CN113965298B - Communication method of dual-channel unmanned aerial vehicle line-of-sight communication system - Google Patents
Communication method of dual-channel unmanned aerial vehicle line-of-sight communication system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/04—Arrangements for maintaining operational condition
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention provides a dual-channel unmanned aerial vehicle line-of-sight communication system and a communication method thereof.A main link module and a secondary link module which correspond to each other are arranged on an unmanned aerial vehicle and the ground, a GPS data packet is simultaneously descended through the main link and the secondary link through an information processing unit so as to realize the tracking guidance of a ground main antenna servo control system.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle communication, and particularly relates to a two-channel unmanned aerial vehicle line-of-sight communication system and a communication method thereof.
Background
Generally, a system for implementing a communication function in an unmanned aerial vehicle system includes a measurement and control communication system and a data transmission system. The measurement and control communication system is used for transmitting uplink remote control and downlink remote measurement data of an unmanned aerial vehicle flight control system (flight control system). And the data transmission system is used for realizing the uplink and downlink transmission of the task load data.
In order to meet the requirements of unmanned aerial vehicle measurement and control communication and task load transmission, an unmanned aerial vehicle is generally provided with a main link and an auxiliary link. In traditional design, unmanned aerial vehicle main link and sidelink are usually mutually independent, and under this kind of circumstances, the unmanned aerial vehicle main link can only be followed tracks through the descending unmanned aerial vehicle GPS information guide servo control system of main link, in case the main link loses the descending information of unmanned aerial vehicle, then can't obtain to carry out the guide tracking based on GPS, can only manually set up target GPS information.
Disclosure of Invention
In order to solve the problems, the invention provides a two-channel unmanned aerial vehicle line-of-sight communication method, which comprises the following steps:
the airborne terminal machine sends out a GPS data packet;
the ground terminal machine receives a GPS data packet;
the ground terminal machine judges whether the source of the received GPS data packet is one path or two paths;
if the source of the data packet is only the main link, directly checking; if the source of the data packet comprises a main link and a secondary link, respectively extracting and checking the two data packets and then selecting the data packets;
the ground terminal machine calculates related adjustment parameters of the ground main antenna by using the verified data;
the ground terminal machine adjusts the ground main antenna by using a ground servo tracking control system according to the calculated adjustment parameters;
and the ground terminal judges whether the data communication is finished.
Further, the selection of the two received GPS data packets includes the following steps:
if the two GPS data packets are the same, one of the two GPS data packets is selected for carrying out the subsequent steps;
and if the two GPS data packets are different, selecting the GPS data packet closest to the theoretical value of the flight distance of the unmanned aerial vehicle to perform the subsequent steps.
Further, the step of selecting the GPS data packet closest to the theoretical value of the flight distance of the unmanned aerial vehicle specifically includes the following steps:
acquiring a GPS data packet available for a main link;
acquiring a GPS data packet available for a secondary link;
and respectively comparing the available GPS data packet of the main link and the available GPS data packet of the auxiliary link with the theoretical value of the flight distance of the unmanned aerial vehicle, wherein the GPS data packet closest to the theoretical value of the flight distance of the unmanned aerial vehicle is the closest GPS data packet.
Further, the step of obtaining the GPS data packets available for the primary link and the secondary link includes the following steps:
calculating a theoretical value of the flight distance of the unmanned aerial vehicle in a time interval of receiving two GPS data packets according to the time information in the GPS data packet received by the current link and the last effective GPS data packet, the actual flight speed of the current unmanned aerial vehicle and the maximum flight speed; meanwhile, calculating the actual moving distance of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the current and last effective GPS data packets, and if the actual moving distance exceeds a theoretical value, considering the data packet as an unavailable data packet; if the actual moving distance does not exceed the theoretical value, the data packet is regarded as a usable data packet.
The invention has the beneficial effects that: according to the dual-channel unmanned aerial vehicle line-of-sight communication system and the communication method thereof, the GPS data packet is simultaneously descended through the main link and the auxiliary link through the information processing unit so as to realize tracking guidance on the ground main antenna servo control system, the method for screening and distinguishing the GPS data packet when the GPS data is simultaneously descended through the double links is provided, the defect that the target cannot be automatically captured again once the target is lost by using the main-chain descending GPS data in the traditional mode is overcome, the problem that the high-speed link communication beam width is narrow and the difficulty in near-field tracking is high is solved, and the communication reliability from sliding to the whole flight process is improved.
Drawings
Figure 1 is a schematic diagram of a communication system of the present invention,
FIG. 2 is a diagram of the logical connections between the airborne information processing module and the ground information processing module of the present invention;
fig. 3 is a flow chart illustrating a communication method according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples, which are provided for the purpose of illustrating the general inventive concept and are not intended to limit the scope of the invention.
As shown in fig. 1, the invention provides a dual-channel unmanned aerial vehicle line-of-sight communication system, which comprises an airborne terminal and a ground terminal, wherein the airborne terminal comprises an airborne information processing module, an airborne dual-channel module and an airborne antenna module, and the airborne information processing module is used for receiving and transmitting data through the airborne dual-channel module; the airborne double-channel module comprises an airborne main link radio frequency channel and an airborne auxiliary link radio frequency channel, and the airborne main link radio frequency channel and the airborne auxiliary link radio frequency channel are used for providing two independent data receiving and transmitting paths for the airborne terminal machine; the airborne antenna module comprises an airborne main antenna and an airborne auxiliary antenna, the airborne main antenna is connected with the airborne main link radio frequency channel, and the airborne auxiliary antenna is connected with the airborne auxiliary link radio frequency channel;
the ground terminal machine comprises a ground information processing module, a ground double-channel module and a ground antenna module, wherein the ground information processing module is used for receiving and transmitting data through the ground double-channel module; the ground dual-channel module comprises a ground main link radio frequency channel and a ground auxiliary link radio frequency channel, and the ground main link radio frequency channel and the ground auxiliary link radio frequency channel are used for providing two independent data transceiving paths for a ground terminal; the ground antenna module comprises a ground main antenna and a ground auxiliary antenna, the ground main antenna is connected with the ground main link radio frequency channel, and the ground auxiliary antenna is connected with the ground auxiliary link radio frequency channel; the airborne terminal machine and the ground terminal machine both comprise power management modules which are used for providing working current for each component of the airborne terminal machine and the ground terminal machine.
The auxiliary link mainly meets the communication requirement in a near field range, and a high frequency band does not need to be selected as a transmission frequency band; the main link is mainly used for guaranteeing long-distance data communication, the transmission frequency band is generally selected from high frequency bands (L, C and X frequency bands), the directional tracking antenna beam is generally narrow, and the beam width of the directional tracking antenna beam is reduced along with the increase of the antenna gain. For example, for a terrestrial directional tracking antenna with an antenna gain of 39dB for X-band communication, the beam width is usually only about 1.5 °. Therefore, the main link needs to adopt a servo tracking mode to realize signal capture and tracking, and the tracking system is generally divided into single-channel single-pulse system self-tracking and target GPS information-based guide tracking. The single-channel single-pulse system self-tracking system does not need target position information, but the system is complex and has high cost. The guiding and tracking algorithm based on the target GPS information needs to know the target longitude and latitude information, the local longitude and latitude, the attitude information and the heading information, and the basic idea is to firstly establish a mathematical model of the antenna pointing direction in the geographic coordinates and then convert the geographic coordinate system into a local coordinate system, so as to solve the azimuth and the pitch angle pointed by the antenna. Due to constraints such as beam width of a link, angular velocity and angular acceleration of a servo control system, tracking processing delay and the like, the link cannot stably guarantee measurement and control communication and automatic tracking of the unmanned aerial vehicle within a near field (500 meters). Generally, the unmanned aerial vehicle needs to be hovered within a certain range, and the antenna is manually guided according to the target information of the unmanned aerial vehicle, so that subsequent tracking communication is carried out.
Therefore, in the present application, the primary link uses an X-band frequency resource, the secondary link uses a U-band frequency resource, and the physical layer transmission channels of the two communication links are independent of each other, but the two links can transmit flight control information simultaneously by being connected to the integrated information processing unit. The ground main antenna adopts a ring-focus double-reflector antenna, the ground auxiliary antenna adopts an omnidirectional rod antenna, and the airborne main antenna and the airborne auxiliary antenna both adopt omnidirectional rod antennas; and the GPS tracking and guiding algorithm is utilized, a ground main antenna servo control system is matched, and directional tracking communication is realized on the target of the unmanned aerial vehicle based on a local GPS, local gyro attitude information and unmanned aerial vehicle target GPS information.
In addition, as shown in fig. 2, both the onboard information processing module and the ground information processing module adopt the hardware architecture shown in fig. 2, take a CPU processor as a core, transplant a Win7E operating system or a desktop Linux operating system, and consist of a debug interface circuit, an RTC circuit, a network interface circuit, a memory circuit, an electronic disk circuit and a serial port circuit. The information processing module mainly completes service information, state information processing, parameter configuration and the like, and has the following functions:
1) multiplexing various load information into serial data, and sending the serial data through a main link and a secondary link channel;
2) flow control of different peripheral equipment data is realized;
3) interface conversion of different physical interface forms of airborne peripheral equipment is realized;
4) realizing comprehensive information processing of different service data, mainly comprising analysis and processing of data packets and the like;
5) and parameter configuration and state monitoring of the board card module in the equipment are realized.
The information processing of the information processing module is divided into service information processing, state information processing and parameter configuration/state query. The main information processing flow is as follows.
And (3) service information processing:
the LTE equipment, the AIS equipment, the SOS equipment, the Video equipment and the flight control system are respectively accessed to the information processing module through respective Ethernet ports and serial ports. When the device is in a sending state, the information processing module multiplexes the multi-path service data and the measurement and control link state information of the device into 1-path data, performs flow control (namely, the data exceeding a preset bandwidth is firstly cached, and is discarded when exceeding the cache), then sends the data to the main link modulation and demodulation board and the radio frequency channel, and carries out data downlink through the airborne antenna after coding, modulation, up-conversion and power amplification. Meanwhile, the flight control backup data is accessed to the information processing unit through the RS422 serial port, the information processing unit sends the flight control backup data and the measurement and control link state information to the auxiliary link modulation and demodulation board and the power amplifier module for processing, and downlink data are sent through an air interface.
When the receiving state is in, the information processing unit demultiplexes the demodulated and decoded data and forwards the demultiplexed data to the corresponding communication load and flight control system; and correspondingly processing and responding the received measurement and control link configuration/query information.
And (3) state information processing:
the state information has two modes of timing issuing and inquiry issuing. And when the timing issuing is carried out, the information processing unit sends the collected state information of other board cards in the airborne terminal machine to the ground through an air interface according to a preset period (temporary 1 s). When the query is issued, the on-board terminal machine sends out the state information of each internal module through the air interface when receiving the query instruction.
Parameter configuration:
the parameter configuration of the airborne terminal machine can be carried out by injecting parameters through a configuration port reserved independently, and parameter configuration information can also be received through an air interface. The information processing unit configures corresponding parameters (main link frequency point, rate, auxiliary link frequency point and the like) of the local machine according to the received parameter configuration information.
With reference to fig. 3, the communication method in the foregoing technical solution specifically includes the following steps:
(1) the ground terminal machine judges whether one path of unmanned aerial vehicle GPS data packet (only the main link receives the GPS data packet) or two paths of unmanned aerial vehicle GPS data packet (both the main link and the auxiliary link receive the GPS data packet) are received, if only one path of link downlink GPS information is received, the step (2) is carried out; if the GPS data packets of the main link and the auxiliary link are received at the same time, turning to the step (3);
(2) extracting and checking data (CRC or parity check) of unmanned aerial vehicle GPS data packet descending on main link or auxiliary link, and calculating adjustment parameter (pitch angle is Z) of ground main antenna by using checked unmanned aerial vehicle GPS position information 1 An azimuth angle of A 1 ) Guiding the ground main antenna to perform tracking pointing through a ground servo tracking control system according to a calculation result, and turning to the step (8);
(3) extracting the GPS information of the unmanned aerial vehicle descending the main link, and recording the result as G 1 (X 1 ,Y 1 ,Z 1 ) (ii) a Meanwhile, extracting the GPS information of the unmanned aerial vehicle descending the sidelink, and recording the result as G 2 (X 2 ,Y 2 ,Z 2 ) Turning to the step (4);
(4) unmanned aerial vehicle GPS information G for descending of main link and auxiliary link 1 And G 2 Respectively checking, if the checking is passed, turning to the step (5), and if the checking is not passed, directly discarding the data packet;
(5) if downlink unmanned aerial vehicle GPS information G of primary link and secondary link 1 And G 2 If the two antennas are the same, one of the antennas is selected and the adjustment parameter (the pitching angle is Z) of the ground main antenna is calculated by utilizing a GPS tracking and guiding algorithm according to the information 2 Azimuth angle of A 2 ) And guiding the ground main antenna to follow the ground main antenna through a ground servo tracking control system according to the calculation resultA tracking direction;
if not, turning to the step (6);
(6) one valid GPS data packet on the main link is G 3 According to received G 1 And G 3 Packet interval delta 1 Calculating delta according to the actual flight speed of the unmanned plane 1 Inner theoretical flying distance D 1 (ii) a According to G 1 And G 3 Calculating unmanned aerial vehicle displacement distance D by GPS position information in data packet 2 Only when D 2 ≤D 1 When, G 1 Can be used as available GPS data, otherwise, the information G is not collected 1 ；
Similarly, a valid GPS packet on the sidelink is G 4 According to received G 2 And G 4 Packet time interval delta 2 Calculating delta according to the actual flight speed of the unmanned plane 2 Inner theoretical flying distance D 3 (ii) a According to G 2 And G 4 Calculating unmanned aerial vehicle displacement distance D by GPS position information in data packet 4 Only when D is present 4 ≤D 3 When, G 2 Is used as available GPS data, otherwise no signal G is collected 2 ；
Obtaining usable G 1 And G 2 After the data packet, go to step (7)
(7) Selecting the GPS data closest to the theoretical value of the flight distance of the unmanned aerial vehicle as the basis for calculating the pitching and azimuth angles of the main chain antenna, namely comparing (D) 1 -D 2 ) And (D) 3 -D 4 ) When (D) 1 -D 2 )＜(D 3 -D 4 ) According to G 1 Calculating the adjustment parameters of the ground main antenna by the data packet, and guiding the ground main antenna to perform tracking pointing by a ground servo tracking control system according to the calculation result; when (D) 1 -D 2 )＞(D 3 -D 4 ) According to G 2 The data packet calculates the adjustment parameters of the ground main antenna, and then the ground main antenna is guided to carry out tracking pointing through a ground servo tracking control system according to the calculation result; go to step (8) after completion
(8) And (4) judging whether the main link of the unmanned aerial vehicle still has data communication, if so, returning to the step (1), otherwise, ending the main chain antenna servo control process.
Therefore, the invention is only a preferred embodiment, not limited to the scope of protection, but also covered by the scope of patent and the content of the description.
Claims (4)
1. A communication method of a dual-channel unmanned aerial vehicle line-of-sight communication system is characterized by comprising the following steps:
the airborne terminal machine sends out a GPS data packet;
the ground terminal machine receives a GPS data packet;
the ground terminal machine judges whether the source of the received GPS data packet is one path or two paths;
if the source of the data packet is only the main link, directly checking; if the source of the data packet comprises a main link and a secondary link, respectively extracting and checking the two data packets and then selecting the data packets;
the ground terminal machine calculates related adjustment parameters of the ground main antenna by using the verified data;
the ground terminal machine adjusts the ground main antenna by using a ground servo tracking control system according to the calculated adjustment parameters;
and the ground terminal judges whether the data communication is finished.
2. The communication method of the dual-channel UAV line-of-sight communication system according to claim 1, wherein the step of selecting the two received GPS data packets comprises the steps of:
if the two GPS data packets are the same, one of the two GPS data packets is selected for carrying out the subsequent steps;
and if the two GPS data packets are different, selecting the GPS data packet closest to the theoretical value of the flight distance of the unmanned aerial vehicle to perform the subsequent steps.
3. The communication method of the dual-channel UAV line-of-sight communication system of claim 2, wherein selecting the GPS data packet closest to the theoretical value of the UAV flight distance comprises the following steps:
acquiring a GPS data packet available for a main link;
acquiring a GPS data packet available for a secondary link;
and comparing the available GPS data packet of the main link and the available GPS data packet of the auxiliary link with the theoretical value of the flight distance of the unmanned aerial vehicle respectively, wherein the GPS data packet closest to the theoretical value of the flight distance of the unmanned aerial vehicle is the closest GPS data packet.
4. The communication method of the dual-channel UAV line-of-sight communication system according to claim 3, wherein obtaining GPS data packets available to both the primary link and the secondary link comprises the steps of:
calculating a theoretical value of the flight distance of the unmanned aerial vehicle in a time interval of receiving two GPS data packets according to the time information in the GPS data packet received by the current link and the last effective GPS data packet, the actual flight speed of the current unmanned aerial vehicle and the maximum flight speed; meanwhile, calculating the actual moving distance of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the current and last effective GPS data packets; if the actual moving distance exceeds the theoretical value, the data packet is regarded as an unavailable data packet; if the actual moving distance does not exceed the theoretical value, the data packet is regarded as a usable data packet.
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