CN105818961A - Multi-antenna and fuselage integrated unmanned aerial vehicle - Google Patents
Multi-antenna and fuselage integrated unmanned aerial vehicle Download PDFInfo
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- CN105818961A CN105818961A CN201610319652.0A CN201610319652A CN105818961A CN 105818961 A CN105818961 A CN 105818961A CN 201610319652 A CN201610319652 A CN 201610319652A CN 105818961 A CN105818961 A CN 105818961A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/285—Aircraft wire antennas
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Abstract
The invention relates to a multi-antenna and fuselage integrated unmanned aerial vehicle. Two or more antennas, a data transmission sending device and a data transmission receiving device are arranged on a fuselage of the unmanned aerial vehicle, wherein the data transmission sending device and the data transmission receiving device are connected with the antennas, and the antennas are embedded in the fuselage of the unmanned aerial vehicle. According to the multi-antenna and fuselage integrated unmanned aerial vehicle, long-distance, multi-channel, full-duplex, low-power-consumption, miniaturized and efficient comprehensive wireless data transmission of the unmanned aerial vehicle can be achieved, so that the size of a wireless data transmission module is reduced to the maximum, the transmission distance of the wireless data transmission module of the unmanned aerial vehicle is increased, the transmission efficiency of the wireless data transmission module of the unmanned aerial vehicle is improved, the anti-interference capacity of the wireless data transmission module of the unmanned aerial vehicle is improved, the cruise duration of the unmanned aerial vehicle is prolonged, the safety and stability of the whole unmanned aerial vehicle are improved, and thus the defects of a data transmission device of an existing unmanned aerial vehicle are overcome.
Description
Technical field
The present invention relates to a kind of device that multiway images, voice, data multiplexing techniques are realized broadband wireless data transmission in wireless data transmission technical field, particularly relate to a kind of multiple antennas fuselage and merge unmanned air vehicle technique.
Background technology
From the beginning of 2011, unmanned air vehicle technique and application development in robot field are swift and violent.Unmanned plane antecessor with big boundary as representative, is extended to specialized market by unmanned plane by consumption market.Unmanned plane industry and the every profession and trade application development on the ground such as Shenzhen, Beijing, Shanghai, Wuhan, Xi'an are swift and violent.Along with development and the business model innovation of the Internet of science and technology, unmanned plane has become most has one of prospect, industry with fastest developing speed.
Professional unmanned air vehicle technique and application market reach its maturity.Swift and violent in numerous areas development such as public security, frontier defense, traffic, electric power, mining industry, agricultural, medium, specialty dispensings, in anticipated the five-year, the market of professional unmanned plane will break through 100,000,000,000, and the supporting remote broadband integrated data transmission equipment market of unmanned plane therein will break through 30,000,000,000.The five-year, professional unmanned plane hardware joint product annual rate of growth will more than 50%, and related software and service occupation year increase then may be doubled.
Current domestic main unmanned plane producer uses WIFI or 3G/LTE flow card as several biography means substantially, and transmission bandwidth, transmission range are very limited.Developed recently with COFDM (codedorthogonalfrequencydivisionmultiplexing, COFDM) there is again the problem that passage is single in broadband digital transmission module based on technology, it is impossible to meet unmanned plane and multichannel arrowband number is passed and multichannel broadband number passes the urgent needs of integrated transmission.Under most of professional application scenes, HD video data are transmitted except needs between unmanned plane and ground control station, also need to transmitting GPS data, flight control data, cradle head control data, camera control data etc., therefore, currently without the man-machine upper multi-section data radio station that is all integrated with to transmit above-mentioned multichannel data.
Though as it has been described above, the number of existing unmanned plane passes device can meet the requirement of transmission bandwidth and transmission range, but having still suffered from some deficiencies, and failing to reach optimal using effect, it can not be summarized as follows completely:
1, existing number biography technology channel is single, and it mostly is either simplex data radio station, for realizing the two-way comprehensive transmission of image, voice, data, need to use multiple radio transmission apparatus to carry out integrated, cause body bloatedness, system complex, bulky, load weight, affect load capacity and the flying power of unmanned plane；
2, the emc issue between the multiple wireless data transmission module that existing unmanned plane is integrated highlights, and serious interference between different radio digital transmission module brings hidden danger to the effective and safe operation of unmanned plane；
3, existing unmanned plane number teaches skill art and uses single antenna point-to-point transmission, and generally less than 5 kilometers, transmission range still needs to be improved further；
4, existing unmanned plane number teaches skill art and uses single antenna point-to-point transmission, and along with transmission range increases, channel condition is deteriorated, and effective transmission bandwidth drastically declines, and affects the overall operation performance of unmanned plane；
5, the multimode integrated wireless number that existing unmanned plane uses teaches skill art, and power consumption is big, effective cruising time of restriction unmanned plane, and does not meets energy saving effect；
6, traditional digital transmission module transmission performance in complex electromagnetic environment drastically declines, and this is also one of the maximum hidden danger of unmanned plane safe flight operation.
As can be seen here, above-mentioned existing unmanned plane is in the design and use of transmitting device, it is clear that still suffers from defective and inconvenient, and is urgently further improved.How to found one can realize at a distance, multichannel, full duplex, low-power consumption, miniaturization, novel unmanned plane high-effect, jamproof, real belong to the target that current industry pole need to be improved.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of multiple antennas fuselage and merges unmanned plane, make it can realize remote, multichannel, the full duplex of unmanned plane, low-power consumption, miniaturization, efficient wireless composite number pass, thus reduce wireless data transmission module size to greatest extent, promote transmission range and the efficiency of transmission of unmanned plane digital transmission module, promote the capacity of resisting disturbance of unmanned plane wireless data sending, increase cruising time and the complete machine safety and stability performance of UAS, thus overcome existing unmanned plane to pass the deficiency in device design at number.
For solving above-mentioned technical problem, the present invention provides a kind of multiple antennas fuselage to merge unmanned plane, and its fuselage is provided with antenna and the number biography dispensing device sum transmitting/receiving apparatus being connected with antenna, and described antenna is more than two, is embedded on the fuselage of unmanned plane.
As a modification of the present invention, described antenna is embedded along rotor arm or the wing of unmanned plane.
As a modification of the present invention, described antenna is evenly and symmetrically distributed on unmanned aerial vehicle body.
As a modification of the present invention, described antenna is two, four, the six roots of sensation or eight.
As a modification of the present invention; described antenna uses multipath concurrence time slot channel transmission data; its physical layer includes that alternatively distributed unmanned plane number passes passage and user earth station time slot passage; unmanned plane number passes passage and user earth station time slot passage and all includes long time slot passage and gap passage in short-term; long time slot passage is used for real-time transmission of video image wideband data; gap passage is used for transmitting other data in short-term, and unmanned plane number passes and is additionally provided with protection time slot between passage and user earth station time slot passage.
As a modification of the present invention, described number passes dispensing device and includes: multi-channel data Multiplexing module, is used for judging data type, is separately encoded according to type, and the data after coding are respectively fed to time slot passage the framing stream multiplexing of correspondence；Baseband processing module, for carrying out Base-Band Processing to the data of framing stream multiplexing；And radio frequency processing module, for the data after Base-Band Processing are carried out radio frequency transmission.
As a modification of the present invention, described baseband processing module includes convolutional encoding that the AES encryption module being connected with data-reusing module is connected or the channel de-interleaving block that Turbo coding module is connected with convolutional encoding or Turbo coding module and the MIMO-COFDM modulation module being connected with channel de-interleaving block with AES encryption module；Described radio frequency processing module includes up-converter module that the D/A converter module being connected with MIMO-COFDM modulation module is connected with D/A converter module and connects up-converter module and the power amplifier of antenna and filtration module.
As a modification of the present invention, described several transmitting/receiving apparatus include: radio frequency processing module, for the data received are carried out radio frequency processing；Baseband processing module, for carrying out Base-Band Processing to the data through radio frequency processing；And multi-channel data demultiplexing module, for carrying out solving frame multiplexing according to coding and data type to the data after Base-Band Processing.
As a modification of the present invention, described radio frequency processing module includes down coversion and intermediate frequency filtering module and the analog-to-digital conversion module with down coversion Yu intermediate frequency filtering module that the filtering being connected with antenna and LNA module be connected with LNA module with filtering；Described baseband processing module includes that the MIMO-COFDM that the channel synchronization module being connected with analog-to-digital conversion module is connected with channel synchronization module solves and is in harmonious proportion balance module and solves with MIMO-COFDM and be in harmonious proportion the channel de-interleaving block and the convolution decoder being connected with channel de-interleaving block or Turbo decoder module that balance module is connected；Described data demultiplexing module includes the AES deciphering module being connected with convolution decoder or Turbo decoder module and the solution frame Multiplexing module being connected with AES deciphering module.
Present invention is specifically directed in UAS for multiple paths of video images, voice, data integration and remote two-way transmission requirement design, based on TDD-MIMO-COFDM wireless composite technology, and use unmanned plane antenna fuselage integration technology, after using such design, the present invention at least includes advantages below:
1, the present invention several times can promote the transmission capacity of unmanned plane wireless data transmission system and transmission range；
2, the comprehensive number that the present invention proposes passes technical scheme and complexity that unmanned plane Data transfer system integrated can be greatly reduced, and reduces unmanned plane payload size and weight, less energy content of battery consumption, and has been obviously improved the cruising time of unmanned plane；
3, the comprehensive number that the present invention proposes passes technical scheme and can solve the problem that the integrated Electro Magnetic Compatibility caused of multiple data transmission equipment is bad well, is greatly promoted the reliability of unmanned plane Data transfer system and the security performance of UAV Flight Control.
Accompanying drawing explanation
Above-mentioned is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, below in conjunction with accompanying drawing, the present invention is described in further detail with detailed description of the invention.
Fig. 1 is the structural representation that multiple antennas fuselage of the present invention merges unmanned plane.
Fig. 2 is the specific embodiment schematic diagram of the physical layer time slot design of the present invention.
Fig. 3 is the composition schematic diagram of the number biography dispensing device of the present invention.
Fig. 4 is the composition schematic diagram of several transmitting/receiving apparatus of the present invention.
Detailed description of the invention
Referring to shown in Fig. 1, it is more than two that the multiple antennas fuselage of the present invention merges the antenna 2 of unmanned plane, and is embedded on the fuselage of unmanned plane 1.
Specifically, antenna 2 typically can arrange two four, the six roots of sensation or eight, is advisable to be evenly and symmetrically distributed on unmanned aerial vehicle body 1, especially being optimal on the rotor arm being embedded in unmanned plane or wing.
The present invention implants integral antenna at unmanned plane rotor arm or wing, this distributed multi-antenna fuselage Combined design can implant many antennas at fuselage interior surface, at least can realize the technical scheme of 2 × 2MIMO, 4 × 4MIMO, make full use of the exhibition of professional unmanned horn and the advantage of the span relatively big (diameter more than 1 meter), utilize spatial domain resource to carry out multiaerial system deployment.
Under the conditions of identical transmission bandwidth, the present invention can Data transfer system more point-to-point than single antenna transmission capacity promote more than 2 to 4 times.Meanwhile, under ensureing identical transmission bandwidth premise, the transmitting power that the present invention can reduce by more than 50 compared with single antenna Data transfer system.
Further, the present invention also integrated application TDD-MIMO-COFDM (time division duplex-multiple-input, multiple-output-COFDM) technology can promote unmanned plane number transfer performance further.
Specifically, the antenna of the present invention can use multipath concurrence time slot channel transmission data, and its whole TDD time slot includes that alternatively distributed unmanned plane number passes passage and user earth station time slot passage, and supports the flexible setting of multiple gap in short-term and long time slot.
For as a example by the most basic clematis stem road physical layer design, please refer to shown in Fig. 2.Time slot #0 and time slot #1 passes for unmanned plane number, and time slot #2 and time slot #3 passes for user earth station number.It is protection time slot GP that unmanned plane number passed between many channel time slots and user earth station concurrent many channel time slots, carries out the switching of downstream transmission time slot direction during protection time slot.
Time slot #0 and time slot #2 is gap in short-term, data occupied bandwidth is controlled less in view of gps data and remaining each road low rate, for making transmission bandwidth utilization rate maximize, the present invention is utilized respectively time slot #0 and time slot #2 real-time Transmission from unmanned plane and the gps data of user earth station, multi-channel control instruction, voice etc..Wherein, the transmission of unmanned aerial vehicle (UAV) control instruction can use 1/3 redundancy convolution and forward error correction coding, to ensure the reliability of transmission.
In order to avoid occurring instantaneous congestion to threaten the safety of unmanned plane and overall performance stable when data transmit, the present invention also can be set to different priority to by the different pieces of information entering gap passage in short-term, instantaneous congestion once occurs, and the data of high priority will preferentially be transmitted.Specifically: at unmanned plane end, the gps data in unmanned plane is that most important number is delivered a letter one of breath, possesses limit priority in short timeslot multiplex, and message header geocoding is 000；At earth station's end, flight control data is that most important number is delivered a letter one of breath, possesses limit priority in short timeslot multiplex, and message header geocoding is 000；Other control data, as cradle head control data, camera control data, unmanned plane are propagandaed directed to communicate System Control Data etc., can be respectively mapped to control data 1 passage to controlling channel n, and be carried out the mapping of message header address by certain priority order by 001 to 111.
Time slot #1 and time slot #3 is long time slot, is respectively used to real-time Transmission from unmanned plane and the video image of user earth station.Required transmission bandwidth in view of video image is relatively big (such as high definition 4K, 1080P transmission of video images), and every road vedio data is mapped to a road long time slot passage, it is ensured that the real time process flow of high-quality video image transmitting.When long-distance transmissions, it is also possible to carry out multiple long time slot passage binding transmission of one line wideband video picture signal.Additionally, when video data transmission, present invention preferably employs Turbo coding, to ensure the high efficiency of transmission.
The present invention uses multipath concurrence to pass the design of time slot passage, and single-frequency can be supported 6 road HD videos (depending on channel condition) simultaneously, and use low time delay physical layer time slot design, it is ensured that propagation delay time is less than 20ms, single-frequency Forwarding Delay about 10ms.
Please refer to shown in Fig. 3, in order to correspondence realizes the effect above, the number of unmanned plane of the present invention passes dispensing device and is mainly made up of multi-channel data Multiplexing module, baseband processing module and radio frequency processing module.Wherein, multi-channel data Multiplexing module, it is used for judging data type, is separately encoded according to type, and the data after coding are respectively fed to time slot passage the framing stream multiplexing of correspondence.Baseband processing module includes convolutional encoding that the AES encryption module being connected with data-reusing module is connected or the channel de-interleaving block that Turbo coding module is connected with convolutional encoding or Turbo coding module and the MIMO-COFDM modulation module being connected with channel de-interleaving block with AES encryption module, for the data of framing stream multiplexing are carried out Base-Band Processing.Radio frequency processing module is for carrying out radio frequency transmission to the data after Base-Band Processing, the up-converter module that is connected with D/A converter module including the D/A converter module being connected with MIMO-COFDM modulation module and connect up-converter module and the power amplifier of antenna and filtration module, up-converter module is also associated with Low phase noise local oscillator module.
Again please refer to shown in Fig. 4, several transmitting/receiving apparatus of the present invention are mainly made up of radio frequency processing module, baseband processing module and multi-channel data demultiplexing module, and the processing procedure that its processing procedure passes dispensing device with number is reverse.Wherein, radio frequency processing module for the data received are carried out radio frequency processing, the down coversion being connected with LNA module with filtering with LNA module including the filtering being connected with antenna and intermediate frequency filtering module and with down coversion and the analog-to-digital conversion module of intermediate frequency filtering module and Low phase noise local oscillator module.Baseband processing module includes that the MIMO-COFDM that the channel synchronization module being connected with analog-to-digital conversion module is connected with channel synchronization module solves and is in harmonious proportion balance module and solves with MIMO-COFDM and be in harmonious proportion the channel de-interleaving block and the convolution decoder being connected with channel de-interleaving block or Turbo decoder module that balance module is connected, is used for the data through radio frequency processing are carried out Base-Band Processing.Multi-channel data demultiplexing module include with convolution decoder or the AES deciphering module that is connected of Turbo decoder module and the solution frame Multiplexing module that is connected with AES deciphering module, for carrying out solving frame multiplexing according to coding and data type to the data after Base-Band Processing, for still with examples detailed above, concrete processing mode is as follows:
(1) at unmanned plane end, after short timeslot demultiplex, 000 address number message is flight control data；
(2) at earth station's end, after short timeslot demultiplex, 000 address number message is gps data；
(3) other control data therein, as cradle head control data, camera control data, unmanned plane are propagandaed directed to communicate System Control Data etc., it is mapped to control data 1 passage according to it and extremely controls channel n, and the message addresses numbering of correspondence carries out each road and controls message branch demultiplexing；
(4) each road video image carries out branch according to corresponding long time-gap number.
To sum up, the present invention carries out distributed multi-antenna fuselage Combined design scheme based on unmanned plane rotor arm or wing, it is possible to several times promote unmanned plane wireless data sending transmission capacity, and can increase wireless transmission distance 2 to 4 times under conditions of radio-frequency power is certain.In addition, the present invention transmits the technical scheme of multi-path high-definition wideband video image based on the long time slot of concurrent multichannel, unmanned plane Data transfer system integration complexity can be greatly reduced, alleviate unmanned plane payload size and weight, less energy content of battery consumption, promotes the security performance of UAS and increases the cruising time of unmanned plane.The multi-channel control data multiplexing technique scheme of gap in short-term based on priority, unmanned plane Data transfer system integration complexity can also be greatly reduced, alleviate unmanned plane load weight, less energy content of battery consumption, promote the security performance of UAS and increase the cruising time of unmanned plane.The present invention is feasible through prototype machine exploitation proof science, unmanned plane is by application the present invention program prototype machine, carry load volume reduces more than 26%, carry weight reduces 23%, cruising time adds 20%, and under the conditions of equal transmitting power and transmission rate, wireless data sending distance adds 2.5 times.Being proven, the present invention possesses important economic worth and engineer applied is worth.
The above; it it is only presently preferred embodiments of the present invention; the present invention not makees any pro forma restriction, and those skilled in the art utilize the technology contents of the disclosure above to make a little simple modification, equivalent variations or modification, all fall within protection scope of the present invention.
Claims (9)
1. multiple antennas fuselage merges a unmanned plane, and its fuselage is provided with antenna and the number biography dispensing device sum transmitting/receiving apparatus being connected with antenna, it is characterised in that: described antenna is more than two, is embedded on the fuselage of unmanned plane.
A kind of multiple antennas fuselage the most according to claim 1 merges unmanned plane, it is characterised in that described antenna is embedded along rotor arm or the wing of unmanned plane.
A kind of multiple antennas fuselage the most according to claim 1 merges unmanned plane, it is characterised in that described antenna is evenly and symmetrically distributed on unmanned aerial vehicle body.
A kind of multiple antennas fuselage the most according to claim 1 merges unmanned plane, it is characterised in that described antenna is two, four, the six roots of sensation or eight.
A kind of multiple antennas fuselage the most according to claim 1 merges unmanned plane; it is characterized in that described antenna uses multipath concurrence time slot channel transmission data; its physical layer includes that alternatively distributed unmanned plane number passes passage and user earth station time slot passage; unmanned plane number passes passage and user earth station time slot passage and all includes long time slot passage and gap passage in short-term; long time slot passage is used for real-time transmission of video image wideband data; gap passage is used for transmitting other data in short-term, and unmanned plane number passes and is additionally provided with protection time slot between passage and user earth station time slot passage.
A kind of multiple antennas fuselage the most according to claim 1 merges unmanned plane, it is characterised in that described number passes dispensing device and includes:
Multi-channel data Multiplexing module, is used for judging data type, is separately encoded according to type, and the data after coding are respectively fed to time slot passage the framing stream multiplexing of correspondence；
Baseband processing module, for carrying out Base-Band Processing to the data of framing stream multiplexing；And
Radio frequency processing module, for carrying out radio frequency transmission to the data after Base-Band Processing.
A kind of multiple antennas fuselage the most according to claim 6 merges unmanned plane, it is characterised in that:
Described baseband processing module includes convolutional encoding that the AES encryption module being connected with data-reusing module is connected or the channel de-interleaving block that Turbo coding module is connected with convolutional encoding or Turbo coding module and the MIMO-COFDM modulation module being connected with channel de-interleaving block with AES encryption module；
Described radio frequency processing module includes up-converter module that the D/A converter module being connected with MIMO-COFDM modulation module is connected with D/A converter module and connects up-converter module and the power amplifier of antenna and filtration module.
A kind of multiple antennas fuselage the most according to claim 1 merges unmanned plane, it is characterised in that described several transmitting/receiving apparatus include:
Radio frequency processing module, for carrying out radio frequency processing to the data received；
Baseband processing module, for carrying out Base-Band Processing to the data through radio frequency processing；And
Multi-channel data demultiplexing module, for carrying out solving frame multiplexing according to coding and data type to the data after Base-Band Processing.
A kind of multiple antennas fuselage the most according to claim 8 merges unmanned plane, it is characterised in that:
Described radio frequency processing module includes down coversion and intermediate frequency filtering module and the analog-to-digital conversion module with down coversion Yu intermediate frequency filtering module that the filtering being connected with antenna and LNA module be connected with LNA module with filtering；
Described baseband processing module includes that the MIMO-COFDM that the channel synchronization module being connected with analog-to-digital conversion module is connected with channel synchronization module solves and is in harmonious proportion balance module and solves with MIMO-COFDM and be in harmonious proportion the channel de-interleaving block and the convolution decoder being connected with channel de-interleaving block or Turbo decoder module that balance module is connected；
Described data demultiplexing module includes the AES deciphering module being connected with convolution decoder or Turbo decoder module and the solution frame Multiplexing module being connected with AES deciphering module.
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