CN101753201B - Method for synchronizing data chains of high-speed frequency-hopping unmanned air vehicle - Google Patents
Method for synchronizing data chains of high-speed frequency-hopping unmanned air vehicle Download PDFInfo
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Abstract
The invention discloses a method for synchronizing data chains of a high-speed frequency-hopping unmanned air vehicle. The method comprises the following steps: 1, setting the frame structure of a transmitter group; 2, scanning initial synchronized frequency of the transmitter and capturing synchronized information subframes by a receiver; step 3, adjusting the local TOD and initial frequency-hopping control sequence; and 4, allowing the transmitter and the receiver to communicate normally. The synchronization of the invention adopts a synchronization-head method. Compared with other synchronization solutions, the method can realize the frequency-hopping synchronization in the shortest time. In the method, the initial synchronization-head is processed by a direct sequence spread spectrum to avoid the problem of bad synchronization information concealment performance of a traditional synchronization-head method, so the anti-interference performance of a system is further improved. In the method, the initial synchronization information subframes uses characteristic codes as the subframe heads, so the detection of the receiver is convenient and the anti-interference performance of the receiver can be improved by utilizing the characteristic of good autocorrelativity of the characteristic codes.
Description
Technical field
The present invention relates to a kind of method for synchronizing data chains of high-speed frequency-hopping unmanned air vehicle, belong to the UAV Communication engineering field.
Background technology
Unmanned vehicle (UAV), be called for short unmanned plane and be a kind of take wireless remotecontrol or self program control as main unmanned vehicle, be born in early in the twentieth century, but its real rise is after World War II.Through the development of last 100 years, unmanned plane is widely used in fields such as military affairs, national economy and scientific researches.The present age, unmanned plane was born the tasks such as landing ground monitoring, target following, military attack,, because himself possessing the advantages such as volume is little, flexibility is strong, at military, civil area, was playing the part of very important role.The performance of Unmanned Aerial Vehicle Data Link has directly determined fail safe and the flight usefulness that unmanned plane is executed the task, and is brain and the eyes of unmanned plane.
The topmost performance requirement of Unmanned Aerial Vehicle Data Link is exactly that security performance is good and antijamming capability is strong, present stage, some UAV Board Data link adopted frequency hopping to realize requirements anti-interference, anti-intercepting and capturing, frequency hopping communications is a kind of effective antijam communication means in the modern communications field, but the development along with electronic information technology, the raising of various countries' electronic warfare capability, present stage the frequency hopping Unmanned Aerial Vehicle Data Link exposed a lot of problems:
Unmanned Aerial Vehicle Data Link mostly uses the frequency hopping rate hundreds of middle low speed frequency hopping communications of jumping/second at present, for this middle low speed frequency hopping communications Data-Link, the enemy can adopt tracking mode to disturb or the relay type interference destroys, the method of this jamming countermeasure of a kind of effective antagonism improves frequency hopping rate exactly, thereby obtains better antijamming capability.Although but high-speed frequency-hopping communication has good anti-tracking, antijamming capability, its implementation procedure also exists a series of technical barrier, as Fast synchronization, networking problem etc.Frequency hopping rate is faster, bandwidth is wider, the simultaneous techniques difficulty is larger, therefore, system counter steal with interference free performance on raising mainly by the raising of frequency hopping synchro system performance index, synchro system is the core of this type of frequency hopping communications, and is very important to the research of Frequency Hopping Synchronization Techniques.
Summary of the invention
The objective of the invention is to propose a kind of synchronous method of data chains of high-speed frequency-hopping unmanned air vehicle in order to solve the problem of present stage UAV Board Data link existence.
A kind of synchronous method of data chains of high-speed frequency-hopping unmanned air vehicle, is characterized in that, comprises following step:
Step 1: set the transmitter framing structure;
Each frame of transmitter framing comprises initial synchronisation head and effective information, and wherein the initial synchronisation head comprises that M initial synchronisation information divides frame, and effective information comprises that N effective information divides frame, and each frame comprises M+N minute frame;
Initial synchronisation information divides frame to comprise condition code, network No., address code, low level TOD information and initial frequency hopping control sequence; Effective information divides frame to comprise condition code and information code;
Condition code is used for the detection of receiver; Network No. is used for networking, enters specified network; Address code is the terminal of sign appointment; Low level TOD information is used for correcting local time information and makes the frequency hopping zero-time consistent with transmitter; Initial frequency hopping control sequence initialization frequency hopping controller, the frequency that the control frequency maker produces; Information code is the coding of the useful information that will transmit;
Step 2: receiver scanning transmitter initial synchronisation frequency is also caught initial synchronisation information and is divided frame;
Transmitter is chosen arbitrarily m Frequency point and is formed initial synchronisation frequency { f from the whole n of a transmitter jump frequency
S1, f
S2F
Sm, and carry out M time and repeat saltus step, its saltus step is sequentially:
f
S1, f
S2F
Smf
S1, f
S2F
SmBe total to M time, wherein M＞m+1;
M the enterprising line scanning of initial synchronisation frequency that receiver sends at transmitter, sweep speed is 1/ (m+1) of transmitter hopping rate, receiver reception initial synchronisation information divides frame M/ (m+1) inferior, catches the inferior initial synchronisation information of M/ (m+1) and divides frame;
Step 3: adjust local TOD and initial frequency hopping control sequence;
After receiver was completed and scanned and capture initial synchronisation information and divide frame, receiver had received initial synchronisation information and has divided low level TOD information and the initial frequency hopping control sequence that comprises in frame;
Low level TOD information is adjusted receiver clock makes it with transmitter TOD, synchronize;
Initial frequency hopping control sequence is as the initial value of receiver frequency hopping controller;
Step 4: transmitter and receiver proper communication;
After M initial synchronisation information divided frame to launch, transmitter carried out initialization with initial frequency hopping control sequence to the transmitter frequency hopping controller, controlled transmitter frequency synthesizer and carried out high-speed frequency-hopping, sent N effective information and divided frame;
Receiver also carries out initialization with identical initial frequency hopping control sequence to frequency hopping controller simultaneously, controls the receiver frequency synthesizer and carries out synchronising frequency hopping, and N the effective information that receives finally the transmitter transmission divides frame, realizes transmitter and receiver proper communication;
Receiver ceaselessly carries out related operation to condition code, obtain correlation, adopt lead and lag method that correlation and expectation peak value are compared, obtain correlation and expect the poor of peak value, set the scope of adjustment frequency hopping switching position corresponding to difference, adjust the frequency hopping switching position of follow-up jumping according to difference, receiver is alignd with the transmitter frequency hopping switching time again.
The invention has the advantages that:
(1) the synchronous prefix method of synchronous employing of the present invention, can realize that within the shortest time frequency hopping is synchronous with respect to other synchronization scenario;
(2) initial synchronisation head of the present invention adopts direct sequence spread spectrum to process, and has made it to avoid the disguised poor problem of general synchronous prefix method synchronizing information, thereby has further improved the system rejection to disturbance performance;
(3) initial synchronisation information of the present invention divides frame to adopt condition code to make a minute frame head, can utilize the good characteristics of condition code autocorrelation, facilitates the detection of receiver, improves the receiver antijamming capability;
(4) effective information of the present invention divides frame to adopt condition code to make a minute frame head, utilizes the correlation properties of condition code can realize synchronous micro-adjusting in normal course of communications playing the synchronous effect of duties;
(5) each frame of transmitter framing structure of the present invention all includes the initial synchronisation head, has facilitated like this synchronous of slow networking user, facilitates the user network access.
Description of drawings
Fig. 1 is flow chart of the present invention;
Fig. 2 is transmitter framing structure figure of the present invention;
Fig. 3 is that initial synchronisation information of the present invention is divided frame assumption diagram;
Fig. 4 is that effective information of the present invention divides frame assumption diagram.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
The synchronous method of a kind of data chains of high-speed frequency-hopping unmanned air vehicle of the present invention, flow process as shown in Figure 1, comprise following step:
Step 1: set the transmitter framing structure;
As shown in Figure 2, each frame comprises initial synchronisation head and effective information to the transmitter framing, and wherein the initial synchronisation head comprises that M initial synchronisation information divides frame, and effective information comprises that N effective information divides frame, and each frame comprises M+N minute frame.
Initial synchronisation information divides frame as shown in Figure 3, comprise condition code, network No., address code, low level TOD (Time of Day) information and initial frequency hopping control sequence, initial synchronisation information divides frame all through the direct sequence spread spectrum coding, makes so important synchronizing information be not easy intercepted and captured by the enemy and disturb;
Effective information divides frame as shown in Figure 4, comprises condition code and information code; Effective information divides frame to adopt condition code as a minute frame frame head.
Wherein condition code can be selected the outstanding pseudo noise code of autocorrelation, is convenient to the detection of receiver; Network No. is used for networking, enters specified network; Address code is the terminal of sign appointment; Low level TOD information is used for correcting local time information and makes the frequency hopping zero-time consistent with transmitter; Initial frequency hopping control sequence is used for the initialization frequency hopping controller and then generates pseudo random sequence, guarantees that the randomness of frequency hopping strengthens the system rejection to disturbance ability, the frequency that this sequence control frequency maker produces; Information code is the coding of the useful information that will transmit.
Step 2: receiver scanning transmitter initial synchronisation frequency is also caught initial synchronisation information and is divided frame;
At first transmitter is chosen arbitrarily m Frequency point composition initial synchronisation frequency { f from the whole n of a transmitter jump frequency
S1, f
S2F
Sm, and carry out M time and repeat saltus step, its saltus step is sequentially:
f
S1, f
S2F
Smf
S1, f
S2F
SmBe total to M time, wherein M＞m+1.
M the enterprising line scanning of initial synchronisation frequency that receiver sends at transmitter, sweep speed is 1/ (m+1) of transmitter hopping rate, receiver reception initial synchronisation information divides frame M/ (m+1) inferior, has caught the inferior initial synchronisation information of M/ (m+1) and has divided frame.Receiver receive initial synchronisation information divide the number of times of frame more to local clock adjust more accurate, but the increase that receives number of times has tied up the power of useful signal, receives initial synchronisation information and divides the number of times of frame to arrange as required, the m value is 3～5 usually.
In order to improve synchronous interference free performance, initial synchronisation frequency { f
S1, f
S2F
SmNot unalterable, but carry out at regular intervals periodic transformation, can reduce like this possibility that is cracked and disturb by the enemy, increase system reliability.
Step 3: adjust local TOD and initial frequency hopping control sequence;
After receiver was completed and scanned and capture initial synchronisation information and divide frame, receiver had just received initial synchronisation information and has divided low level TOD information and the initial frequency hopping control sequence that comprises in frame.
Low level TOD information is adjusted receiver clock makes it with transmitter TOD, synchronize, so just guaranteed that transmitter and receiver carries out the frequency switching at the same time, because the maximum time difference of transmitter and receiver can be very not large, so only send the low level information of TOD, guaranteed that so namely the synchronous switching of frequency has avoided again using the validity that complete TOD causes to reduce.
Initial frequency hopping control sequence is as the initial value of receiver frequency hopping controller, transmitter and receiver just has identical frequency hopping control sequence so, guaranteed that transmitter and receiver has identical frequency hopping frequency sets and frequency hop sequence, finally realized the frequency hopping tracking of receiver to transmitter.
Step 4: transmitter and receiver proper communication;
After M initial synchronisation information divided frame to launch, transmitter carried out initialization with initial frequency hopping control sequence to the transmitter frequency hopping controller, controlled transmitter frequency synthesizer and carried out high-speed frequency-hopping, sent N effective information and divided frame;
Because receiver has been completed synchronous with transmitter TOD, so receiver also carries out initialization with identical initial frequency hopping control sequence to frequency hopping controller simultaneously, control the receiver frequency synthesizer and carry out synchronising frequency hopping, N the effective information that receives finally the transmitter transmission divides frame, realizes transmitter and receiver proper communication.
After entering proper communication,, due to the drift of system clock, may cause the frequency hopping clock of receiver and transmitter deviation to occur, making frequency hopping frequency that receiver produces jump onto at each with the carrier frequency of making a start that receives can not complete matching.Although the deviation that produces in jumps can be correlated with to process with spread spectrum, along with this error of time can be accumulated existence, obscuring appears in the data that make every jumper connection receive.Greater than every hop jump frequency time span, receiver can not go out the data that this jumping sends by perfect restitution as receiving-transmitting sides frequency hopping clock jitter.
Because dividing in frame, each effective information includes condition code, so receiver is by ceaselessly carrying out related operation to condition code, obtain correlation, then adopt lead and lag method that correlation and expectation peak value are compared, obtain correlation and expect the poor of peak value, setting the scope of adjustment frequency hopping switching position corresponding to difference, adjusting the frequency hopping switching position of follow-up jumping according to difference, receiver is alignd with the transmitter frequency hopping switching time again, thereby keep the synchronous of transmitter and receiver.Wherein expect when peak value is receiver and transmitter frequency hopping complete matching switching time condition code is carried out the correlation that related operation obtains.For the reliability that guarantees that receiver is adjusted, can adjust according to the repeatedly correlation that obtains and the mean value of the difference of expectation peak value, limit simultaneously each and jump adjustable scope.
Claims (6)
1. the synchronous method of a data chains of high-speed frequency-hopping unmanned air vehicle, is characterized in that, comprises following step:
Step 1: set the transmitter framing structure;
Each frame of transmitter framing comprises initial synchronisation head and effective information, and wherein the initial synchronisation head comprises that M initial synchronisation information divides frame, and effective information comprises that N effective information divides frame, and each frame comprises M+N minute frame;
Initial synchronisation information divides frame to comprise condition code, network No., address code, low level TOD information and initial frequency hopping control sequence; Effective information divides frame to comprise condition code and information code, and TOD represents temporal information;
Condition code is used for receiver and detects; Network No. is used for networking, enters specified network; Address code is the terminal of sign appointment; Low level TOD information is used for correcting local time information and makes the frequency hopping zero-time consistent with transmitter; Initial frequency hopping control sequence initialization frequency hopping controller, the frequency that the control frequency synthesizer produces; Information code is the coding of the useful information that will transmit;
Step 2: receiver scanning transmitter initial synchronisation frequency is also caught initial synchronisation information and is divided frame;
Transmitter is chosen arbitrarily m Frequency point and is formed initial synchronisation frequency { f from the whole n of a transmitter jump frequency
S1, f
S2F
Sm, and carry out M time and repeat saltus step, its saltus step is sequentially:
f
S1, f
S2F
Smf
S1, f
S2F
SmBe total to M time, wherein M＞m+1;
M the enterprising line scanning of initial synchronisation frequency that receiver sends at transmitter, sweep speed is 1/ (m+1) of transmitter hopping rate, receiver reception initial synchronisation information divides frame M/ (m+1) inferior, catches the inferior initial synchronisation information of M/ (m+1) and divides frame;
Step 3: adjust local TOD and initial frequency hopping control sequence;
After receiver was completed and scanned and capture initial synchronisation information and divide frame, receiver had received initial synchronisation information and has divided low level TOD information and the initial frequency hopping control sequence that comprises in frame;
Low level TOD information is adjusted receiver clock makes it with transmitter TOD, synchronize;
Step 4: transmitter and receiver proper communication;
After M initial synchronisation information divided frame to launch, transmitter carried out initialization with initial frequency hopping control sequence to the transmitter frequency hopping controller, controlled transmitter frequency synthesizer and carried out high-speed frequency-hopping, sent N effective information and divided frame;
Receiver also carries out initialization with identical initial frequency hopping control sequence to frequency hopping controller simultaneously, controls the receiver frequency synthesizer and carries out synchronising frequency hopping, and N the effective information that receives finally the transmitter transmission divides frame, realizes transmitter and receiver proper communication;
Receiver divides the condition code in frame to carry out related operation to N effective information, obtain correlation, adopt lead and lag method that correlation and expectation peak value are compared, obtain correlation and expect the poor of peak value, set the scope of adjustment frequency hopping switching position corresponding to difference, adjust the frequency hopping switching position of follow-up jumping according to difference, receiver is alignd with the transmitter frequency hopping switching time again.
2. the synchronous method of a kind of data chains of high-speed frequency-hopping unmanned air vehicle according to claim 1, is characterized in that, it is the direct sequence spread spectrum coding that initial synchronisation information is divided frame.
3. the synchronous method of a kind of data chains of high-speed frequency-hopping unmanned air vehicle according to claim 1, is characterized in that, effective information divides frame to adopt condition code as a minute frame frame head.
4. the synchronous method of a kind of data chains of high-speed frequency-hopping unmanned air vehicle according to claim 1, is characterized in that, it is characterized in that, receiver receives initial synchronisation information and divides the number of times of frame to arrange as required, and the m value is 3～5;
5. the synchronous method of a kind of data chains of high-speed frequency-hopping unmanned air vehicle according to claim 1, is characterized in that, initial synchronisation frequency { f
S1, f
S2F
SmChoose with periodic transformation.
6. the synchronous method of a kind of data chains of high-speed frequency-hopping unmanned air vehicle according to claim 1, is characterized in that,, to the correlation that repeatedly obtains and the difference value of averaging computing of expecting peak value, adjusts the frequency hopping switching position of follow-up jumping according to mean value.
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| CN103532590B (en) * | 2013-10-31 | 2015-10-14 | 四川九洲电器集团有限责任公司 | A kind of Two-channel synchronization method of frequency hopping communications |
| CN104993845B (en) * | 2015-06-09 | 2017-10-03 | 哈尔滨工业大学 | Frequency hopping pattern synchronous method for quick frequency hopping system |
| CN106210436B (en) * | 2016-07-18 | 2018-12-21 | 深圳市前海疆域智能科技股份有限公司 | A method of image transmitting transceiver machine is controlled by voice-grade channel and changes simultaneously working frequency |
| CN106094868A (en) * | 2016-08-01 | 2016-11-09 | 杨珊珊 | The Hovering control device of unmanned vehicle and Hovering control method thereof |
| CN107222238A (en) * | 2017-05-18 | 2017-09-29 | 无锡睿思凯科技股份有限公司 | A kind of communication means and communication system based on half-duplex RF hopping communication protocol |
| CN107517069B (en) | 2017-08-22 | 2020-06-02 | 深圳市华信天线技术有限公司 | Frequency hopping synchronization method, device, receiver and transmitter |
| CN107453770B (en) | 2017-08-22 | 2021-02-12 | 深圳市华信天线技术有限公司 | Frequency hopping control method, control device, transmitter and receiver |
| CN111713126A (en) * | 2017-11-15 | 2020-09-25 | 联想(北京)有限公司 | Exchange of UL interference detection related information |
| CN112506175B (en) * | 2021-02-04 | 2021-06-22 | 四川腾盾科技有限公司 | Unmanned aerial vehicle narrow-band remote control data transmission control system and method |
| CN116318632B (en) * | 2023-05-18 | 2023-10-24 | 天津七一二通信广播股份有限公司 | Safe multicast method and system for data link information distribution system |
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| US6052406A (en) * | 1997-05-02 | 2000-04-18 | Itt Manufacturing Enterprises, Inc. | Frequency hopping synchronization and tracking in a digital communication system |
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