CN101795221A - Networking topologic structure of fleet formation and design method for combined multi-address system - Google Patents
Networking topologic structure of fleet formation and design method for combined multi-address system Download PDFInfo
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Abstract
The invention relates to a networking topologic structure of fleet formation and a design method for a combined multi-address system, belonging to the technical field of the aviation data link, radio navigation and aircraft automation. The invention provides a multi-address system and a networking topologic structure for networking communication and measurement of fleet formation, meets the passive detection and location and the cooperative attack task of the fleet formation to the moving-target. The invention provides the networking topologic structure which can realize the combined multi-address system and support the fleet formation on a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array) apparatus and a radio frequency channel on an intermediate-frequency signal processing circuit board of a fleet link terminal. The invention provides two novel multi-address access systems of communication topologic configuration, namely the CDMA Code Division Multiple Access)/FDAM combined multi-address communication system of the fleet formation based on cross-link networking topology and a graded hierarchical multi-address communication system of the fleet formation based on tree topology. The former can support a single-hop access mode of total network coverage and the latter provides a multiple-hop access mode of total network coverage.
Description
Technical field
The present invention relates to group network topological structure and combination multiple access system method for designing that an a kind of group of planes is formed into columns, belong to aeronautical data chain, radionavigation, vehicle technology field.
Background technology
At present, group of planes networking both at home and abroad is based on the data chainning system, typical as: Link-11, Link-16, JTIDS, or the like.The access mode of these data chainning systems is based on time-division multiplex system communication, do not support between the aircraft range finding, test the speed, time synchronized.In addition, the group of planes formation group network topological structure under traditional data chain system is more single, only according to information interaction pattern of wants multiple access access communications net topology, does not form the space coordinated groups net topology that adapts to particular task.
Summary of the invention
The objective of the invention is to propose group network topological structure and the combination multiple access system method for designing that an a kind of group of planes is formed into columns, be applicable to the multiple access system and the group network topological structure of group of planes formation group-net communication and measurement, satisfy a group of planes formation strike task is located and worked in coordination with in the passive detection of moving-target.
Can think that the member node that any task all requires a group of planes to form into columns possesses following three kinds of functions:
1. group of planes formation member node networking forms the TOCOM total communication system that covers all member node, can set up between any two member's nodes single-hop, undelayed, to other members communication link transparent, asynchronous, full duplex, satisfy the whole network Real-Time Sharing demand of any member node information in the group of planes formation communication network, multi-hop communication and routing service also are provided, and group of planes formation communication network can be the pattern that Centroid is arranged or do not have Centroid;
2. a group of planes be used to the to form into columns topological structure control of networking of The real time measure geometric distance between the two critically of forming into columns between any two member's nodes, and be used for interferometry and distributed data processing as moving-target passive detection location and the collaborative baseline measures that hits system.
3. group of planes formation the whole network member's time synchronized, this point is in very many passive detection location, many bases and work in coordination with embody in the strike task particularly outstanding, the time synchronized that presses for all members in the group of planes formation net is implemented to control to realize formation networking topology configuration, and implementation space multi-point joint interfere type detection mission.
The group of planes realizing moving-target passive detection location and work in coordination with the strike task is formed into columns need set up member node multiple access communication, full duplex asynchronous data interaction in a kind of the net, possess any 2 precise distance measurements, the whole network is realized time synchronized communicates by letter, range finding and time synchronized system.
The present invention has finished networking between the machine of a group of planes, multiple access inserts.Slave group communication networking topology configuration is set out, and has studied the multiple access system that is applicable to group of planes group-net communication and measurement, has proposed two kinds of multiple access access systems in the group of planes net: based on the group of planes formation CDMA/FDMA combination multiple access communication system of cross link networking topology; Group of planes hierarchical technology multiple access system based on tree topology.
Group network topological structure that an a kind of group of planes of the present invention is formed into columns and combination multiple access system method for designing can realize the combination multiple access system that the present invention proposes and support the group of planes formation group network topological structure that the present invention proposes on the digital signal processor DSP on the signal processing circuit of intermediate frequency plate of air fleet link terminating machine, FPGA device and radio-frequency channel.
The multiple access that the present invention proposes two kinds of novel communication topology configurations inserts system: based on the group of planes formation CDMA/FDMA combination multiple access communication system of cross link networking topology; Group of planes formation hierarchical technology multiple access communication system based on tree topology.The former can support the single-hop access module that the whole network covers, the multi-hop access module that the latter provides the whole network to cover.
One, the data link layer structure of the full duplex asynchronous communication channel of link between machine
The general yardstick of topological configuration little (in several kilometers～tens kilometer range) of group of planes formation networking in most tasks, any two member's aircraft maximum distances are generally about tens kilometers, therefore space communication link is copied CCSDS Proximity-1 short range space link communication protocol blue book suggestion (CCSDS 211.2-B-1 between the node of group of planes networking in the present invention, CCSDS211.1-B-3, CCSDS 211.0-B-4), design the data link layer transmission frame (Fig. 1) that is used for group of planes communication/base line measurement combined system with reference to the transmission frame-form of Version-3, comprising: the frame swynchronization code ASM of 24bit (0xFAF320), the structure fixed data frames top guide header of 32bit, length is less than the data field of 16344bit, the CRC check sign indicating number of 32bit.That this transmission frame is supported is asynchronous/synchronously comprehensive transmission, etc. the time/comprehensive transmission, the transmission of multichannel pseudo channel STDM when non-etc..The data field front portion is defined as the duties section, and coding and local pseudorange coding sends to the other side when embedding respective links identifier, local clock face.Frame length is selected fixing, and frame frequency is that the integer hertz is (generally at 1Hz～20Hz), can decide according to measuring the refresh rate demand.
With in the group of planes in this system between machine the comprehensive chain pipeline equipment of communication/base line measurement be called: asynchronous communication/range finding terminal (Asynchronous Communication; Ranging Unit:ACRU), suppose that any member's aircraft in the group of planes net has all disposed ACRU.With two airplane A, B is research object, and ACRU_A, ACRU_B send transmission frame to the other side independently of one another, the emission carrier wave between two terminals and send all coherents not mutually of sign indicating number clock.The ACRU_A of aircraft A and aircraft B, ACRU_B are respectively at the delivery time sampling local clock counter on local transmission frame synchronous code forward position (perhaps edge, back), counter epoch of receive path code tracking loop, extract the other side's frame swynchronization code forward position delivery time from the duties section of current reception the other side transmission frame, and calculate the local pseudorange value of form epoch.When ACRU_A, ACRU_B utilize local measurement pseudorange, local clock face independently of one another, when receiving the local clock face of the local pseudorange of the other side, the other side that the other side sends through transmission frame, calculate distance, synchronous error (clock correction), two terminal sampling time intervals between machine, carry out the time synchronized adjustment.
As seen, the transmission frame of design also possesses the function of space-time parameter measurement between the multiple spot except having the multiple access communication function.
The present invention proposes between machine that full-duplex communication link realizes the mutual and two-way noncoherent distance measurement of asynchronous data, tests the speed, clock correction measurement, frequency deviation measurement, and the comprehensive link system of this communication/base line measurement has following four characteristics:
1. the data interaction of two Airborne Terminals and base line measurement comprehensively realize in single carrier is unified channel, the special-purpose base line measurement equipment of additional configuration not, be operated in the asynchronous, full duplex spread spectrum mode, communication/base line measurement process is transparent to other nodes between any two airplanes;
2. two Airborne Terminals send the identical transmission frame of structure to the other side independently of each other, and local base band data sends the sign indicating number clock, transmission carrier frequency is produced by local frequency synthesizer, not with the other side's coherent, do not have frequency, phase relation constraint between transmit leg and the recipient;
3. two Airborne Terminals extract independently of each other local reception element number tracking loop epoch the counter value of latching and local time and frequency standards nominal value calculate the local pseudorange of form epoch (Epoch), it is embedded local transmission frame sends to the other side;
4. two Airborne Terminals utilize the local measurement pseudorange and receive the other side and pass through to calculate baseline measures and the local clock correction of two aircrafts between the acquisition machine through the pseudorange that transmission frame is sent, and realize the time synchronized adjustment.
The transmit frame that Airborne Terminal constantly extracts in sampling during epoch with received frame during epoch algebraic step be defined as local pseudorange, comprise this deviation when the geometric distance between two airplanes and local clock face constantly, the two needs by algorithm realization decoupling zero.
Two, the topological configuration design of group of planes formation networking
A group of planes is formed into columns topological configuration can be according to the different mode change of task, and the topological configuration of constructing communication network is often relevant with formation space topological configuration, therefore often also will change thereupon.And the member node of group of planes constructing communication network can be similar aircraft, also can the similar aircraft of right and wrong, that is: and multiple member node isomery networking.
Generally speaking, between the machine that form into columns to adopt of a group of planes communication network topology configuration comprise (Fig. 2～Fig. 7):
1. star topology: have Centroid, there is communication link with it in other nodes, and do not have communication link between the non-central node;
2. bus-type topology: be also referred to as tree topology, pass rank by star topology and constitute, have hierarchy, star topology can be regarded individual layer bus-type topology as;
3. ring topology: linking successively forms the annular of a sealing;
4. chain topology: ring topology disconnects somewhere and promptly deteriorates to the chain type topology;
5. cross link topology: have communication link between any two nodes;
6. mixed type topology: the first five plants certain combination of topology.
Group of planes communication network topology configuration 5. cross link topology configuration can provide a point-single hop link that covers any member node of the whole network, and structure is the simplest, and the path is maximum, and reliability is the highest, but performance may not best (this point should be noted that).Distance, the measurement of speed isobase and chronometer time are synchronous between the machine that cross link topology configuration support group of planes the whole network covers, metrical information is the abundantest, and this character is more conducive to base line measurement between the node of a group of planes, relative movement parameters is measured and time synchronization process obtains higher performance.
These a few class communication network topology configurations all may occur in some group of planes formation tasks, and the principle that the definition of topological configuration and conversion are followed also can be divided into several classes:
1. commands for controlling mode: force to be defined as a certain topological configuration according to commands for controlling;
2. rule-based mode: following a certain optimization index definition according to parameters such as relative position, channel widths is a certain topological configuration;
3. Ad hoc mode: adopt the definition of self-organizing pattern dynamic implementation topology configuration.
Three, be applicable to the multiple access system of group of planes group-net communication and measurement
The group of planes realizing moving-target passive detection location and work in coordination with the strike task is formed into columns need set up member node multiple access communication, full duplex asynchronous data interaction in a kind of the net, possess any 2 precise distance measurements, the whole network is realized time synchronized communicates by letter, range finding and time synchronized system.The multiple access that the present invention proposes two kinds of novel communication topology configurations inserts system: based on the group of planes formation CDMA/FDMA combination multiple access communication system of cross link networking topology; Group of planes hierarchical technology multiple access communication system based on tree topology.The former can support the single-hop access module that the whole network covers, the multi-hop access module that the latter can provide the whole network to cover.1, the group of planes formation CDMA/FDMA based on cross link networking topology makes up the multiple access communication system
Consider that the machine measurements of supporting any member of a group of planes should preferentially select the topological configuration of cross link for use with single-hop communication, the present invention proposes an employing sign indicating number branch+frequency division (CDMA/FDMA) combination multiple access system combination multiple access system and realizes that transparent nothing postpones transmission data, the whole network Real-Time Sharing of arbitrary node data, the multiple access communication and the asynchronous range finding of high reliability between the covering of a group of planes the whole network, the arbitrary node, can satisfy cross link topology configuration (also being applicable to the arbitrary topology configuration of § 2.2 joints).CDMA/FDMA networking system can provide the business demands at different levels of group of planes communication network, has particularly guaranteed to have communication link between any two members, can realize precise distance measurement and the whole network time synchronized (Fig. 8) between any 2.
The n person of putting up aircraft is arranged in the group of planes, and each member node is distributed an X/Ku/Ka wave band frequency and a spreading code that is used for band spectrum modulation on this frequency, and whole net is that the n person of putting up aircraft is divided into and has joined n frequency+n spreading code.Can set up n (n-1)/2 a two-way asynchronous communication link in the group of planes communication network.N=5 in Figure 16 example can set up 10 two-way links.
Each communication node of a group of planes (member) can utilize specific frequency and the spreading code of distributing to self to realize that band spectrum modulation sends information to other nodes, and this process is a broadcast type, has realized that the multiple access of single-point → multiple spot sends.Each node can both receive that the present invention puts the information of transmission, has guaranteed the TOCOM total communication spreadability in group of planes the whole network.Send to specific node if desired, then the definition destination address gets final product in the transmission frame-form of data link layer, and (Fig. 9) do not set off a discussion herein.
Each communication node of a group of planes can utilize n-1 frequency of n-1 receive path correspondence distributing to self and n-1 spreading code (distribute in the group of planes communication network other members) despreading/demodulating unit of n-1 the receive path of receiving element configuration of communication terminal between machine, each passage is down-converted to this passage frequency points corresponding on the intermediate frequency center frequency point of nominal and carries out carrier track, realizes despreading/demodulation with this locality regeneration spreading code of this passage correspondence.The corresponding independently respectively signal of communication from other n-1 node in the group of planes communication network of n-1 receive path is realized despreading/separate the mediation Data Receiving, and asynchronous range finding and/time synchronized.Whenever the person of putting up can both receive signal and the decoded data frame that other n-1 person of putting up aircrafts send simultaneously, and the processing procedure of each passage is separate not to be disturbed mutually, has realized that the multiple access of multiple spot → single-point receives (Figure 10).
Arbitrary node can receive simultaneously respectively from the information of other n-1 node in the group of planes communication network and be independent of each other, other n-1 nodes send information in group of planes communication network, sends, receiving course is separate is asynchronous procedure.All there is direct asynchronous communication links between any two persons of putting up in the group of planes communication network, mutually interaction data and carry out range finding/time synchronized between machine.
In addition, also support Ad Hoc self-organizing multi-hop route pattern, employing is apart from routing algorithm, but consider that the range finding/time synchronization process between arbitrary node necessarily requires single-point-single-point single-hop mode in the group of planes communication network, therefore the multi-hop pattern has little significance in group of planes group-net communication, and this communication function (Figure 11) only is provided.
Cross link topology configuration advantage is a lot, but for the more formation group of planes of node (number of members N＞8), perhaps has the newcomer to add a group of planes and form into columns, and then can cause multiple shot array, and design realizes causing big difficulty to Airborne Terminal.In addition, often task has determined to form into columns bigger apart from far and near gap between the topological configuration node, and the topological configuration of forming into columns in duty cycle can change, therefore excessive, the distance of inter-node communication Link State difference is along with the orbital motion dynamic change, the transmittability that provides, channel quality, differences in quality of service are very big, stable, the reliability service that are unfavorable for communication network, machine measurements consistency undesirable (as shown in figure 12).
Therefore, for ensureing that transfer of data, machine measurements precision satisfy the task needs between group of planes formation node, and need not obviously to improve transmitter unit power and receiving element sensitivity, antenna gain and directive property, air-air transfer of data and machine measurements are necessary between employing multi-hop link realization group of planes net machine, this multi-hop link often needs to define the multi-hop routing rule, and along with a group of planes form into columns topological configuration variation and change thereupon.Therefore need to select a kind of suitable formation topology configuration, satisfying performance that number of communications between machine passes simultaneously can provide accurate, machine measurements information fully again, and is unlikely to increase the engineering design difficulty of assemblies such as airborne communication and measuring terminals, antenna system, transmitting terminal power amplification unit, receiving end signal amplifying unit.
The present invention proposes a kind of group of planes formation hierarchical technology communication system based on tree topology, has the ad hoc networking ability, supports the dynamic reallocation of topological configuration dynamic change and spreading code, frequency.
Figure 13 has provided a certain moment group of planes formation and has been in a certain topological configuration, air-air/Air-Ground communication tracking task is under certain pattern, based on the organizational form of the tree type communication network topology configuration of Ad hoc self-organization rule (for example :) Dynamic Definition based on locus and distance (group of planes formation task among Figure 13 exist 4 kinds totally 20 airplanes form isomery formation networks).In any moment, there is unique communication link in the aircraft that is defined as Air-Ground link vacant terminal in only forming into columns with a group of planes in C4IR command and control center, ground.So, ground C4IR accuses that central station need not to set up link with interior other nodes of group of planes formation, makes ground communication commander's task complexity and task amount greatly reduce.Simultaneously, arbitrary node was defined as M fork tree node (being binary tree among Figure 12) in a group of planes was formed into columns, comprise three identical full duplex asynchronous communication links, support and father node (the last layer node that connects with self) and two child nodes (next node layer that connects with self).Y-bend tree topology among Figure 12 has been divided into 6 layers to 20 nodes, forms the hierarchical technology structure, and only there is communication link in each node with self father node and child node, and the complexity and the traffic of each node are fairly simple.
Here provide following proposition:
Communication performance, the system of any member node identical (as: transmission flank speed, spreading code type, maximum transmission power, receiving sensitivity and tracking thresholding) in [proposition 1] group of planes is formed into columns and netted, abstract is the node of binary tree;
[proposition 2] can reach a conclusion according to Abstract Algebra, theory of discrete mathematics and computer network theory, data structure theory: all available binary tree of a three dimensions N node links, and realizes the information interaction of any two nodes by degree of depth traversal and range traversal;
The principle of any member node ad hoc networking was based on the traffic, each internodal spatial distribution geometric distance of current each node in [proposition 3] group of planes was formed into columns and netted, Ad hoc MANET rule will be optimized (as: the shortest, the comprehensive transmission bandwidth occupancy minimum of comprehensive transmission distance) based on the target function of certain condition that is tied (as: task has determined the topological three-dimensional space position constraint of forming into columns), and constructing communication network topology configuration can dynamically change according to the variation of task and can switch to other topological configurations arbitrarily.
Any member node had three separate, physically-isolated full duplex asynchronous communication terminal of cover and directional antennas in a group of planes was formed into columns and netted, and had interface with communication protocol processor, took place interrelated in data link layer, network layer, transport layer, application layer.CDMA/FDMA combination multiple access strategy is not suitable for the too much situation of node number, therefore in the group of planes formation hierarchical technology communication system based on tree topology, proposes the pattern that CDMA+ double frequency multiple access inserts.Under this pattern, terminal emission/reception provides two kinds of frequencies (double frequency) f
A, f
BDistribute to transmission channel, receive path use respectively according to topological configuration during by group of planes formation networking, then: the odd-level node emission/reception of binary tree structure takies frequency f respectively
A/ f
B, the even level node emission/reception of binary tree structure takies frequency f respectively
B/ f
A, this moment, the odd-level node of binary tree structure can repeat (frequency is different) with the spreading code that the even level node distributes, but layer interior nodes can not be distributed identical spreading code (frequency is identical).The pattern that this CDMA+ double frequency multiple access inserts is beneficial to preferred spreading code, and (code length is: 63,127,255,511) spread spectrum with adopting short code.
For air-air high-speed communication traffic (being generally return link) between machine, it is professional that the spread spectrum system can't provide multiple access high-speed communication number to pass, utilize forward direction spread spectrum link distribution channels scheduling control information step by step this moment, pass with each node return link high-speed communication number of TDMA time division multiplex channel rule control; Perhaps utilize forward direction spread spectrum link to distribute frequency point allocation information step by step, realize that with FDMA frequency division multiple access rule each node return link high-speed communication number passes, this pattern both can be distributed frequency (N altogether) according to the required communication bandwidth that takies of the data volume of each node, also can distribute frequency (M altogether) according to the form into columns number of plies M of hierarchical technology structure of a group of planes, adopt time division multiplexing access communications link in the layer, can regard a kind of degree of depth ergodic process or range ergodic process of node for the y-bend tree topology as.
In multiple access system of the present invention, each member node is equal, all can be defined as the father node of any one deck of vacant terminal.Like this, the communication equipment of group of planes formation member node can standardised genericization, support between machine that next joint will propose air-air (Air-Ground in like manner) communication and measure the comprehensive channel system, and reliability is very high, even certain person's of putting up node has a cover communication terminal thoroughly to damage, still can be as routing function and communication function over the ground between communication net node operate as normal realization machine between machine.
Group of planes formation hierarchical technology multiple access system based on tree topology also adopts sign indicating number branch+frequency division combination multiple access system, support the base line measurement of any communication link two terminals, relative motion measurement and time synchronized, but link is the N-1 bar, N (N-1)/2 than cross link topology reduces a lot, metrical information is abundant not as the cross link topology, this can meet the demands for most group of planes formation task, can accuse that the station is to directly charge of group of planes formation for single ground C4IR, utilize machine measurements information dispersing as amount of restraint damping INS algorithm, a group of planes is formed into columns and is put in order net time synchronized etc., also can support group of planes formation to put in order net single ground C4IR is accused that the descending and single ground C4IR of single-link high-speed data at station (relaying in like manner via satellite) accuses that the charge order of standing to each member node of the whole net of group of planes formation is up, need not each member node time-division on ground or sign indicating number are tapped into, more needn't many ground stations participate in the Air-Ground communication for command.
Here propose in passing: star topology essence is that multiway tree constitutes the individual layer tree topology, but performance and reliability requirement to father node are very high, as: more directional antenna and communication terminal are provided, be not suitable for the situation that node is more and the topology of forming into columns exists dynamic change, newcomer to add, be difficult to accomplish that whenever the person's of putting up node possesses the father node function yet.If task allows, also can adopt TDMA time division multiple access pattern to use antenna to provide the data interaction service for each child node more than two pairs.If be further to simplify the airborne communication terminal complexity, also can adopt the chain topology, whenever the person's of putting up node will reduce by a cover communication terminal and an antenna.
Group network topological structure that an a kind of group of planes of the present invention is formed into columns and combination multiple access system method for designing, advantage is:
Certain one deck interior nodes (same node layer) of multimachine networking unsuitable too much (＜8), and dispose a main frame (commander's machine) and get final product, after the main frame war damage by appointment priority substitute;
Ordinary circumstance adopts star-like connection networking, that is: the pattern of 1 main frame (commander's machine)-n frame slave (belligerent machine), and the high-speed data between each slave can be transmitted by main frame, and low speed data is broadcasting share directly;
Description of drawings
Space link transmission frame-form schematic diagram between Fig. 1 group of planes networking node
The star topology configuration schematic diagram of Fig. 2 group of planes member node networking
The topological configuration schematic diagram of bus-type (tree type) of Fig. 3 group of planes member node networking
The ring topology configuration schematic diagram of Fig. 4 group of planes member node networking
Line (chain) the type topology configuration schematic diagram of Fig. 5 group of planes member node networking
The cross link topology configuration schematic diagram of Fig. 6 group of planes member node networking
Mixed type topology configuration (bus-type+cross link+ring-like) schematic diagram of Fig. 7 group of planes member node networking
The communication link topological structure schematic diagram of Fig. 8 group of planes networking
Single-point → multiple spot single-hop multiple access in Fig. 9 group of planes sends topological schematic diagram
Multiple spot → single-point single-hop multiple access in Figure 10 group of planes receives topological schematic diagram
Single-point in Figure 11 group of planes → single-point multi-hop route transmission topology schematic diagram
The far and near difference schematic diagram of space scale between the member node that Figure 12 group of planes is formed into columns
Figure 13 is based on the group of planes formation hierarchical technology communication network topology configuration of tree topology
Specific embodiment
Group network topological structure that an a kind of group of planes of the present invention is formed into columns and combination multiple access system method for designing can realize the combination multiple access system that the present invention proposes and support the group of planes formation group network topological structure that the present invention proposes on the digital signal processor DSP on the signal processing circuit of intermediate frequency plate of air fleet link terminating machine, FPGA device and radio-frequency channel.
The multiple access that the present invention proposes two kinds of novel communication topology configurations inserts system: based on the group of planes formation CDMA/FDMA combination multiple access communication system of cross link networking topology; Group of planes formation hierarchical technology multiple access communication system based on tree topology.The former can support the single-hop access module that the whole network covers, the multi-hop access module that the latter provides the whole network to cover.
One, the data link layer structure of the full duplex asynchronous communication channel of link between machine
The general yardstick of topological configuration little (in several kilometers～tens kilometer range) of group of planes formation networking in most tasks, any two member's aircraft maximum distances are generally about tens kilometers, therefore space communication link is copied CCSDS Proximity-1 short range space link communication protocol blue book suggestion (CCSDS 211.2-B-1 between the node of group of planes networking in the present invention, CCSDS211.1-B-3, CCSDS 211.0-B-4), design the data link layer transmission frame (Fig. 1) that is used for group of planes communication/base line measurement combined system with reference to the transmission frame-form of Version-3, comprising: the frame swynchronization code ASM of 24bit (0xFAF320), the structure fixed data frames top guide header of 32bit, length is less than the data field of 16344bit, the CRC check sign indicating number of 32bit.That this transmission frame is supported is asynchronous/synchronously comprehensive transmission, etc. the time/comprehensive transmission, the transmission of multichannel pseudo channel STDM when non-etc..The data field front portion is defined as the duties section, and coding and local pseudorange coding sends to the other side when embedding respective links identifier, local clock face.Frame length is selected fixing, and frame frequency is that the integer hertz is (generally at 1Hz～20Hz), can decide according to measuring the refresh rate demand.
With in the group of planes in this system between machine the comprehensive chain pipeline equipment of communication/base line measurement be called: asynchronous communication/range finding terminal (Asynchronous Communication; Ranging Unit:ACRU), suppose that any member's aircraft in the group of planes net has all disposed ACRU.With two airplane A, B is research object, and ACRU_A, ACRU_B send transmission frame to the other side independently of one another, the emission carrier wave between two terminals and send all coherents not mutually of sign indicating number clock.The ACRU_A of aircraft A and aircraft B, ACRU_B are respectively at the delivery time sampling local clock counter on local transmission frame synchronous code forward position (perhaps edge, back), counter epoch of receive path code tracking loop, extract the other side's frame swynchronization code forward position delivery time from the duties section of current reception the other side transmission frame, and calculate the local pseudorange value of form epoch.When ACRU_A, ACRU_B utilize local measurement pseudorange, local clock face independently of one another, when receiving the local clock face of the local pseudorange of the other side, the other side that the other side sends through transmission frame, calculate distance, synchronous error (clock correction), two terminal sampling time intervals between machine, carry out the time synchronized adjustment.
As seen, the transmission frame of design also possesses the function of space-time parameter measurement between the multiple spot except having the multiple access communication function.
The present invention proposes between machine that full-duplex communication link realizes the mutual and two-way noncoherent distance measurement of asynchronous data, tests the speed, clock correction measurement, frequency deviation measurement, and the comprehensive link system of this communication/base line measurement has following four characteristics:
1. the data interaction of two Airborne Terminals and base line measurement comprehensively realize in single carrier is unified channel, the special-purpose base line measurement equipment of additional configuration not, be operated in the asynchronous, full duplex spread spectrum mode, communication/base line measurement process is transparent to other nodes between any two airplanes;
2. two Airborne Terminals send the identical transmission frame of structure to the other side independently of each other, and local base band data sends the sign indicating number clock, transmission carrier frequency is produced by local frequency synthesizer, not with the other side's coherent, do not have frequency, phase relation constraint between transmit leg and the recipient;
3. two Airborne Terminals extract independently of each other local reception element number tracking loop epoch the counter value of latching and local time and frequency standards nominal value calculate the local pseudorange of form epoch (Epoch), it is embedded local transmission frame sends to the other side;
4. two Airborne Terminals utilize the local measurement pseudorange and receive the other side and pass through to calculate baseline measures and the local clock correction of two aircrafts between the acquisition machine through the pseudorange that transmission frame is sent, and realize the time synchronized adjustment.
The transmit frame that Airborne Terminal constantly extracts in sampling during epoch with received frame during epoch algebraic step be defined as local pseudorange, comprise this deviation when the geometric distance between two airplanes and local clock face constantly, the two needs by algorithm realization decoupling zero.
Two, the topological configuration design of group of planes formation networking
A group of planes is formed into columns topological configuration can be according to the different mode change of task, and the topological configuration of constructing communication network is often relevant with formation space topological configuration, therefore often also will change thereupon.And the member node of group of planes constructing communication network can be similar aircraft, also can the similar aircraft of right and wrong, that is: and multiple member node isomery networking.
Generally speaking, between the machine that form into columns to adopt of a group of planes communication network topology configuration comprise (Fig. 2～Fig. 7):
1. star topology: have Centroid, there is communication link with it in other nodes, and do not have communication link between the non-central node;
2. bus-type topology: be also referred to as tree topology, pass rank by star topology and constitute, have hierarchy, star topology can be regarded individual layer bus-type topology as;
3. ring topology: linking successively forms the annular of a sealing;
4. chain topology: ring topology disconnects somewhere and promptly deteriorates to the chain type topology;
5. cross link topology: have communication link between any two nodes;
6. mixed type topology: the first five plants certain combination of topology.
Group of planes communication network topology configuration 5. cross link topology configuration can provide a point-single hop link that covers any member node of the whole network, and structure is the simplest, and the path is maximum, and reliability is the highest, but performance may not best (this point should be noted that).Distance, the measurement of speed isobase and chronometer time are synchronous between the machine that cross link topology configuration support group of planes the whole network covers, metrical information is the abundantest, and this character is more conducive to base line measurement between the node of a group of planes, relative movement parameters is measured and time synchronization process obtains higher performance.
These a few class communication network topology configurations all may occur in some group of planes formation tasks, and the principle that the definition of topological configuration and conversion are followed also can be divided into several classes:
1. commands for controlling mode: force to be defined as a certain topological configuration according to commands for controlling;
2. rule-based mode: following a certain optimization index definition according to parameters such as relative position, channel widths is a certain topological configuration;
3. Ad hoc mode: adopt the definition of self-organizing pattern dynamic implementation topology configuration.
Three, be applicable to the multiple access system of group of planes group-net communication and measurement
The group of planes realizing moving-target passive detection location and work in coordination with the strike task is formed into columns need set up member node multiple access communication, full duplex asynchronous data interaction in a kind of the net, possess any 2 precise distance measurements, the whole network is realized time synchronized communicates by letter, range finding and time synchronized system.The multiple access that the present invention proposes two kinds of novel communication topology configurations inserts system: based on the group of planes formation CDMA/FDMA combination multiple access communication system of cross link networking topology; Group of planes hierarchical technology multiple access communication system based on tree topology.The former can support the single-hop access module that the whole network covers, the multi-hop access module that the latter can provide the whole network to cover.
1, the group of planes formation CDMA/FDMA based on cross link networking topology makes up the multiple access communication system
Consider that the machine measurements of supporting any member of a group of planes should preferentially select the topological configuration of cross link for use with single-hop communication, the present invention proposes an employing sign indicating number branch+frequency division (CDMA/FDMA) combination multiple access system combination multiple access system and realizes that transparent nothing postpones transmission data, the whole network Real-Time Sharing of arbitrary node data, the multiple access communication and the asynchronous range finding of high reliability between the covering of a group of planes the whole network, the arbitrary node, can satisfy cross link topology configuration (also being applicable to the arbitrary topology configuration of § 2.2 joints).CDMA/FDMA networking system can provide the business demands at different levels of group of planes communication network, has particularly guaranteed to have communication link between any two members, can realize precise distance measurement and the whole network time synchronized (Fig. 8) between any 2.
The n person of putting up aircraft is arranged in the group of planes, and each member node is distributed an X/Ku/Ka wave band frequency and a spreading code that is used for band spectrum modulation on this frequency, and whole net is that the n person of putting up aircraft is divided into and has joined n frequency+n spreading code.Can set up n (n-1)/2 a two-way asynchronous communication link in the group of planes communication network.N=5 in Figure 16 example can set up 10 two-way links.
Each communication node of a group of planes (member) can utilize specific frequency and the spreading code of distributing to self to realize that band spectrum modulation sends information to other nodes, and this process is a broadcast type, has realized that the multiple access of single-point → multiple spot sends.Each node can both receive that the present invention puts the information of transmission, has guaranteed the TOCOM total communication spreadability in group of planes the whole network.Send to specific node if desired, then the definition destination address gets final product in the transmission frame-form of data link layer, and (Fig. 9) do not set off a discussion herein.
Each communication node of a group of planes can utilize n-1 frequency of n-1 receive path correspondence distributing to self and n-1 spreading code (distribute in the group of planes communication network other members) despreading/demodulating unit of n-1 the receive path of receiving element configuration of communication terminal between machine, each passage is down-converted to this passage frequency points corresponding on the intermediate frequency center frequency point of nominal and carries out carrier track, realizes despreading/demodulation with this locality regeneration spreading code of this passage correspondence.The corresponding independently respectively signal of communication from other n-1 node in the group of planes communication network of n-1 receive path is realized despreading/separate the mediation Data Receiving, and asynchronous range finding and/time synchronized.Whenever the person of putting up can both receive signal and the decoded data frame that other n-1 person of putting up aircrafts send simultaneously, and the processing procedure of each passage is separate not to be disturbed mutually, has realized that the multiple access of multiple spot → single-point receives (Figure 10).
Arbitrary node can receive simultaneously respectively from the information of other n-1 node in the group of planes communication network and be independent of each other, other n-1 nodes send information in group of planes communication network, sends, receiving course is separate is asynchronous procedure.All there is direct asynchronous communication links between any two persons of putting up in the group of planes communication network, mutually interaction data and carry out range finding/time synchronized between machine.
In addition, also support Ad Hoc self-organizing multi-hop route pattern, employing is apart from routing algorithm, but consider that the range finding/time synchronization process between arbitrary node necessarily requires single-point-single-point single-hop mode in the group of planes communication network, therefore the multi-hop pattern has little significance in group of planes group-net communication, and this communication function (Figure 11) only is provided.
Cross link topology configuration advantage is a lot, but for the more formation group of planes of node (number of members N＞8), perhaps has the newcomer to add a group of planes and form into columns, and then can cause multiple shot array, and design realizes causing big difficulty to Airborne Terminal.In addition, often task has determined to form into columns bigger apart from far and near gap between the topological configuration node, and the topological configuration of forming into columns in duty cycle can change, therefore excessive, the distance of inter-node communication Link State difference is along with the orbital motion dynamic change, the transmittability that provides, channel quality, differences in quality of service are very big, stable, the reliability service that are unfavorable for communication network, machine measurements consistency undesirable (as shown in figure 12).
Therefore, for ensureing that transfer of data, machine measurements precision satisfy the task needs between group of planes formation node, and need not obviously to improve transmitter unit power and receiving element sensitivity, antenna gain and directive property, air-air transfer of data and machine measurements are necessary between employing multi-hop link realization group of planes net machine, this multi-hop link often needs to define the multi-hop routing rule, and along with a group of planes form into columns topological configuration variation and change thereupon.Therefore need to select a kind of suitable formation topology configuration, satisfying performance that number of communications between machine passes simultaneously can provide accurate, machine measurements information fully again, and is unlikely to increase the engineering design difficulty of assemblies such as airborne communication and measuring terminals, antenna system, transmitting terminal power amplification unit, receiving end signal amplifying unit.
The present invention proposes a kind of group of planes formation hierarchical technology communication system based on tree topology, has the ad hoc networking ability, supports the dynamic reallocation of topological configuration dynamic change and spreading code, frequency.
Figure 13 has provided a certain moment group of planes formation and has been in a certain topological configuration, air-air/Air-Ground communication tracking task is under certain pattern, based on the organizational form of the tree type communication network topology configuration of Ad hoc self-organization rule (for example :) Dynamic Definition based on locus and distance (group of planes formation task among Figure 13 exist 4 kinds totally 20 airplanes form isomery formation networks).In any moment, there is unique communication link in the aircraft that is defined as Air-Ground link vacant terminal in only forming into columns with a group of planes in C4IR command and control center, ground.So, ground C4IR accuses that central station need not to set up link with interior other nodes of group of planes formation, makes ground communication commander's task complexity and task amount greatly reduce.Simultaneously, arbitrary node was defined as M fork tree node (being binary tree among Figure 12) in a group of planes was formed into columns, comprise three identical full duplex asynchronous communication links, support and father node (the last layer node that connects with self) and two child nodes (next node layer that connects with self).Y-bend tree topology among Figure 12 has been divided into 6 layers to 20 nodes, forms the hierarchical technology structure, and only there is communication link in each node with self father node and child node, and the complexity and the traffic of each node are fairly simple.
Here provide following proposition:
Communication performance, the system of any member node identical (as: transmission flank speed, spreading code type, maximum transmission power, receiving sensitivity and tracking thresholding) in [proposition 1] group of planes is formed into columns and netted, abstract is the node of binary tree;
[proposition 2] can reach a conclusion according to Abstract Algebra, theory of discrete mathematics and computer network theory, data structure theory: all available binary tree of a three dimensions N node links, and realizes the information interaction of any two nodes by degree of depth traversal and range traversal;
The principle of any member node ad hoc networking was based on the traffic, each internodal spatial distribution geometric distance of current each node in [proposition 3] group of planes was formed into columns and netted, Adhoc MANET rule will be optimized (as: the shortest, the comprehensive transmission bandwidth occupancy minimum of comprehensive transmission distance) based on the target function of certain condition that is tied (as: task has determined the topological three-dimensional space position constraint of forming into columns), and constructing communication network topology configuration can dynamically change according to the variation of task and can switch to other topological configurations arbitrarily.
Any member node had three separate, physically-isolated full duplex asynchronous communication terminal of cover and directional antennas in a group of planes was formed into columns and netted, and had interface with communication protocol processor, took place interrelated in data link layer, network layer, transport layer, application layer.CDMA/FDMA combination multiple access strategy is not suitable for the too much situation of node number, therefore in the group of planes formation hierarchical technology communication system based on tree topology, proposes the pattern that CDMA+ double frequency multiple access inserts.Under this pattern, terminal emission/reception provides two kinds of frequencies (double frequency) f
A, f
BDistribute to transmission channel, receive path use respectively according to topological configuration during by group of planes formation networking, then: the odd-level node emission/reception of binary tree structure takies frequency f respectively
A/ f
B, the even level node emission/reception of binary tree structure takies frequency f respectively
B/ f
A, this moment, the odd-level node of binary tree structure can repeat (frequency is different) with the spreading code that the even level node distributes, but layer interior nodes can not be distributed identical spreading code (frequency is identical).The pattern that this CDMA+ double frequency multiple access inserts is beneficial to preferred spreading code, and (code length is: 63,127,255,511) spread spectrum with adopting short code.
For air-air high-speed communication traffic (being generally return link) between machine, it is professional that the spread spectrum system can't provide multiple access high-speed communication number to pass, utilize forward direction spread spectrum link distribution channels scheduling control information step by step this moment, pass with each node return link high-speed communication number of TDMA time division multiplex channel rule control; Perhaps utilize forward direction spread spectrum link to distribute frequency point allocation information step by step, realize that with FDMA frequency division multiple access rule each node return link high-speed communication number passes, this pattern both can be distributed frequency (N altogether) according to the required communication bandwidth that takies of the data volume of each node, also can distribute frequency (M altogether) according to the form into columns number of plies M of hierarchical technology structure of a group of planes, adopt time division multiplexing access communications link in the layer, can regard a kind of degree of depth ergodic process or range ergodic process of node for the y-bend tree topology as.
In multiple access system of the present invention, each member node is equal, all can be defined as the father node of any one deck of vacant terminal.Like this, the communication equipment of group of planes formation member node can standardised genericization, support between machine that next joint will propose air-air (Air-Ground in like manner) communication and measure the comprehensive channel system, and reliability is very high, even certain person's of putting up node has a cover communication terminal thoroughly to damage, still can be as routing function and communication function over the ground between communication net node operate as normal realization machine between machine.
Group of planes formation hierarchical technology multiple access system based on tree topology also adopts sign indicating number branch+frequency division combination multiple access system, support the base line measurement of any communication link two terminals, relative motion measurement and time synchronized, but link is the N-1 bar, N (N-1)/2 than cross link topology reduces a lot, metrical information is abundant not as the cross link topology, this can meet the demands for most group of planes formation task, can accuse that the station is to directly charge of group of planes formation for single ground C4IR, utilize machine measurements information dispersing as amount of restraint damping INS algorithm, a group of planes is formed into columns and is put in order net time synchronized etc., also can support group of planes formation to put in order net single ground C4IR is accused that the descending and single ground C4IR of single-link high-speed data at station (relaying in like manner via satellite) accuses that the charge order of standing to each member node of the whole net of group of planes formation is up, need not each member node time-division on ground or sign indicating number are tapped into, more needn't many ground stations participate in the Air-Ground communication for command.
Here propose in passing: star topology essence is that multiway tree constitutes the individual layer tree topology, but performance and reliability requirement to father node are very high, as: more directional antenna and communication terminal are provided, be not suitable for the situation that node is more and the topology of forming into columns exists dynamic change, newcomer to add, be difficult to accomplish that whenever the person's of putting up node possesses the father node function yet.If task allows, also can adopt TDMA time division multiple access pattern to use antenna to provide the data interaction service for each child node more than two pairs.If be further to simplify the airborne communication terminal complexity, also can adopt the chain topology, whenever the person's of putting up node will reduce by a cover communication terminal and an antenna.
Claims (1)
1. the group of planes group network topological structure and the combination multiple access system method for designing of forming into columns is applicable to the multiple access system and the group network topological structure of group of planes formation group-net communication and measurement, satisfies a group of planes and forms into columns the strike task is located and worked in coordination with in the passive detection of moving-target; Can think that the member node that any task all requires a group of planes to form into columns possesses following three kinds of functions:
1. group of planes formation member node networking forms the TOCOM total communication system that covers all member node, can set up between any two member's nodes single-hop, undelayed, to other members communication link transparent, asynchronous, full duplex, satisfy the whole network Real-Time Sharing demand of any member node information in the group of planes formation communication network, multi-hop communication and routing service also are provided, and group of planes formation communication network can be the pattern that Centroid is arranged or do not have Centroid;
2. a group of planes be used to the to form into columns topological structure control of networking of The real time measure geometric distance between the two critically of forming into columns between any two member's nodes, and be used for interferometry and distributed data processing as moving-target passive detection location and the collaborative baseline measures that hits system;
3. group of planes formation the whole network member's time synchronized, this point is in very many passive detection location, many bases and work in coordination with embody in the strike task particularly outstanding, the time synchronized that presses for all members in the group of planes formation net is implemented to control to realize formation networking topology configuration, and implementation space multi-point joint interfere type detection mission;
The group of planes realizing moving-target passive detection location and work in coordination with the strike task is formed into columns need set up member node multiple access communication, full duplex asynchronous data interaction in a kind of the net, possess any 2 precise distance measurements, the whole network is realized time synchronized communicates by letter, range finding and time synchronized system;
Group network topological structure that a described a kind of group of planes is formed into columns and combination multiple access system method for designing can realize on the digital signal processor DSP on the signal processing circuit of intermediate frequency plate of air fleet link terminating machine, FPGA device and radio-frequency channel;
It is characterized in that: group network topological structure that a described group of planes is formed into columns and combination multiple access system method for designing, the multiple access that proposes two kinds of communication topology configurations inserts system: based on the group of planes formation CDMA/FDMA combination multiple access communication system of cross link networking topology; Group of planes formation hierarchical technology multiple access communication system based on tree topology; The former can support the single-hop access module that the whole network covers, the multi-hop access module that the latter provides the whole network to cover;
One, the data link layer structure of the full duplex asynchronous communication channel of link between machine
The general yardstick of topological configuration of group of planes formation networking is in several kilometers～tens kilometer range in most tasks, any two member's aircraft maximum distances are generally about tens kilometers, therefore space communication link is copied the suggestion of CCSDS Proximity-1 short range space link communication protocol blue book between the node of group of planes networking in the present invention, design the data link layer transmission frame that is used for group of planes communication/base line measurement combined system with reference to the transmission frame-form of Version-3, comprising: the frame swynchronization code ASM of 24bit (0xFAF320), the structure fixed data frames top guide header of 32bit, length is less than the data field of 16344bit, the CRC check sign indicating number of 32bit; That this transmission frame is supported is asynchronous/synchronously comprehensive transmission, etc. the time/comprehensive transmission, the transmission of multichannel pseudo channel STDM when non-etc.; The data field front portion is defined as the duties section, and coding and local pseudorange coding sends to the other side when embedding respective links identifier, local clock face; Frame length is selected fixing, and frame frequency is the integer hertz, generally at 1Hz～20Hz, can decide according to measuring the refresh rate demand;
With in the group of planes in this system between machine the comprehensive chain pipeline equipment of communication/base line measurement be called: asynchronous communication/range finding terminal is ACRU, supposes that any member's aircraft in the group of planes net has all disposed ACRU; With two airplane A, B is research object, and ACRU_A, ACRU_B send transmission frame to the other side independently of one another, the emission carrier wave between two terminals and send all coherents not mutually of sign indicating number clock; The ACRU_A of aircraft A and aircraft B, ACRU_B are respectively at the delivery time sampling local clock counter on local transmission frame synchronous code forward position or edge, back, counter epoch of receive path code tracking loop, extract the other side's frame swynchronization code forward position delivery time from the duties section of current reception the other side transmission frame, and calculate the local pseudorange value of form epoch; When ACRU_A, ACRU_B utilize local measurement pseudorange, local clock face independently of one another, when receiving the local clock face of the local pseudorange of the other side, the other side that the other side sends through transmission frame, calculate distance between machine, synchronous error, two terminal sampling time intervals, carry out the time synchronized adjustment;
The present invention proposes between machine that full-duplex communication link realizes the mutual and two-way noncoherent distance measurement of asynchronous data, tests the speed, clock correction measurement, frequency deviation measurement, and the comprehensive link system of this communication/base line measurement has following four characteristics:
1. the data interaction of two Airborne Terminals and base line measurement comprehensively realize in single carrier is unified channel, the special-purpose base line measurement equipment of additional configuration not, be operated in the asynchronous, full duplex spread spectrum mode, communication/base line measurement process is transparent to other nodes between any two airplanes;
2. two Airborne Terminals send the identical transmission frame of structure to the other side independently of each other, and local base band data sends the sign indicating number clock, transmission carrier frequency is produced by local frequency synthesizer, not with the other side's coherent, do not have frequency, phase relation constraint between transmit leg and the recipient;
3. two Airborne Terminals extract independently of each other local reception element number tracking loop epoch the counter value of latching and local time and frequency standards nominal value calculate the local pseudorange of form epoch, it is embedded local transmission frame sends to the other side;
4. two Airborne Terminals utilize the local measurement pseudorange and receive the other side and pass through to calculate baseline measures and the local clock correction of two aircrafts between the acquisition machine through the pseudorange that transmission frame is sent, and realize the time synchronized adjustment;
The transmit frame that Airborne Terminal constantly extracts in sampling during epoch with received frame during epoch algebraic step be defined as local pseudorange, comprise this deviation when the geometric distance between two airplanes and local clock face constantly, the two needs by algorithm realization decoupling zero;
Two, the topological configuration design of group of planes formation networking
A group of planes is formed into columns topological configuration can be according to the different mode change of task, and the topological configuration of constructing communication network is often relevant with formation space topological configuration, therefore often also will change thereupon; And the member node of group of planes constructing communication network can be similar aircraft, also can the similar aircraft of right and wrong, that is: and multiple member node isomery networking;
Generally speaking, a group of planes is formed into columns, and communication network topology configuration comprises between the machine that adopts:
1. star topology: have Centroid, there is communication link with it in other nodes, and do not have communication link between the non-central node;
2. bus-type topology: be also referred to as tree topology, pass rank by star topology and constitute, have hierarchy, star topology can be regarded individual layer bus-type topology as;
3. ring topology: linking successively forms the annular of a sealing;
4. chain topology: ring topology disconnects somewhere and promptly deteriorates to the chain type topology;
5. cross link topology: have communication link between any two nodes;
6. mixed type topology: the first five plants certain combination of topology;
Group of planes communication network topology configuration 5. cross link topology configuration can provide a point-single hop link that covers any member node of the whole network, and structure is the simplest, and the path is maximum, and reliability is the highest, but performance may not be best; Distance, the measurement of speed isobase and chronometer time are synchronous between the machine that cross link topology configuration support group of planes the whole network covers, metrical information is the abundantest, and this character is more conducive to base line measurement between the node of a group of planes, relative movement parameters is measured and time synchronization process obtains higher performance;
These a few class communication network topology configurations all may occur in some group of planes formation tasks, and the principle that the definition of topological configuration and conversion are followed also can be divided into several classes:
1. commands for controlling mode: force to be defined as a certain topological configuration according to commands for controlling;
2. rule-based mode: following a certain optimization index definition according to parameters such as relative position, channel widths is a certain topological configuration;
3. Ad hoc mode: adopt the definition of self-organizing pattern dynamic implementation topology configuration;
Three, be applicable to the multiple access system of group of planes group-net communication and measurement
The group of planes realizing moving-target passive detection location and work in coordination with the strike task is formed into columns need set up member node multiple access communication, full duplex asynchronous data interaction in a kind of the net, possess any 2 precise distance measurements, the whole network is realized time synchronized communicates by letter, range finding and time synchronized system; The multiple access that the present invention proposes two kinds of novel communication topology configurations inserts system: based on the group of planes formation CDMA/FDMA combination multiple access communication system of cross link networking topology; Group of planes hierarchical technology multiple access communication system based on tree topology; The former can support the single-hop access module that the whole network covers, the multi-hop access module that the latter can provide the whole network to cover;
1, the group of planes formation CDMA/FDMA based on cross link networking topology makes up the multiple access communication system
Consider that the machine measurements of supporting any member of a group of planes should preferentially select the topological configuration of cross link for use with single-hop communication, the present invention proposes to adopt sign indicating number branch+frequency division combination multiple access system combination multiple access system to realize that transparent nothing postpones transmission data, the whole network Real-Time Sharing of arbitrary node data, the multiple access communication and the asynchronous range finding of high reliability between the covering of group of planes the whole network, the arbitrary node, can satisfy cross link topology configuration (also being applicable to the arbitrary topology configuration of § 2.2 joints); CDMA/FDMA networking system can provide the business demands at different levels of group of planes communication network, has particularly guaranteed to have communication link between any two members, can realize precise distance measurement and the whole network time synchronized between any 2;
The n person of putting up aircraft is arranged in the group of planes, and each member node is distributed an X/Ku/Ka wave band frequency and a spreading code that is used for band spectrum modulation on this frequency, and whole net is that the n person of putting up aircraft is divided into and has joined n frequency+n spreading code; Can set up n (n-1)/2 a two-way asynchronous communication link in the group of planes communication network; N=5 in Figure 16 example can set up 10 two-way links;
Each communication node of a group of planes (member) can utilize specific frequency and the spreading code of distributing to self to realize that band spectrum modulation sends information to other nodes, and this process is a broadcast type, has realized that the multiple access of single-point → multiple spot sends; Each node can both receive that the present invention puts the information of transmission, has guaranteed the TOCOM total communication spreadability in group of planes the whole network; Send to specific node if desired, then the definition destination address gets final product in the transmission frame-form of data link layer;
Each communication node of a group of planes can utilize n-1 frequency and n-1 spreading code of n-1 receive path correspondence distributing to self---distribute to interior other members' of group of planes communication network, despreading/the demodulating unit of n-1 receive path of the receiving element of communication terminal configuration between machine, each passage is down-converted to this passage frequency points corresponding on the intermediate frequency center frequency point of nominal and carries out carrier track, realizes despreading/demodulation with this locality regeneration spreading code of this passage correspondence; The corresponding independently respectively signal of communication from other n-1 node in the group of planes communication network of n-1 receive path is realized despreading/separate the mediation Data Receiving, and asynchronous range finding and/time synchronized; Whenever the person of putting up can both receive signal and the decoded data frame that other n-1 person of putting up aircrafts send simultaneously, and the processing procedure of each passage is separate not to be disturbed mutually, has realized that the multiple access of multiple spot → single-point receives;
Arbitrary node can receive simultaneously respectively from the information of other n-1 node in the group of planes communication network and be independent of each other, other n-1 nodes send information in group of planes communication network, sends, receiving course is separate is asynchronous procedure; All there is direct asynchronous communication links between any two persons of putting up in the group of planes communication network, mutually interaction data and carry out range finding/time synchronized between machine;
In addition, also support Ad Hoc self-organizing multi-hop route pattern, employing is apart from routing algorithm, but consider that the range finding/time synchronization process between arbitrary node necessarily requires single-point-single-point single-hop mode in the group of planes communication network, therefore the multi-hop pattern has little significance in group of planes group-net communication, and this communication function only is provided;
Cross link topology configuration advantage is a lot, but for the more formation group of planes of node, and number of members N＞8 perhaps have the newcomer to add a group of planes and form into columns, and then can cause multiple shot array, and design realizes causing big difficulty to Airborne Terminal; In addition, often task has determined to form into columns bigger apart from far and near gap between the topological configuration node, and the topological configuration of forming into columns in duty cycle can change, therefore excessive, the distance of inter-node communication Link State difference is along with the orbital motion dynamic change, the transmittability that provides, channel quality, differences in quality of service are very big, be unfavorable for stable, the reliability service of communication network, machine measurements consistency is undesirable;
Therefore, for ensureing that transfer of data, machine measurements precision satisfy the task needs between group of planes formation node, and need not obviously to improve transmitter unit power and receiving element sensitivity, antenna gain and directive property, air-air transfer of data and machine measurements are necessary between employing multi-hop link realization group of planes net machine, this multi-hop link often needs to define the multi-hop routing rule, and along with a group of planes form into columns topological configuration variation and change thereupon; Therefore need to select a kind of suitable formation topology configuration, satisfying performance that number of communications between machine passes simultaneously can provide accurate, machine measurements information fully again, and is unlikely to increase the engineering design difficulty of assemblies such as airborne communication and measuring terminals, antenna system, transmitting terminal power amplification unit, receiving end signal amplifying unit;
A kind of group of planes formation hierarchical technology communication system based on tree topology has the ad hoc networking ability, supports the dynamic reallocation of topological configuration dynamic change and spreading code, frequency;
An a certain moment group of planes is formed into columns and is in a certain topological configuration, and air-air/Air-Ground communication tracking task is under certain pattern, based on Ad hoc self-organization rule, and the organizational form of the tree type communication network of Dynamic Definition topology configuration; In any moment, there is unique communication link in the aircraft that is defined as Air-Ground link vacant terminal in only forming into columns with a group of planes in C4IR command and control center, ground; So, ground C4IR accuses that central station need not to set up link with interior other nodes of group of planes formation, makes ground communication commander's task complexity and task amount greatly reduce; Simultaneously, arbitrary node was defined as M fork tree node in a group of planes was formed into columns, and comprised three identical full duplex asynchronous communication links, supported and father node---the last layer node that connects with self and two child nodes---next node layer that connects with self; The y-bend tree topology has been divided into 6 layers to 20 nodes, forms the hierarchical technology structure, and only there is communication link in each node with self father node and child node, and the complexity and the traffic of each node are fairly simple;
Here provide following proposition:
Communication performance, the system of any member node were identical in [proposition 1] group of planes was formed into columns and netted, and abstract is the node of binary tree;
[proposition 2] can reach a conclusion according to Abstract Algebra, theory of discrete mathematics and computer network theory, data structure theory: all available binary tree of a three dimensions N node links, and realizes the information interaction of any two nodes by degree of depth traversal and range traversal;
The principle of any member node ad hoc networking was based on the traffic, each internodal spatial distribution geometric distance of current each node in [proposition 3] group of planes was formed into columns and netted, Ad hoc MANET rule will be optimized based on the target function of certain condition that is tied, and constructing communication network topology configuration can dynamically change according to the variation of task and can switch to other topological configurations arbitrarily;
Any member node had three separate, physically-isolated full duplex asynchronous communication terminal of cover and directional antennas in a group of planes was formed into columns and netted, and had interface with communication protocol processor, took place interrelated in data link layer, network layer, transport layer, application layer; CDMA/FDMA combination multiple access strategy is not suitable for the too much situation of node number, therefore in the group of planes formation hierarchical technology communication system based on tree topology, proposes the pattern that CDMA+ double frequency multiple access inserts; Under this pattern, terminal emission/reception provides two kinds of frequency f
A, f
BDistribute to transmission channel, receive path use respectively according to topological configuration during by group of planes formation networking, then: the odd-level node emission/reception of binary tree structure takies frequency f respectively
A/ f
B, the even level node emission/reception of binary tree structure takies frequency f respectively
B/ f
A, the spreading code of the odd-level node of binary tree structure and even level node distribution at this moment can repeat, but a layer interior nodes can not be distributed identical spreading code; The pattern that this CDMA+ double frequency multiple access inserts is beneficial to preferred spreading code and adopts the short code spread spectrum;
For air-air high-speed communication traffic between machine, it is professional that the spread spectrum system can't provide multiple access high-speed communication number to pass, utilize forward direction spread spectrum link distribution channels scheduling control information step by step this moment, pass with each node return link high-speed communication number of TDMA time division multiplex channel rule control; Perhaps utilize forward direction spread spectrum link to distribute frequency point allocation information step by step, realize that with FDMA frequency division multiple access rule each node return link high-speed communication number passes, this pattern both can be distributed frequency according to the required communication bandwidth that takies of the data volume of each node, also can distribute frequency according to the form into columns number of plies M of hierarchical technology structure of a group of planes, adopt time division multiplexing access communications link in the layer, can regard a kind of degree of depth ergodic process or range ergodic process of node for the y-bend tree topology as;
In multiple access system of the present invention, each member node is equal, all can be defined as the father node of any one deck of vacant terminal; Like this, the communication equipment of group of planes formation member node can standardised genericization, support between machine that next joint will propose air-air communication and measure the comprehensive channel system, and reliability is very high, even certain person's of putting up node has a cover communication terminal thoroughly to damage, still can be as routing function and communication function over the ground between communication net node operate as normal realization machine between machine;
Group of planes formation hierarchical technology multiple access system based on tree topology also adopts sign indicating number branch+frequency division combination multiple access system, support the base line measurement of any communication link two terminals, relative motion measurement and time synchronized, but link is the N-1 bar, N (N-1)/2 than cross link topology reduces a lot, metrical information is abundant not as the cross link topology, this can meet the demands for most group of planes formation task, can accuse that the station is to directly charge of group of planes formation for single ground C4IR, utilize machine measurements information dispersing as amount of restraint damping INS algorithm, a group of planes is formed into columns and is put in order net time synchronized etc., also can support group of planes formation to put in order net single ground C4IR is accused that the descending and single ground C4IR of single-link high-speed data at station accuses that the charge order of standing to each member node of the whole net of group of planes formation is up, need not each member node time-division on ground or sign indicating number are tapped into, more needn't many ground stations participate in the Air-Ground communication for command.
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| CN102196456A (en) * | 2011-07-06 | 2011-09-21 | 中国人民解放军信息工程大学 | Method for improving frequency spectrum utilization factor of heterogeneous wireless network using CS (circuit switching) |
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| CN108337067A (en) * | 2018-01-16 | 2018-07-27 | 成都福兰特电子技术股份有限公司 | A kind of control method of Multifunctional navigation communication and navigation identifying system |
| CN108540207A (en) * | 2018-04-20 | 2018-09-14 | 中国电子科技集团公司第二十九研究所 | A kind of satellite load Distributed Time synchronous method and system |
| CN109495157A (en) * | 2018-11-15 | 2019-03-19 | 西安空间无线电技术研究所 | A kind of full duplex high-throughput bidirectional ARQ communication system and method based on CCSDS agreement |
| CN109582016A (en) * | 2018-11-26 | 2019-04-05 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of robot system of multiband autonomous channel mass measurement |
| CN109828460A (en) * | 2019-01-21 | 2019-05-31 | 南京理工大学 | A kind of consistent control method of output for two-way heterogeneous multi-agent system |
| CN109871032A (en) * | 2019-03-04 | 2019-06-11 | 中科院成都信息技术股份有限公司 | A kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control |
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| CN112000108A (en) * | 2020-09-08 | 2020-11-27 | 北京航空航天大学 | Multi-agent cluster grouping time-varying formation tracking control method and system |
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| CN101127657B (en) * | 2007-07-16 | 2011-01-05 | 江南大学 | Dynamic modeling and control technology for independent mobile sensor network |
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| CN102196456B (en) * | 2011-07-06 | 2013-07-24 | 中国人民解放军信息工程大学 | Method for improving frequency spectrum utilization factor of heterogeneous wireless network using CS (circuit switching) |
| CN102196456A (en) * | 2011-07-06 | 2011-09-21 | 中国人民解放军信息工程大学 | Method for improving frequency spectrum utilization factor of heterogeneous wireless network using CS (circuit switching) |
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| CN112351416A (en) * | 2020-10-26 | 2021-02-09 | 浙江华消科技有限公司 | Communication network acquisition method and device, storage medium and electronic equipment |
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| CN112579654B (en) * | 2020-12-11 | 2024-04-09 | 航天东方红卫星有限公司 | Satellite telemetry parameter validity interpretation method based on WPF technology |
| CN113190035A (en) * | 2021-03-11 | 2021-07-30 | 沈阳合赢通用航空高技术产业研究院有限公司 | Hybrid topological structure-based unmanned aerial vehicle formation control method and system |
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