CN105119650A - Signal relay system based on unmanned aircraft, and signal relay method thereof - Google Patents
Signal relay system based on unmanned aircraft, and signal relay method thereof Download PDFInfo
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
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Abstract
Provided is a signal relay system based on an unmanned aircraft, and a signal relay method thereof. The system comprises a ground control device (1) and at least one unmanned aircraft (3). According to the flight state information of the unmanned aircraft (3) received by a communication module (5), an antenna control unit (9) calculates the antenna parameter information between a relay signal emitter (7) and the unmanned aircraft (3), and sends the antenna parameter information to an antenna module (2); a flight state module (10) measures the flight state information of the unmanned aircraft (3) through an electronic compass (11), an alleviator (12) and a GPS module (13), and sends the flight state information of the unmanned aircraft (3) to a control module (6) through the communication module (5); an antenna adjusting unit (16) adjusts antenna parameters according to the antenna parameter information sent by the communication module (5), and aligns directional antennas (15).
Description
Technical field
The invention belongs to signal relaying field, particularly relate to a kind of signal relay system based on unmanned vehicle and signal trunking method thereof.
Background technology
Relaying technique is applicable to the distribution of multiple user for finite communication resource the earliest, is widely used in wireless communication field again now.In brief, probably be divided into two kinds of situations as follows: one, such as when the Internet resources of an unspecified number of user certain fixed-bandwidth public in a region time, now pass through relaying technique, Extemporaneous partial network resource wherein gives current use user, then, when active user finishes using this resource, this partial network resource is allocated separately again the user needing use to other.Due to and not all user can use this Internet resources at one time, so fixing Internet resources can be allowed to serve more users better by rational allocation.A typical example is exactly the invoked procedure of telephone line in telephone system.They are two years old, in wireless communications, signal cover due to certain network equipment is limited, user's request is met in order to this signal cover can be allowed, sometimes, need this signal cover to expand in particular range, now need receive source signal by an equipment and this signal is outwards forwarded, adopt the mode of similar signal relay, expand wireless signal coverage.
In the application process of above-mentioned relaying technique, trunking and trunking method have also been obtained significant progress, but very important problem is, existing trunking and trunking method, is the mode based on static state substantially, allocates Internet resources.In other words, the various network equipments in environment have carried out conceptual design at the beginning of design, but once construct, all network equipments are all comparatively fixed, only can according to the strategy made in advance to carry out Resource Allocation in Networks, such design, must result in relaying technique in flexibility and intelligence degree, all there is room for improvement.Also cause constantly expanding in the process with diversification in the real network user demand of user, create new technical problem.
For under disaster scenario, comprising: the geological environmental disaster such as earthquake, flood, typhoon, fire, original communications infrastructure is destroyed, needs to set up provisional communication system in disaster site fast.Traditional vehicle-mounted emergency communication system, usually can because of under disaster scenarios it, and the extremes such as road damage cannot arrive assigned address in time; Satellite communication system can continue to use at disaster scenario, but satellite communication is with high costs, communication bandwidth is limited, equally, such as somewhere happens suddenly the situation of high flow of the people, and such as: concert, Christmas Day does shopping, the scenes such as railway station spring transportation, existing communication network is not enough to deal with googol certificate or voice communication demand.
Unmanned vehicle owing to can complete taking off and landing straight up and down, and can aloft hover, and flight is more flexible, so compared to traditional fixed-wing formula aircraft, have himself feature, and be widely applied.Patent documentation CN202713632 discloses a kind of unmanned vehicle channel wireless radio multi chain-circuit system based on WIFI, comprise aerial WIFI omnidirectional antenna, aerial WIFI WLAN (3), aerial wired local network switch (4), aerial lan device; Ground WIFI omnidirectional antenna, ground WIFI directional antenna (9), ground WIFI WLAN (10), landline LAN switch (11), ground LAN equipment, aerial WIFI WLAN (3) connects aerial WIFI omnidirectional antenna, aerial WIFI WLAN (3) connects aerial wired local network switch (4), and aerial wired local network switch (4) connects aerial lan device; Ground WIFI WLAN (10) connects ground WIFI omnidirectional antenna (8) and ground WIFI directional antenna (9), ground WIFI WLAN (10) connects landline LAN switch (11), and landline LAN switch (11) connects ground LAN equipment.This patent can carry out automation roaming between the WIFI wireless local network connecting point of multiple ground, expands communication network coverage.But its movement only having carried out WIFI WLAN (wireless local area network) is arranged net, can not be applicable to required signal relaying, and it cannot carry out adjustment control to signal relaying, thus its relaying weak effect, this patent cannot control unmanned plane in addition, also has no way of on purpose adjusting signal relaying.
Patent documentation CN103078673A discloses a kind of dedicated unmanned Helicopter System being applicable to mountain area electrical network and patrolling and examining, it includes sensing network, information transmission network and information processing centre, described sensing network comprises ground station's TT&C system of unmanned aerial vehicle platform being carried out to observing and controlling, to the photoelectric nacelle that the dynamic attribute of transmission tower obtains, the obstacle avoidance system of automatic obstacle avoiding is carried out when running into obstacle, carry the unmanned aerial vehicle platform of photoelectric nacelle and obstacle avoidance system, described ground station's TT&C system includes the ground station control device and ground station's TT&C software that control unmanned plane and entrained photoelectric nacelle thereof, described TT&C software is for identifying the electric power attribute of various static state and the action for controlling ground station control device, described unmanned aerial vehicle platform includes flight control system, flight control system is connected with the parameter obtained detected by obstacle avoidance system to obstacle avoidance system is two-way and assigns corresponding control command, described photoelectric nacelle is connected with flight control system is two-way, described photoelectric nacelle obtains various image/video information by the optoelectronic device that it carries, ground station's TT&C system is transferred to by airborne station-information transmission network, the telemetry intelligence (TELINT) of self operating mode is uploaded to flight control system simultaneously, is forwarded to ground station's TT&C software by flight control system, ground station's TT&C system passes through airborne station, flight control system controls the various actions of photoelectric nacelle, described information transmission network includes vehicle radio station, communication relay station and airborne station, described vehicle radio station is the various instructions being connected to accept ground station control device with ground station control device, the information that the oneself state that vehicle radio station is also connected to send unmanned plane and photoelectric nacelle with ground station TT&C software stops and obtains, described vehicle radio station is also connected the oneself state information sending photoelectric nacelle and the information obtained with the command centre that prevents and reduces natural disasters, described airborne station is connected with the flight control system of unmanned aerial vehicle platform is two-way, to assign flight directive and to receive the various parameters that flight control system obtains, vehicle radio station and airborne station communicate with communication relay station respectively and are connected, exchanged by communication relay station and obtain required parameter and instruction, described information processing centre includes and prevents and reduces natural disasters command centre and examine for assessment of the tour image making an inspection tour diagnostic imaging the evaluating system that continues, prevent and reduce natural disasters to receive in commander by obtains and sends to tour diagnostic imaging evaluating system with various parameter.This patent can realize efficient electrical network and patrol and examine, its Information Processing Network can be disposed as hidden danger controls by accident barrier, can greatly reduce electric network fault rate, effectively reduce power grid operation cost, but it still can not be applicable to required signal relaying, and it cannot carry out adjustment control to signal relaying, thus its relaying weak effect, this patent cannot control unmanned plane in addition, also have no way of on purpose adjusting signal relaying, finally, this patent structure is complicated, and the scope of application is narrow.
Therefore, the direction that this area a kind of moveable directional radio signals generator of urgent need can be determined to space provides one comparatively speaking, the wireless signal that direction is single, transmission range is far away, sources traffic signal can wirelessly extend by this directional radio signals generator of multi-section.Flight relaying signal amplifying apparatus is then the phasing signal that reception directional radio signals generator provides, and is translated into a large-scale wireless network signal.And real-time accurate adjustment can be carried out to unmanned plane and signal relaying and applied widely, structure is simply based on signal relay system and the control method thereof of unmanned vehicle.
Summary of the invention
The object of the invention is to be achieved by the following technical programs.
According to a first aspect of the invention, a kind of signal relay system based on unmanned vehicle disclosed by the invention comprises ground control unit and at least one unmanned vehicle.
Described ground control unit comprises GIS module, communication module, control module and repeating signal reflector.
Described GIS module for input and output unmanned vehicle flight path information and be used in GIS map and browse, edit and delete corresponding described flight path information.
Described communication module utilizes wireless network to set up communication between described ground control unit and described unmanned vehicle.
Described control module comprises flight control units and antenna control unit, the state of flight of the described flight path information adjustment unmanned vehicle that described flight control units provides based on described GIS module; The state of flight information of the unmanned vehicle that described antenna control unit receives according to described communication module calculates the antenna parameter information of the directional antenna between described repeating signal reflector and unmanned vehicle and sends described antenna parameter information to Anneta module.
Described signal projector sends required repeating signal.
At least one unmanned vehicle is provided with state of flight module and Anneta module, described state of flight module is measured the state of flight information of described unmanned vehicle by electronic compass, altimeter and GPS module and is sent to described control module by described communication module, described Anneta module comprises directional antenna, omnidirectional antenna and tested rotating platform unit, and the antenna parameter information that described tested rotating platform unit sends according to communication module adjusts antenna parameter and makes to aim between directional antenna.
Preferably, at least one is with the first unmanned vehicle of directional receiving antenna and directional transmitting antenna, described directional receiving antenna directional reception repeating signal and described directional transmitting antenna directional transmissions repeating signal, at least one is with the second unmanned vehicle of directional receiving antenna and omnidirectional transmitter antenna, and described directional receiving antenna receives repeating signal that described first unmanned vehicle launches and launches repeating signal by described omnidirectional transmitter antenna.
Preferably, described GIS module comprises GIS route information and imports and exports unit, route information display unit and route information maintenance unit, and wherein, described GIS route information imports and exports unit for the importing of unmanned vehicle route information in GIS map and derivation; Described route information display unit for showing route information in GIS map; Described route information maintenance unit for browsing, editing and delete corresponding route information in GIS map.
Preferably, described communication module uses 3G/4G network or satellite communication network as communications carrier.
Preferably, described unmanned vehicle is provided with the multiple ultrasonic listening transducers for detecting obstacles thing in different directions, described flight control units comprises keeps away barrier module, when described ultrasonic listening transducer detects barrier, described in keep away barrier module and send and dodge signal.
Preferably, described control module is provided with man-machine interface to carry out Artificial Control.
Preferably, described communication module be provided with realize repeating signal receive and repeating signal launch between the trunking traffic routing module of data transaction.
Preferably, described tested rotating platform unit carry out directional antenna aim at make azimuth angle error≤1 spend with angle of pitch error≤0.5 degree.
According to a second aspect of the invention, the signal trunking method of the signal relay system based on unmanned vehicle disclosed by the invention, it comprises the following steps:
In first step, described GIS module Received signal strength relay task also plans the flight path information of unmanned vehicle.
In second step, the state of flight of the flight path information adjustment unmanned vehicle that described flight control units provides based on described GIS module, described unmanned vehicle arrives preposition.
In third step, described flight state module is measured the state of flight information of unmanned vehicle and is sent to described control module by described communication module.
In 4th step, the state of flight information of the unmanned vehicle that described antenna control unit receives according to described communication module calculates the antenna parameter information of the directional antenna between unmanned vehicle and sends described antenna parameter information to Anneta module.
In 5th step, the antenna parameter information that described tested rotating platform unit sends according to communication module adjusts antenna parameter and makes to aim between directional antenna.
Preferably, when the multiple ultrasonic listening transducers be provided with on the different directions of unmanned vehicle detect barrier, keep away barrier module and send and dodge signal.
The scheme that the present invention proposes, the direction can determined to space provides one comparatively speaking, the wireless signal that direction is single, transmission range is far away, sources traffic signal can wirelessly extend by this directional radio signals generator of multi-section, and can accurate adjustment and applied widely in real time, structure is simple, and flight error of the present invention causes primarily of GPS error, flight difference accuracy can be controlled within the scope of 10 meters, and height error is within the scope of 1 meter; According to terrain differences, between two frame aircraft, 3KM-5KM directional radio communication can be realized.In addition, the present invention can realize second level antenna parameter and flight attitude adjustment, to ensure that unmanned vehicle directional antenna is aimed at, wherein error≤1 degree at alignment orientation angle, error≤0.5 degree of the angle of pitch; Due to the half power lobe width B >10 degree of general directional antenna.Therefore, within the scope of worst error, launching directional antenna can aim at reception antenna, normally works.
Accompanying drawing explanation
Fig. 1 is according to an embodiment of the invention based on the schematic diagram of the signal relay system of unmanned vehicle.
Fig. 2 is according to an embodiment of the invention based on the structural representation of the signal relay system of unmanned vehicle.
Fig. 3 is in accordance with another embodiment of the present invention based on the structural representation of the signal relay system of unmanned vehicle.
Fig. 4 is according to an embodiment of the invention based on the step schematic diagram of the trunking method of the signal relay system of unmanned vehicle.
Below in conjunction with drawings and Examples, the present invention is further explained.
Embodiment
Present embodiments describe a kind of signal relay system based on unmanned vehicle, schematic diagram as the signal relay system based on unmanned vehicle of Fig. 1 is shown required repeating signal and is produced by repeating signal reflector 7, unmanned vehicle 3 receives repeating signal and sends directionally to other unmanned vehicle 3, and the repeating signal omnidirectional of directional reception is covered this region by the unmanned vehicle of the overlying regions of required repeating signal.
The schematic diagram of the signal relay system based on unmanned vehicle according to an embodiment of the invention as shown in Figure 2, a kind of signal relay system based on unmanned vehicle comprises ground control unit 1 and at least one unmanned vehicle 3.
Described ground control unit 1 comprises GIS module 4, communication module 5, control module 6 and repeating signal reflector 7.Ground control unit 1 is mainly used to Received signal strength relay task, and first ground control unit 1 determines trunk, according to GIS information process analysis on trunk, determines the formation unmanned plane during flying device quantity and the hovering position that participate in relay task.Preferably, unmanned vehicle can drop to the position of highland charging pile.
Described GIS module 4 for input and output unmanned vehicle 3 flight path information and be used in GIS map and browse, edit and delete corresponding described flight path information.Show flight path information in GIS module 4, and planning, the operation such as selection and frame choosing of flight path information are provided, and be used in GIS map and browse, edit and delete corresponding flight path information.
In one embodiment, described GIS module 4 comprises GIS line information and imports and exports unit 19, line information display unit 20 and line information maintenance unit 21.Wherein, GIS line information imports and exports unit 19, in GIS map without the importing of aircraft flight route information and derivation, its import and derive form include but not limited to the form such as text, XML, CSV, EXCEL, WORD, PDF; Route information display unit 20, for showing flight path information in GIS map; Line information maintenance unit 21, for browsing, editing and delete corresponding flight path information in GIS map.GIS module 4 provides geographical information query for flight line planning, comprises the altitude info ination of GPS information, place and flight line, building, road, river information etc.
Described communication module 5 utilizes wireless network to set up communication between described ground control unit 1 and described unmanned vehicle 3.In one embodiment, the Data-Link that communication module 5 utilizes various wireless or cable communicating technology to set up between ground control unit 1 with unmanned vehicle 3 communicates, and comprises the downlink of upstream data chain that state of flight and antenna parameter control and state of flight, antenna condition, emergency communication routing state.In one embodiment, communication module 5 uses 3G/4G network or satellite communication network as the carrier communicated.
Described control module 6 comprises flight control units 8 and antenna control unit 9, the state of flight of the described flight path information adjustment unmanned vehicle 3 that described flight control units 8 provides based on described GIS module 4; The state of flight information of the unmanned vehicle 3 that described antenna control unit 9 receives according to described communication module 5 calculates the antenna parameter information between described repeating signal reflector 7 and the directional antenna of unmanned vehicle 3 and sends described antenna parameter information to Anneta module 2.In one embodiment, flight control units 8 is according to repeating signal task, based on the geography information that GIS module provides, and the available wireless communication network state that actual range place is nearest, adjustment unmanned vehicle state of flight, it comprises unmanned vehicle landing point, hover point, level point, track points, makes a return voyage a little, the flying height on flight path, flying speed.The transmitting and receiving orientation that antenna control unit 9 utilizes communication module 5 to return or omnidirectional antenna parameter, transmitting and receiving directional antenna parameter between the two frame aircraft that real-time calculating is adjacent, antenna parameter comprises: antenna height, GPS location, azimuth, the angle of pitch, transmitting power, the information such as receiving sensitivity.Between two Adjacent aircraft antenna parameter be calculated as level renewal speed second, result of calculation is passed to two Adjacent aircraft by communication module 4 by ground control unit.In one embodiment, antenna control unit 9 is collected current antenna parameter and can also be comprised: transmitting power, received power, the angle of pitch and azimuth.By the antenna parameter after calculating, adjustment transmitting antenna and reception antenna parameter in real time, realizes the antenna alignment operation of Adjacent aircraft.
Described repeating signal reflector 7 sends required repeating signal.Repeating signal reflector 7 can be launching tower.
At least one unmanned vehicle 3 is provided with state of flight module 10 and Anneta module 2, described state of flight module 10 is measured the state of flight information of described unmanned vehicle 3 by electronic compass 11, altimeter 12 and GPS module 13 and is sent to described control module 5 by described communication module 5, described Anneta module 2 comprises directional antenna 14, omnidirectional antenna 15 and tested rotating platform unit 16, and the antenna parameter information that described tested rotating platform unit 16 sends according to communication module 5 adjusts antenna parameter and makes to aim between directional antenna 14.
In one embodiment, state of flight module 10 is by electronic compass 11, altimeter 12 and GPS module 13 measure the state of flight information comprising azimuth information, elevation information and positional information of unmanned vehicle 3, electronic compass 11 is by transducer real-time collecting aircraft azimuth information, altimeter 11 is by transducer real-time collecting aircraft altitude information, and GPS module 13 is by transducer real-time collecting Aircraft position information.Tested rotating platform unit makes to aim between directional antenna 14 by the antenna parameter such as azimuth, the angle of pitch of stepping motor accurate adjustment directional antenna 14.
One embodiment of the present of invention are by the flight control of unmanned vehicle and antenna control realization repeating signal remote directional relay throw in repeating signal to target area by omnidirectional antenna movably, relaying Be very effective of the present invention and controlled, easy to operate.
As shown in Figure 3 in accordance with another embodiment of the present invention based on the schematic diagram of the signal relay system of unmanned vehicle, a kind of signal relay system based on unmanned vehicle comprises ground control unit 1 and at least one unmanned vehicle 3.
Described ground control unit 1 comprises GIS module 4, communication module 5, control module 6 and repeating signal reflector 7.
Described GIS module 4 for input and output unmanned vehicle 3 flight path information and be used in GIS map and browse, edit and delete corresponding described flight path information.
Described communication module 5 utilizes wireless network to set up communication between described ground control unit 1 and described unmanned vehicle 3.Communication module 5 be provided with realize repeating signal receive and repeating signal launch between the trunking traffic routing module 24 of data transaction.In an embodiment, trunking traffic routing module 24 realize Signal reception and signal launch between data transaction, this data conversion process can be any packet conversion meeting international communication standards or agreement.While packet forwards, the Packet forwarding success rate of this module 24 Real-Time Monitoring route, packet loss in route, data delay, the key indexs such as shake, and data are back to ground control unit 1 by communication module 4.
Described control module 6 comprises flight control units 8 and antenna control unit 9, the state of flight of the described flight path information adjustment unmanned vehicle 3 that described flight control units 8 provides based on described GIS module 4; The state of flight information of the unmanned vehicle 3 that described antenna control unit 9 receives according to described communication module 5 calculates the antenna parameter information between described repeating signal reflector 7 and the directional antenna of unmanned vehicle 3 and sends described antenna parameter information to Anneta module 2, and described control module 6 is provided with man-machine interface to carry out Artificial Control.
Repeating signal reflector 7 sends required repeating signal.
At least one unmanned vehicle 3 ', 3 " are provided with state of flight module 10 and Anneta module 2, described state of flight module 10 is by electronic compass 11, altimeter 12 and GPS module 13 are measured the state of flight information of described unmanned vehicle 3 and are sent to described control module 5 by described communication module 5, at least one first unmanned vehicle 3 with directional receiving antenna 25 and directional transmitting antenna 17 ', described directional receiving antenna 25 directional reception repeating signal and described directional transmitting antenna 17 directional transmissions signal, at least one second unmanned vehicle 3 with directional receiving antenna 25 and omnidirectional transmitter antenna 18 ", described directional receiving antenna 25 receives described first unmanned vehicle 3, and ' repeating signal of transmitting also launches repeating signal by described omnidirectional transmitter antenna 18.The antenna parameter information that described tested rotating platform unit 16 sends according to communication module 5 adjusts antenna parameter and makes to aim between directional antenna 25,17.
' directional transmitting antenna 17 carried is large-power directional antenna to first unmanned vehicle 3, and directional receiving antenna 25 is high sensitivity directional antenna.Second unmanned vehicle 3 is " for the purpose of quorum sensing inhibitor.The directional receiving antenna 25 that it carries is high sensitivity directional antenna, and omnidirectional transmitter antenna 18 is high-power omnidirectional antenna.
Unmanned vehicle 3 ', 3 " be provided with the multiple ultrasonic listening transducers 22 for detecting obstacles thing in different directions; described flight control units 8 comprises keeps away barrier module 23; when described ultrasonic listening transducer 22 detects barrier, described in keep away barrier module 23 and send and dodge signal.In embodiment; unmanned vehicle 3 ', 3 " configure ultrasonic listening transducer 22 in a different direction; detection unmanned flight peripheral obstacle; when detecting barrier on the certain distance of heading; the barrier module 23 of keeping away to flight control units 8 sends deceleration and keeps away barrier request; when distance reduces further, send hovering or request of rising to flight control units 8.
Tested rotating platform unit 16 carry out directional antenna aim at make azimuth angle error≤1 spend with angle of pitch error≤0.5 degree.
Shown in Figure 4 according to an embodiment of the invention based on the signal trunking method of the signal relay system of unmanned vehicle, it comprises the following steps.
In first step S1, described GIS module 4 Received signal strength relay task also plans the flight path information of unmanned vehicle 3.
In second step S2, the state of flight of the flight path information adjustment unmanned vehicle 3 that described flight control units 8 provides based on described GIS module 4, described unmanned vehicle 3 arrives preposition.
In third step S3, described state of flight module 10 is measured the state of flight information of unmanned vehicle 3 and is sent to described control module 6 by described communication module 5.
In 4th step S4, the state of flight information of the unmanned vehicle 3 that described antenna control unit 8 receives according to described communication module 5 calculates the antenna parameter information of the directional antenna 14 between unmanned vehicle 3 and sends described antenna parameter information to Anneta module 2.
In 5th step S5, the antenna parameter information that described tested rotating platform unit 16 sends according to communication module 5 adjusts antenna parameter and makes to aim between directional antenna 14.
In one embodiment, when the multiple ultrasonic listening transducers 22 be provided with on the different directions of unmanned vehicle 3 detect barrier, keep away barrier module 23 and send and dodge signal.
In one embodiment, aim at instability for preventing the directional antenna between the unmanned vehicle that causes due to environmental factor and cause network interruption problem, plan in the first step of the flight path information of unmanned vehicle 3 can design many radio communication redundancy routes in GIS module 4 Received signal strength relay task, namely sending multiple unmanned vehicle to combine and wireless routing redundancy is provided, ensureing that communication is unimpeded without interrupting.
In one embodiment, unmanned plane during flying device state of flight can be realized in conjunction with communication module 5 and monitor in real time, comprise each aircraft current GPS location in formation, highly, speed, communications status, flight environment of vehicle, the information such as barrier anticipation.All unmanned vehicle state informations, are presented to user in real time by human-computer interaction module.
In one embodiment, trunking traffic routing module 24 can Real-Time Monitoring communication routing state, ensure communication lines by stablizing, available; Under relay point breaks down situation, module 24 can produce alarm, after system failure judgement reason, can attempt self-healing, if self-healing failure, by manual intervention handling failure point.For ensure communication lines by stability, generally all can formulate redundancy or alternate route, ensure have at least one or more emergent transistroute to use.
In the method, after unmanned aerial vehicle device takes off according to the planning in ground control unit, the target setting place flying to respective, hover after arriving objective, when keeping fuselage stable, begin through communication module 4 and set up co-operation between unmanned vehicle and ground control unit.First unmanned vehicle mainly sends the information such as height parameter, GPS location parameter, electronic compass parameter and the antenna parameter of self to adjacent aircraft, two adjacent relaying aircraft are aimed at each other by antenna control unit and are controlled, set up the radio communication of directional antenna, this antenna control unit is by information such as communication module 5 real-time collecting unmanned vehicle state, antenna parameters, real-time calculating, real-time adjustment, ensures that the azimuth of directional antenna and the angle of pitch remain within the scope of the main lobe that opposite end directional antenna transmits.Radio communication between all unmanned vehicles set up completely complete after, throw in wireless signal by omnidirectional antenna to target area by the second aircraft.
Although be below described embodiment of the present invention by reference to the accompanying drawings, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art, under the enlightenment of this specification and when not departing from the scope that the claims in the present invention are protected, can also make a variety of forms, and these all belong to the row of the present invention's protection.
Claims (10)
1., based on a signal relay system for unmanned vehicle, it comprises ground control unit (1) and at least one unmanned vehicle (3), wherein,
Described ground control unit (1) comprises GIS module (4), communication module (5), control module (6) and repeating signal reflector (7), wherein,
Described GIS module (4) for input and output unmanned vehicle (3) flight path information and be used in GIS map and browse, edit and delete corresponding described flight path information;
Described communication module (5) utilizes wireless network to set up communication between described ground control unit (1) and described unmanned vehicle (3);
Described control module (6) comprises flight control units (8) and antenna control unit (9), the state of flight of described flight path information adjustment unmanned vehicle (3) that described flight control units (8) provides based on described GIS module (4); The state of flight information of the unmanned vehicle (3) that described antenna control unit (9) receives according to described communication module (5) calculates the antenna parameter information between described repeating signal reflector (7) and the directional antenna of unmanned vehicle (3) and sends described antenna parameter information to Anneta module (2);
Described repeating signal reflector (7) sends required repeating signal;
At least one unmanned vehicle (3) is provided with state of flight module (10) and Anneta module (2), described state of flight module (10) is by electronic compass (11), altimeter (12) and GPS module (13) are measured the state of flight information of described unmanned vehicle (3) and are sent to described control module (5) by described communication module (5), described Anneta module (2) comprises directional antenna (14), omnidirectional antenna (15) and tested rotating platform unit (16), the antenna parameter information that described tested rotating platform unit (16) sends according to communication module (5) adjusts antenna parameter and makes to aim between directional antenna (14).
2. the signal relay system based on unmanned vehicle according to claim 1, is characterized in that comprising:
At least one is with the first unmanned vehicle (3 '), described directional receiving antenna (25) directional reception repeating signal and described directional transmitting antenna (17) the directional transmissions signal of directional receiving antenna (25) and directional transmitting antenna (17);
(3 "), described directional receiving antenna (25) receives described first unmanned vehicle, and (repeating signal that 3 ') are launched also launches repeating signal by described omnidirectional transmitter antenna (18) at least one second unmanned vehicle with directional receiving antenna (25) and omnidirectional transmitter antenna (18).
3. the signal relay system based on unmanned vehicle according to claim 1, it is characterized in that: described GIS module (4) comprises GIS route information and imports and exports unit (19), route information display unit (20) and route information maintenance unit (21), wherein, described GIS route information imports and exports unit (19) for the importing of unmanned vehicle route information in GIS map and derivation; Route information display unit (20) for showing route information in GIS map; Route information maintenance unit (21) for browsing, editing and delete corresponding route information in GIS map.
4. the signal relay system based on unmanned vehicle according to claim 1, is characterized in that: described communication module (5) uses 3G/4G network or satellite communication network as communications carrier.
5. the signal relay system based on unmanned vehicle according to claim 1, it is characterized in that: described unmanned vehicle (3) is provided with the multiple ultrasonic listening transducers (22) for detecting obstacles thing in different directions, described flight control units (8) comprises keeps away barrier module (23), when described ultrasonic listening transducer (22) detects barrier, described in keep away barrier module (23) and send and dodge signal.
6. the signal relay system based on unmanned vehicle according to claim 1, is characterized in that: described control module (6) is provided with man-machine interface to carry out Artificial Control.
7. the signal relay system based on unmanned vehicle according to claim 1, is characterized in that: described communication module (5) be provided with realize repeating signal receive and repeating signal launch between the trunking traffic routing module (24) of data transaction.
8. the signal relay system based on unmanned vehicle according to claim 1, is characterized in that: described tested rotating platform unit (16) carry out directional antenna aim at make azimuth angle error≤1 spend with angle of pitch error≤0.5 degree.
9. use a signal trunking method for the signal relay system based on unmanned vehicle according to any one of claim 1-8, it comprises the following steps:
In first step (S1), described GIS module (4) Received signal strength relay task also plans the flight path information of unmanned vehicle (3);
In second step (S2), the state of flight of flight path information adjustment unmanned vehicle (3) that described flight control units (8) provides based on described GIS module (4), described unmanned vehicle (3) arrives preposition;
In third step (S3), described state of flight module (10) is measured the state of flight information of unmanned vehicle (3) and is sent to described control module (6) by described communication module (5);
In 4th step (S4), the state of flight information of the unmanned vehicle (3) that described antenna control unit (8) receives according to described communication module (5) calculates the antenna parameter information of the directional antenna (14) between unmanned vehicle (3) and sends described antenna parameter information to Anneta module (2);
In 5th step (S5), the antenna parameter information that described tested rotating platform unit (16) sends according to communication module (5) adjusts antenna parameter and makes to aim between directional antenna (14).
10. the signal trunking method of the signal relay system based on unmanned vehicle according to claim 9, it is characterized in that: when the multiple ultrasonic listening transducers (22) be provided with on the different directions of unmanned vehicle (3) detect barrier, keep away barrier module (23) and send and dodge signal.
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