distributed in 3 rings, according to the method, all member's aircraft is assigned in different rings.
The communication of the 8th step, cluster aerocraft system.
Communication link concentrated link that communication between member's aircraft in cluster aerocraft system is set up according to step 6 carry out multi-hop communication.When taking remote measurement remote control, the remote measuring and controlling ring of setting up according to step 7, carries out communication according to the direction of inwardly encircling from outer shroud, while carrying out remote control, according to the direction from interior hoop outer shroud, carries out communication.
Wherein, remote measurement is exactly that all member's aircraft send to member's aircraft with world observing and controlling function by the telemetry parameter of transducer generation, and then coding passes down.
The concrete grammar of remote measurement is:
Supposed to be divided into cloth m remote measuring and controlling ring, first, member's aircraft in m ring (outer shroud) obtains telemetry topological structure according to the 6th step is passed to the member's aircraft in time outer shroud m-1 ring (inferior outer shroud), member's aircraft in m-1 ring sends to the member's aircraft in m-2 ring by the telemetry of reception with the topological structure obtaining according to the 6th step of packing together with self telemetry, the like, until be transferred to the member's aircraft in the 0th ring, finally by passing to ground control station under the member's aircraft packing in the 0th ring.
Wherein, remote control is exactly that the telemetry command of ground control station is transferred to member's aircraft with observing and controlling function, and then decoding distribution arrives corresponding actuator through transmission.
Method in remote control is specially:
Remote control command is sent by ground control station, the member's aircraft that possesses world observing and controlling function is that the member's aircraft in the 0th ring receives this remote control command, the topological structure that the member's aircraft in the 0th ring strips down one's own data in this remote control command and remaining data in remote control command are obtained according to the 7th step is transferred to the member's aircraft in the 1st ring, the topological structure that member's aircraft in the 1st ring strips down one's own data in remote control command and remaining data in remote control command are obtained according to the 6th step is transferred to the member's aircraft in the 2nd ring, the like, until arrive the actuator of destination node.
Visible, the method can reduce the unnecessary energy consumption of cluster aircraft member aircraft in the process of remote measuring and controlling, improves wireless resource utility efficiency and network throughput.
◎ laser communication
Distance between cluster aircraft is generally closer, but collides for fear of between aircraft, and the distance between member's aircraft is generally greater than 10km.Set the angle of departure of optical antenna
for 1mrad, the spot diameter l between two so nearest member's aircraft is not less than 10m, meets the requirement of positioning precision (<10m).
If set up the laser communication link between any two member's aircraft i, j, the present invention is first by the information of the mutual member's aircraft of microwave communicating channel, and platform electronic system is according to the positional information (x of member's aircraft i
i, y
i, z
i), attitude information (α
i, β
i, γ
i) and the positional information (x of member's aircraft j
j, y
j, z
j), attitude information (α
j, β
j, γ
j) calculate, obtain the control command of optical antenna, then by control bus, be sent to optical antenna and carry out.
As shown in Figure 5, according to the distance L between two member's aircraft of hope communication
ijthe spot diameter that calculates acquisition receiving terminal is
the light spot received of member's aircraft i, j forms a cylindrical region, if there is no other member's aircraft in this region, the two directly communicates, but sometimes, if will cause blocking of laser signal at this region memory at other member's aircraft, as shown in Figure 6, now, will take and block aircraft and carry out laser communication as relaying.If cylindricality region exists a plurality of member's aircraft, high-speed data will arrive object member aircraft through multi-hop, as shown in Figure 7.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. a cluster vehicular communication system, comprises a plurality of communicating terminals, it is characterized in that, in each member's aircraft of cluster aerocraft system, a communicating terminal is set; Each communicating terminal specifically comprises platform electronic system, Communications Processor Module, control bus, optical antenna and omnidirectional antenna;
Communications Processor Module is responsible for communication link and is set up and communications; This Communications Processor Module has two channels, is respectively wireless laser channel and Wireless microwave channel; Wireless laser channel is usingd optical antenna as transmitting antenna, and Wireless microwave passage be take omnidirectional antenna as transmitting antenna; Wireless laser transmission high speed load data, Wireless microwave transmission low speed remote-control romote-sensing data peace platform data message;
Satellite electron system is responsible for the Star Service management of aircraft, by data/address bus, is connected with Communications Processor Module, by control bus, is connected with optical antenna; When transmitting high speed load data, first by the mutual laser communication both sides' of Wireless microwave channel position and attitude information, satellite electron system is determined laser transmission direction accordingly, and then controls optical antenna and point to, and then by wireless laser transmission high speed load data.
2. cluster vehicular communication system as claimed in claim 1, is characterized in that, establishes cluster aerocraft system and has N member's aircraft, and the concrete mode that this N member's aircraft adopts Wireless microwave passage to carry out transfer of data is:
(1) mutual self-position and attitude between member's aircraft;
Each member's aircraft, all with maximum transmission power P broadcast handshake information, comprises position, attitude and the identity information of self in this handshake information; Receive position, attitude and the identity information of member's aircraft passback self of handshake information; Each member's aircraft is placed in neighbor node set by the information of other received member's aircraft;
(2) each member's aircraft is according to neighbor node set, calculates the transmitting power weight of the direct communication between itself and arbitrary neighbor node, and this weight is directly proportional to the distance between two member's aircraft;
(3) set up the communication link between member's aircraft between two;
When set up between i member's aircraft and j member's aircraft communication link time, according to transmitting power weight, find k member's aircraft of transmitting power weight minimum while communicating by letter with i member's aircraft, then find except i member's aircraft, q member's aircraft of the transmitting power weight minimum while communicating by letter with k member's aircraft, continue to find except i, outside k member's aircraft, the neighbor node of transmitting power weight minimum while communicating by letter with q member's aircraft, by that analogy, until find j member's aircraft, set up two member's aircraft i, communication link between j,
(4) divide remote measuring and controlling ring;
P the member's aircraft that possesses world observing and controlling function of take is 0 ring, be remote measuring and controlling Huan center, the every other member's aircraft except p member's aircraft is distributed in different rings from the jumping figure of communication link between p member's aircraft according to it;
(5) communication of cluster aerocraft system:
The communication link that communication between member's aircraft in cluster aerocraft system is set up according to step (3) carries out multi-hop communication; When taking remote measurement remote control, according to the remote measuring and controlling ring of setting up, according to the direction of inwardly encircling from outer shroud, carry out communication, while carrying out remote control, according to the direction from interior hoop outer shroud, carry out communication.
3. cluster vehicular communication system as claimed in claim 2, is characterized in that, establishes N member's aircraft and is distributed in altogether in m ring;
When cluster aerocraft system takes remote measurement, member's aircraft in m ring obtains telemetry communication link according to step (3) is passed to the member's aircraft in m-1 ring, member's aircraft in m-1 ring sends to the member's aircraft in m-2 ring by the telemetry of reception with the communication link obtaining according to step (3) of packing together with self telemetry, the like, until be transferred to the member's aircraft in 0 ring, finally by passing to ground control station under the member's aircraft packing in the 0th ring.
4. cluster vehicular communication system as claimed in claim 2, is characterized in that, establishes N member's aircraft and is distributed in altogether in m ring;
When ground survey station carries out remote control to cluster aerocraft system, remote control command is sent by ground control station, by the member's aircraft in the 0th ring, receive remote control command, the communication link that member's aircraft in the 0th ring strips down one's own data in this remote control command and remaining data in remote control command are obtained according to step (3) is transferred to the member's aircraft in the 1st ring, member's aircraft in the 1st ring obtains by remaining data in remote control command one's own data in remote control command after stripping down again communication link according to step (3) is transferred to the member's aircraft in the 2nd ring, transmission in turn, until be transferred to the member's aircraft in m ring.
5. the cluster vehicular communication system as described in claim 1 to 4 any one, it is characterized in that, when two member's aircraft in cluster aerocraft system adopt wireless laser transmission high speed load data, according to the light spot received of two member's aircraft, be built into a cylindrical region, if do not exist other member's aircraft that laser signal is caused and blocked in this cylindrical region, the two directly communicates, otherwise, take and block aircraft and carry out laser communication as relaying.
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