CN105824318A - Multi-rotor unmanned aerial vehicle communication and safety monitoring system - Google Patents
Multi-rotor unmanned aerial vehicle communication and safety monitoring system Download PDFInfo
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- CN105824318A CN105824318A CN201610092772.1A CN201610092772A CN105824318A CN 105824318 A CN105824318 A CN 105824318A CN 201610092772 A CN201610092772 A CN 201610092772A CN 105824318 A CN105824318 A CN 105824318A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention provides a multi-rotor unmanned aerial vehicle communication and safety monitoring system which is characterized by comprising a ground control system and a remote control system which is arranged on a multi-rotor unmanned aerial vehicle. The ground control system and the remote control system are connected through an iridium communication network. The ground control system receives and processes detection information and safety monitoring data which are transmitted by the remote control system through the iridium communication network and transmits control instructions and other data to the remote control system through the iridium communication network. The remote control system transmits the detection information and the safety monitoring data to the ground control system through the iridium communication network and receives the control instructions and other data transmitted by the ground control system through the iridium communication network and performs analysis processing and completes prescribed tasks. According to the multi-rotor unmanned aerial vehicle communication and safety monitoring system, the objective of real-time safety monitoring of any place within the effective range of iridium communication can be realized.
Description
Technical field
The invention belongs to aircraft emergency flight control and safety monitoring field, particularly relate to the communication of many rotor wing unmanned aerial vehicles and safety monitoring system.
Background technology
Many rotor wing unmanned aerial vehicles aircraft (UAV) because its framework is simple, maneuverability is good, low cost of manufacture, good stability, the feature such as more weak gyroscopic effect and good spatial operation motility become current study hotspot.Meanwhile, again due to its multivariate, non-linear, close coupling, the characteristic of drive lacking, Controlling model and parameter are set with very strict requirement.
Along with development and the lifting of battery durable ability of aircraft industry, the cruising speed of many rotor wing unmanned aerial vehicles, cruising radius, cruising time and flying height have bigger lifting.Current existing long distance control system includes radio high-speed digital transmission system, image transmission system, 2.4G hand-held remote control system etc., effective monitoring scope is from 100m to 22km, wherein U.S. 900MHzXtend wireless data transmission module farthest gain distance is 22km, and general coverage is about 3km.The finiteness of existing long distance control system monitoring range, cannot meet the requirement of many rotor wing unmanned aerial vehicles flying radius and flying height, cannot effectively realize the ground remote control of many rotor wing unmanned aerial vehicles, parameter adjustment, data analysis and safety detection etc., thus (include that cell voltage is too low when many rotor wing unmanned aerial vehicles run into urgent emergency case, wind speed is excessive, urgent avoidance) the aerial parachute-opening of uncontrollable many rotor wing unmanned aerial vehicles, pose adjustment, flight speed and height adjustment, easily cause many rotor wing unmanned aerial vehicles body to damage, equipment damage, the various sudden safety problem such as personal injury.
On the other hand, IRIDIUM (also known as iridium satellite plan) is that the first generation that Motorola Inc. of the U.S. proposes really relies on satellite communication system to provide the global personal communication mode of contact, be intended to break through the limitation of existing cellular radio Communication based on ground, by space to any area, anyone voice, data, fax and paging information are provided.Its maximum feature is, global communication is realized by the relay between satellite, terrestrial cellular mobile telephone system is equivalent to move the sky to. it compares with currently used satellite communication system two big advantages: one is that track is low, transmission speed is fast, information loss is little, and communication quality is greatly improved；Two is that IRIDIUM need not special grounded receiving station, unfrequented barren land on the earth, and the outlying district that communication falls behind, natural disaster local communication all becomes unblocked.
By the omnibearing its communication ability of iridium satellite communication network, GCU preferably can carry out safety monitoring and emergency flight control to many rotor wing unmanned aerial vehicles.The emergency case such as flight failure, body injury, ground data link loss occurring at many rotor wing unmanned aerial vehicles, many rotor wing unmanned aerial vehicles can being recovered in time, in order to avoid causing bigger loss by gps satellite location.In addition by means of iridium satellite communication network, in the range of iridium satellite effective communication, the space in the communication of many rotor wing unmanned aerial vehicles limits and there would not be, communication range is no longer affected by external factor such as geographical environments so that many rotor wing unmanned aerial vehicles have in fields such as earthquake rescue, rescue and relief work, atmospheric monitoring, marine monitoring, geophysical surveyings and are more widely applied.
Summary of the invention
The present invention records and discloses and a set of can communicate wirelessly the telecommunication system with data analysis in multi-rotor aerocraft flight course, realize operator to the real-time ground remote control of multi-rotor aerocraft, parameter adjustment, data analysis, safety monitoring and in emergency circumstances emergency flight control, the function such as recover in time, with reach in the range of iridium satellite effective communication any place, any time, the purpose of the Real-time security monitoring of any distance.Therefore, when designing many rotor wing unmanned aerial vehicles iridium satellite communication system, should be taken into account promptness, stability, independence, the problem such as can monitor.Promptness seeks to require that many rotor wing unmanned aerial vehicles just can access iridium satellite communication network after master control system powers on timely, builds link well for ensuing work；Stably seek to ensure that many rotor wing unmanned aerial vehicles are after establishing data transmission link, it is possible to ensure that this link continuously effective works, until the end of the work such as data transmission and command reception；Independence refer to many rotors break down cannot continue flight time, including crash, GPS information loss, power failure etc., unaffected the remaining able to of this communication system normally works, return current location information, give many rotors for change for ground staff；Can monitor and refer to many rotor wing unmanned aerial vehicles and access after iridium satellite communication network sets up data transfer links, performed all command operatings, data transmit-receive can be monitored by ground control platform.
To this end, the present invention provides a kind of many rotor wing unmanned aerial vehicles communication and safety monitoring system, including: ground control system and the tele-control system being positioned on many rotor wing unmanned aerial vehicles；Ground control system and tele-control system are connected by iridium satellite communication network；
Described ground control system receives and processes detection information and the security monitoring data that tele-control system is transmitted by iridium satellite communication network, and sends out by iridium satellite communication network manipulation instruction and other data to tele-control system transmission；
Described tele-control system sends detection information and security monitoring data by iridium satellite communication network control system earthward；And receive manipulation instruction and other data that ground control system is sent by iridium satellite communication network, and carry out dissection process, complete the task of regulation.
Wherein, described tele-control system receives many rotor wing unmanned aerial vehicles current geographic position information also by gps antenna, and by iridium satellite communication network, described current geographic position information is sent to ground control system.
Wherein, described ground control system includes: ground control main frame, communication data extended line, surface control module and ground antenna；
Described ground control main frame is connected with surface control module by communication data extended line, for setting up the iridium satellite communication network data transmission path between ground control system and the tele-control system on many rotor wing unmanned aerial vehicles, receive and process the data that tele-control system sends, returns through iridium satellite communication network and surface control module, and manipulation instruction and other data are sent to surface control module, sent to tele-control system by ground antenna the most again；
Described communication data extended line connects ground control main frame and surface control module, is used for making ground control main frame and surface control module separate on geographical position；
Described surface control module is connected with ground antenna, manipulation instruction for being sent by ground control main frame is converted into the data stream of certain format, and store up in a buffer area, then send this data stream to iridium satellite communication network with the form of microwave by ground antenna；And by the microwave signal received by ground antenna, resolve to the code that can directly read, and send ground control main frame to by data extension line, for its dissection process；
Ground antenna includes ground GPS antenna and ground iridium satellite communication antenna；Ground GPS antenna is used for receiving current geographic position information；Ground iridium satellite communication antenna is for receiving detection information and the security monitoring data of tele-control system passback and sending manipulation instruction and other data to tele-control system；
Wherein, described tele-control system includes: unmanned plane manipulation main frame, remote control module and remote antenna；
Described unmanned plane manipulation main frame is connected with remote control module, carries out dissection process for manipulation instruction and other data received remote control module by remote antenna, completes the task of regulation；And send detection information and security monitoring data by remote control module and remote antenna control system earthward；
Remote control module is connected with remote antenna, unmanned plane manipulation main frame, receive detection information and security monitoring data that unmanned plane manipulation main frame gathers, convert the data into the data stream of certain format, and be stored in a buffer area, send this data stream to iridium satellite communication network with the form of microwave by remote antenna；And remote antenna is resolved to from the microwave signal received by iridium satellite communication network the code that can directly read, it is sent to unmanned plane manipulation main frame, for its dissection process；
Remote antenna includes long-range gps antenna and long-range iridium satellite communication antenna；Remotely gps antenna is used for receiving current geographic position information；Manipulation instruction that remotely iridium satellite communication antenna sends for receiving ground control system and other data and earthward control system send detection information and security monitoring data.
Wherein, described communication data extended line uses RS232 to turn the mode that RS485 extends, and makes the distance between ground control main frame and surface control module more than 20 meters.
Wherein, described surface control module is by the microwave signal received by ground antenna, resolve to the code that can directly read, and remote antenna is resolved to the code that can directly read from the microwave signal received by iridium satellite communication network by remote control module, the described code that can directly read is HEX code.
Wherein, described detection information includes: the data that the sensor on many rotor wing unmanned aerial vehicles, detector obtain；Described security monitoring data include: many rotor wing unmanned aerial vehicles current pose value, magnitude of voltage, velocity amplitude, altitude value and current geographic position information.
Wherein, the assembling integrated with the communication module in described remote control module of described remote antenna, and be connected by feeder line between remote antenna with communication module.
To sum up, the present invention records and discloses and a set of can communicate wirelessly the telecommunication system with data analysis in multi-rotor aerocraft flight course, realize operator's real-time ground remote control to multi-rotor aerocraft, parameter adjustment, data analysis, safety monitoring and in emergency circumstances emergency flight control, the function such as recover in time, to reach any place in the range of iridium satellite effective communication, any time, the purpose of the Real-time security monitoring of any distance, solve many rotor wing unmanned aerial vehicles to need can smoothly complete and the communication of ground control platform in any flight moment, response problem, and attach the passback of cell voltage, the renewal of positional information, the passback of GPS information, the passback of sensing data, the passback of detection data, the work such as the renewal of assignment instructions.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Many rotor wing unmanned aerial vehicles communication that Fig. 1 provides for the present invention and safety monitoring system first embodiment structural representation；
Many rotor wing unmanned aerial vehicles communication that Fig. 2 provides for the present invention and safety monitoring system the second example structure schematic diagram；
Ground control system structural representation in many rotor wing unmanned aerial vehicles communication that Fig. 3 provides for the present invention and safety monitoring system；
Many rotor wing unmanned aerial vehicles remote control system structural representation that Fig. 4 provides for the present invention；
Many rotor wing unmanned aerial vehicles remote control module hardware architecture diagram that Fig. 5 provides for the present invention；
The iridium satellite remote control module system architecture schematic diagram that Fig. 6 provides for the present invention.
Detailed description of the invention
The present invention records and discloses and a set of can communicate wirelessly the telecommunication system with data analysis in multi-rotor aerocraft flight course, realize operator to the real-time ground remote control of multi-rotor aerocraft, parameter adjustment, data analysis, safety monitoring and in emergency circumstances emergency flight control, the function such as recover in time, with reach in the range of iridium satellite effective communication any place, any time, the purpose of the Real-time security monitoring of any distance.Therefore, when designing many rotor wing unmanned aerial vehicles iridium satellite communication system, should be taken into account promptness, stability, independence, the problem such as can monitor.Promptness seeks to require that many rotor wing unmanned aerial vehicles just can access iridium satellite communication network after master control system powers on timely, builds link well for ensuing work；Stably seek to ensure that many rotor wing unmanned aerial vehicles are after establishing data transmission link, it is possible to ensure that this link continuously effective works, until the end of the work such as data transmission and command reception；Independence refer to many rotors break down cannot continue flight time, including crash, GPS information loss, power failure etc., unaffected the remaining able to of this communication system normally works, return current location information, give many rotors for change for ground staff；Can monitor and refer to many rotor wing unmanned aerial vehicles and access after iridium satellite communication network sets up data transfer links, performed all command operatings, data transmit-receive can be monitored by ground control platform.
Seeing Fig. 1, the many rotor wing unmanned aerial vehicles communication provided for the present invention and safety monitoring system first embodiment structural representation, as it is shown in figure 1, this system includes: ground control system 1 and the tele-control system 2 being positioned on many rotor wing unmanned aerial vehicles.Ground control system 1 and tele-control system 2 are connected by iridium satellite communication network 3.
Ground control system 1 receives and processes the tele-control system 2 detection information by iridium satellite communication network 3 transmission and security monitoring data, and manipulation instruction and other data are sent out and sent to tele-control system 2 by iridium satellite communication network 3.Tele-control system 2 sends detection information and security monitoring data by iridium satellite communication network 3 control system 1 earthward；And receive manipulation instruction and other data that ground control system 1 is sent by iridium satellite communication network 3, and carry out dissection process, complete the task of regulation.
Further, the tele-control system 2 that the embodiment of the present invention provides receives many rotor wing unmanned aerial vehicles current geographic position information also by gps antenna, and by iridium satellite communication network 3, described current geographic position information is sent to ground control system 1.
See Fig. 2, the many rotor wing unmanned aerial vehicles communication provided for the present invention and safety monitoring system the second example structure schematic diagram.In the present embodiment, the 26S Proteasome Structure and Function of this system each functional module be will be described in greater detail.As in figure 2 it is shown, this system includes: ground control system 1 and the tele-control system 2 being positioned on many rotor wing unmanned aerial vehicles.Ground control system 1 and tele-control system 2 are connected by iridium satellite communication network 3.
Ground control system 1 receives and processes the tele-control system 2 detection information by iridium satellite communication network 3 transmission and security monitoring data, and manipulation instruction and other data are sent out and sent to tele-control system 2 by iridium satellite communication network 3.Tele-control system 2 sends detection information and security monitoring data by iridium satellite communication network 3 control system 1 earthward；And receive manipulation instruction and other data that ground control system 1 is sent by iridium satellite communication network 3, and carry out dissection process, complete the task of regulation.
More specifically, described ground control system 1 includes: ground control main frame 11, communication data extended line 12, surface control module 13 and ground antenna 14.
Described ground control main frame 11 is connected with surface control module 13 by communication data extended line 12.Ground control main frame 11 is for setting up the iridium satellite communication network data transmission path between ground control system 11 and the tele-control system on many rotor wing unmanned aerial vehicles 2, receive and process the data that tele-control system 2 sends, returns through iridium satellite communication network 3 and surface control module 13, and manipulation instruction and other data are sent to surface control module 13, sent to tele-control system 2 by ground antenna 14 the most again.
Described communication data extended line 12 connects ground control main frame 11 and surface control module 13, is used for making ground control main frame 11 and surface control module 13 separate on geographical position.Concrete, in embodiments of the present invention, communication data extended line 12 uses RS232 to turn the mode that RS485 extends, so that the distance between ground control main frame 11 and surface control module 13 is more than 20 meters.
Described surface control module 13 is connected with ground antenna 14, manipulation instruction for being sent by ground control main frame 11 is converted into the data stream of certain format, and store up in a buffer area, then send this data stream to iridium satellite communication network 3 with the form of microwave by ground antenna 14；And by the microwave signal received by ground antenna 14, resolve to the code (this code preferred HEX code) that can directly read, and send ground control main frame 11 to by data extension line, for its dissection process.
Ground antenna 14 includes ground GPS antenna and ground iridium satellite communication antenna；Ground GPS antenna is used for receiving current geographic position information；Ground iridium satellite communication antenna is for receiving detection information and the security monitoring data of tele-control system 2 passback and sending manipulation instruction and other data to tele-control system 2..
Described tele-control system 2 includes: unmanned plane manipulation main frame 21, remote control module 22 and remote antenna 23.
Described unmanned plane manipulation main frame 21 is connected with remote control module 22.Unmanned plane manipulation main frame 21 carries out dissection process for manipulation instruction and other data received remote control module 22 by remote antenna 23, completes the task of regulation；And send detection information and security monitoring data by remote control module 22 and remote antenna 23 control system 1 earthward.
Remote control module 22 is connected with remote antenna 23, unmanned plane manipulation main frame 21.Remote control module 22 receives detection information and the security monitoring data that unmanned plane manipulation main frame 21 gathers, convert the data into the data stream of certain format, and be stored in a buffer area, send this data stream to iridium satellite communication network 3 with the form of microwave by remote antenna；And remote antenna 23 is resolved to from the microwave signal received by iridium satellite communication network 3 code (this code preferred HEX code) that can directly read, it is sent to unmanned plane manipulation main frame 21 for its dissection process.
Remote antenna 23 includes long-range gps antenna and long-range iridium satellite communication antenna；Remotely gps antenna is used for receiving many rotor wing unmanned aerial vehicles current geographic position information；Manipulation instruction that remotely iridium satellite communication antenna sends for receiving ground control system 1 and other data and earthward control system 1 send detection information and security monitoring data.More specifically, described detection information includes: the data that the sensor on many rotor wing unmanned aerial vehicles, detector obtain；Described security monitoring data include: many rotor wing unmanned aerial vehicles current pose value, magnitude of voltage, velocity amplitude, altitude value and current geographic position information.
Further, it will be understood by those skilled in the art that, the technical problem to be solved in the present invention is, many rotor wing unmanned aerial vehicles needs can smoothly complete the work such as the renewal of the communication with ground control platform, response, the passback of cell voltage, the renewal of positional information, the passback of GPS information, the passback of sensing data, the passback of detection data, assignment instructions in any flight moment, therefore, when designing many rotor wing unmanned aerial vehicles iridium satellite communication system, should be taken into account promptness, stability, independence, the problem such as can monitor.Promptness seeks to require that many rotor wing unmanned aerial vehicles just can access iridium satellite communication network after master control system powers on timely, builds link well for ensuing work；Stably seek to ensure that many rotor wing unmanned aerial vehicles are after establishing data transmission link, it is possible to ensure that this link continuously effective works, until the end of the work such as data transmission and command reception；Independence refer to many rotors break down cannot continue flight time, including crash, GPS information loss, power failure etc., unaffected the remaining able to of this communication system normally works, return current location information, give many rotors for change for ground staff；Can monitor and refer to many rotor wing unmanned aerial vehicles and access after iridium satellite communication network sets up data transfer links, performed all command operatings, data transmit-receive can be monitored by ground control platform.For reaching above-mentioned technique effect, embodiments provide one and position the communication of many rotor wing unmanned aerial vehicles and safety monitoring system based on iridium satellite communication network and GPS.
This system global structure schematic diagram is as in figure 2 it is shown, can be divided into by ingredient: ground control system 1 and tele-control system 2, and the former is to build at the ground control platform of fixed-site, the latter and many rotor wing unmanned aerial vehicles bodies mechanism integrative installation technology.
Ground control system 1 is the core to many rotor wing unmanned aerial vehicles remote control, is also the key observed many rotor wing unmanned aerial vehicles duty in time.Therefore this ground control system 1 should possess and can set up the ability of data link at any time with iridium satellite communication network 3, many rotor wing unmanned aerial vehicles load ability, the ability accurately resolved many rotor wing unmanned aerial vehicles feedback data and the ability etc. of the renewable upgrading of software section of remote control instruction.Therefore, in this many rotor wing unmanned aerial vehicles communication and safety monitoring system, ground control system 1 should be made up of ground control main frame 11, communication data extended line 12, surface control module 13 and ground antenna 14 etc..
Ground control main frame 11
Ground control main frame 11 is the core of whole ground control system 1.This ground control main frame 11 turns the connecting line of serial ports by a USB interface through USB, finally it is connected with remote control module 13 by communication data line extended line 12 again, set up data transmission path, it is responsible for receiving and is sent, by many rotor wing unmanned aerial vehicles, the data returned eventually through ground iridium satellite remote control module after iridium satellite communication network, and instruction and other data of the transmission of ground control platform are sent to ground iridium satellite remote control module, by iridium satellite communication network, data are sent the most again, as shown in Figure 3.
Ground control main frame 11 still runs the basis of the communication of many rotor wing unmanned aerial vehicles and safety monitoring system simultaneously, for the hommization window design of this system, the loading of many rotors remote control commands, many rotors receiving and processing and provide service by functions such as the geography information tracks such as the GPS parsed show by iridium satellite communication network feedback data.Therefore the performance of ground control main frame 11 should meet table 1 requirement.
| Index | Parameter | Index | Parameter |
| CPU frequency | ≥800MHz | USB interface number | ≥2 |
| Memory size | ≥2G | Indispensable driving | Visa\Ni Soft Motion |
| Screen resolution | ≥1024*768 |
Table 1 ground control host performance requirement
Communication data line extended line 12
The data communication extended line 12 of ground control system 1 is to connect surface control module 13 and the data communication bridge of ground control main frame 11.Try one's best few place to ground antenna 14 be placed in the openst, shelter as far as possible, and also to be arranged in safer, convenient, comfortable operating room to the operator of many rotor wing unmanned aerial vehicles iridium satellite ground control platform as far as possible, this communication data extended line 12 should be the longest.A kind of RS232 is preferably used in the embodiment of the present invention and turns the mode that RS485 extends, thus can realize extending to data signal (extend to 1200 meters in theory) beyond hundred meters.
Surface control module 13
Surface control module 13 is whole ground control system 1 transceiving data and the core of control instruction.Its operation principle is that the data that this module receives itself transfer to the data form that can identify in iridium satellite communication network 3 and transmit.This process mainly includes two aspects, one is the data stream that the many rotor wing unmanned aerial vehicles manipulation instruction sent on ground is converted into certain format, and be stored in a buffer area, then by the iridium satellite communication antenna in ground antenna 14 to, these group data are sent with the form of microwave the data buffer zone of iridium satellite communication network；On the other hand it is by the microwave signal received by the iridium satellite communication antenna in ground antenna 14, resolves to the HEX code that can directly read, and send ground control main frame 11 to by communication data extended line 12, for its dissection process.
Ground antenna 14
Ground antenna 14 includes ground GPS antenna and ground iridium satellite communication antenna.This ground antenna 14 is that ground control system 1 system receives many rotor wing unmanned aerial vehicles return data and sends control instruction and the essential condition of parameter, is also the hardware foundation that connects together with iridium satellite communication network 3 of surface control module 13.The ground control system 1 that the present invention is studied has two pin interfaces, respectively iridium satellite communication interface and gps data coffret.Gps antenna is responsible for receiving current geographic position information, and iridium satellite communication antenna is responsible for receiving the detection information of many rotor wing unmanned aerial vehicles passback and security monitoring data are sent to iridium satellite communication network, send control instruction and the task of parameter to many rotor wing unmanned aerial vehicles.
Tele-control system 2 is to be assemblied on many rotor wing unmanned aerial vehicles, and the tele-control system of the integrated design such as space structure, gravity balance and Streamline Design according to many rotor wing unmanned aerial vehicles.This tele-control system 2 is the unique channel that many rotor wing unmanned aerial vehicles and ground control system 1 carry out remote data communication, is also the sole mode that remotely controls many rotor wing unmanned aerial vehicles of many rotor wing unmanned aerial vehicles ground control platform.The function of this system mainly includes two aspects: the first is by the data communication between unmanned plane manipulation main frame 21, the related data that many rotor wing unmanned aerial vehicles gather is packaged and delivered to remote control module 22, is then passed through iridium satellite communication network 3 and returns these data.It two is the control instruction that ground control system 1 is sent to many rotor wing unmanned aerial vehicles by iridium satellite communication network 3, sends unmanned plane manipulation main frame 21 to by remote control module 22, completes the ground control system 1 long-range control to many rotor wing unmanned aerial vehicles.Therefore, many rotor wing unmanned aerial vehicles remote control system should be made up of, as shown in Figure 4 unmanned plane manipulation main frame 21, remote control module 22 and remote antenna 23.
Unmanned plane manipulation main frame 21
Unmanned plane manipulation main frame 21 carries out dissection process for manipulation instruction and other data received remote control module 22 by remote antenna 23, completes the task of regulation；And send detection information and security monitoring data by remote control module and remote antenna control system earthward.
Remote control module 22
Remote control module 22 is whole many rotor wing unmanned aerial vehicles tele-control system 2 transceiving data and the core of control instruction.Its operation principle is that the data that this module receives itself transfer to the data form that can identify in iridium satellite communication network and transmit.This process mainly includes two aspects: one is by communicating with setting up between unmanned plane manipulation main frame 21, receive the related data of many rotor wing unmanned aerial vehicles collection, the status data of many rotors self, geography information, safety detection data, then the data stream of certain format is converted the data into, and be stored in a buffer area, eventually through remote antenna 23 (iridium satellite communication antenna), send these group data to iridium satellite communication network 3 with the form of microwave；It two is to receive by many rotors iridium satellite antenna from the microwave signal received by iridium satellite communication network, resolves to the HEX code that can directly read, and sends unmanned plane manipulation main frame 21 to by data communication circuit, for its dissection process, thus completes specifying of task.
Remote antenna 23
Remote antenna 23 includes iridium satellite communication antenna and gps antenna.Many rotor wing unmanned aerial vehicles iridium satellite communication antenna is the hardware foundation that remote control module 2 and iridium satellite communication network 3 set up data communication link.The tele-control system 2 that the present invention is studied has two pin interfaces, respectively iridium satellite communication interface and gps data coffret.Wherein GPS interface is responsible for returning current many rotors position geography information to remote control module in real time, iridium satellite communication antenna interface is responsible for remote control module to need the detection information of passback and security monitoring data to be sent to iridium satellite communication network, and the two completes the transmission of many rotor wing unmanned aerial vehicles data and the task of security monitoring jointly.
Pass through foregoing description, people in the art should know many rotor wing unmanned aerial vehicles communication that the present invention provides and the technique effect that safety monitoring system is had, specifically include: (1) many rotor wing unmanned aerial vehicles just can access iridium satellite communication network after master control system powers in time, builds telecommunication link well；(2) many rotor wing unmanned aerial vehicles are after establishing data transmission link, it is possible to ensure that this link continuously effective works；(3) many rotors break down cannot continue flight time, including crash, GPS information loss, power failure etc., unaffected the remaining able to of this communication system normally works, return current location information, give many rotors for change for ground staff；(4), after many rotor wing unmanned aerial vehicles access iridium satellite communication network sets up data transfer links, performed all command operatings, data transmit-receive can be monitored by ground control platform.
The communication of many rotor wing unmanned aerial vehicles and the safety monitoring system that there is provided the embodiment of the present invention below are further elaborated.
The selection of iridium satellite communication module
Iridium satellite communication module be surface control module the part of remote control module.The major function of iridium satellite communication module (ISU) is responsible for setting up data communication link, the data that caching will be received and dispatched with iridium satellite open network, sets or change the service business pattern of iridium satellite communication company.Through to module volume, weight, bidirectional data transfers, carry GPS, global network covers, support transparent data to transmit, the Comprehensive Evaluation of the performance such as digital serial port, voice-and-data dial feature is supported in view of 9523, data transmission capabilities meets requirement simultaneously, and therefore the present invention selects Iridium9523 as the iridium satellite communication module of remote control module.The key feature of Iridium9523 is as shown in table 2.
The key feature of table 2Iridium9523
The design of remote control module
Remote control module is with the use of jointly completing remotely to control many rotor wing unmanned aerial vehicles with unmanned plane manipulation main frame.Using serial communication between this remote control module and unmanned plane manipulation main frame, general employing interrupts or inquiry mode is carried out.This part is the core that many rotor wing unmanned aerial vehicles remotely control, it is to connect iridium satellite communication module and the bridge of many rotor wing unmanned aerial vehicles main control computer, its stability is directly connected to the success or failure of whole remote control process, therefore the selection of control chip herein and the design of control circuit plate is also had especially strict requirements.In the present invention, iridium communication module being integrated on this remote control module, iridium communication module 9523 is connected on remote control module by the mother daughter board connector (53885-0408) of the Molex of 40 pin 0.5mm spacing.
Present invention utilizes the following functions of iridium communication module 9523, it is data/facsimile interface (Data/FaxPort), SIM interface (SIMinterface), power supply interface (Power), antenna signal interface (GPIO respectively, AntennaConfiguration), remaining GPIO mouth (OtherGPIO), this 5 big function by iridium satellite remote control module design respective peripheral circuit realiration.By these 5 corresponding peripheral circuit module, many rotor wing unmanned aerial vehicles just can enough be realized the expection safety detection such as the renewal of the communication with ground control platform, response, the passback of cell voltage, the renewal of positional information, the passback of sensing data, the passback of detection data, assignment instructions and work by iridium satellite remote control module.
Remote control module is to connect iridium satellite communication module and the bridge of many rotor wing unmanned aerial vehicles main control computer, bear data cached, set up communication, translation resolution to data, instruction backup and the task such as emergent.Its major function is as follows.
1) iridium satellite communication module and unmanned plane manipulation main frame are connected.When needs realize iridium satellite remotely control many rotor wing unmanned aerial vehicles time, the data parsed by iridium satellite communication module and instruction is then needed to keep in an extra buffer, guarantee to receive stability and the effectiveness of data, these instruction and datas are converted into specific form the most again and send the unmanned plane manipulation main frame of many rotor wing unmanned aerial vehicles to.On the other hand, when the data of detection to be sent to ground control system by the way of iridium satellite communication by many rotor wing unmanned aerial vehicles, it is also required to the data of collection be converted into specific format, adds corresponding frame head postamble, launches via iridium satellite communication module and iridium satellite communication antenna the most again.
2) cache, resolve and change communication data.This function is mainly reflected in, when having data or instruction by iridium satellite module loading to many rotor wing unmanned aerial vehicles, busy or resting state is may be in owing to the unmanned plane of many rotor wing unmanned aerial vehicles manipulates main frame, and then the interruption that remote control commands loads can not be normally entered, so needing the data and the instruction that these are come by the loading of iridium satellite communication network to be temporarily stored in a relief area, treat carrying out data transmission the when that unmanned plane manipulation main frame being waken up and can normally enter interruption.On the other hand, when many rotor wing unmanned aerial vehicles need detection data return data by the way of iridium satellite communication network, if data volume is excessive, then can not complete in another Frame, so needing to keep in these data in one relief area, being then passed through this remote control module its packing is processed, adding header hardwood tail normally to send.
3) ground control system Remote to many rotor wing unmanned aerial vehicles is completed.This function is mainly reflected in, when being between many rotor wing unmanned aerial vehicles and Current terrestrial control system in the range of geographic barrier limits, the point-to-point communication modes such as land station data link, 2.4G hand-held remote control system cannot effectively be transferred to many rotor wing unmanned aerial vehicles due to barrier obstruction, telecommand.Owing to iridium satellite communication network uses satellite relay communication modes, it is different from point-to-point communication modes, data transmission is not stopped by barrier, therefore time in the range of the efficient communication being in iridium satellite communication network, at this moment instruction can be sent by ground control system, it is transferred to remote control system on many rotor wing unmanned aerial vehicles, to reach the purpose that many rotor wing unmanned aerial vehicles are remotely controlled by iridium satellite junction network.Again or when being in over the horizon scope between many rotor wing unmanned aerial vehicles and Current terrestrial control system, communication distance exceedes the maximum effective communication distance of the point-to-point communication modes such as Current terrestrial radio station data link, 2.4G hand-held remote control system, and telecommand cannot effectively be transferred to many rotor wing unmanned aerial vehicles.Owing to iridium satellite communication network uses satellite relay communication modes, it is different from point-to-point communication modes, data transmission is not affected by distance, the most at this moment instruction can be sent by ground control system, it is transferred to remote control system on many rotor wing unmanned aerial vehicles, to reach the purpose that many rotor wing unmanned aerial vehicles are remotely controlled by iridium satellite junction network.Herein, the Remote of many rotor wing unmanned aerial vehicles is used the SBD short message transmission many rotor wing unmanned aerial vehicles of mode Remote, the maximum mobile message size of initiating of iridium communication module SBD communication mode is 1960 bytes, much larger than telecommand data length, enough meets and uses requirement.
4) receive many rotor wing unmanned aerial vehicles long-haul telemetry data, and be sent to ground control system.This function is mainly reflected in, when being between many rotor wing unmanned aerial vehicles and Current terrestrial control system in the range of geographic barrier limits, the point-to-point communication modes such as land station data link, 2.4G hand-held remote control system are due to barrier obstruction, and ground control system cannot the telemetry of real-time reception many rotor wing unmanned aerial vehicles passback.Owing to iridium satellite communication network uses satellite relay communication modes, it is different from point-to-point communication modes, data transmission is not stopped by barrier, therefore time in the range of the efficient communication being in iridium satellite communication network, remote control system on the most rotor wing unmanned aerial vehicles can pass through iridium satellite junction network current telemetry data back to ground control system, to reach the purpose of real-time reception telemetry.Again or when being in over the horizon scope between many rotor wing unmanned aerial vehicles and Current terrestrial control system, communication distance exceedes the maximum effective communication distance of the point-to-point communication modes such as Current terrestrial radio station data link, 2.4G hand-held remote control system, ground control system cannot real-time reception many rotor wing unmanned aerial vehicles passback telemetry.Owing to iridium satellite communication network uses satellite relay communication modes, it is different from point-to-point communication modes, data transmission is not affected by distance, remote control system on the most rotor wing unmanned aerial vehicles can pass through iridium satellite junction network current telemetry data back to ground control system, to reach the purpose of real-time reception telemetry.Herein, the passback of many rotor wing unmanned aerial vehicles telemetry uses SBD short message transmission mode to return to ground control system, the maximum mobile message size of initiating of iridium communication module SBD communication mode is 1960 bytes, need the telemetry length of passback much larger than many rotor wing unmanned aerial vehicles, enough meet and use requirement.
5) instruction backup, safety monitoring, emergency operation.For guaranteeing that many rotor wing unmanned aerial vehicles can receive instruction like clockwork, in iridium satellite remote control module, preferably individually open an instruction backup area, for storing pattern and the most frequently used safest one group of instruction, these instruction modes and the usual instructions group precise arrangement the most in certain sequence of every suit complete operation instruction.When will load the instruction to unmanned plane manipulation main frame resolved out time, can and these backup instruction comparative control, to be determined accurate after send unmanned plane manipulation main frame again to.
The function embodiment of safety monitoring exists, and when many rotor wing unmanned aerial vehicles are in aerial mission, timing can send current body attitude value by many rotor wing unmanned aerial vehicles remote control system to iridium satellite communication network, magnitude of voltage, speed, flying height, the safety monitoring data such as geographical coordinate.After ground control system receives these data by iridium satellite communication network, recognized the state of flight of current many rotor wing unmanned aerial vehicles by data analysis, thus reach the target of safety monitoring.Many rotor wing unmanned aerial vehicles safety monitoring data back uses SBD short message transmission mode to return to ground control system, the maximum mobile message size of initiating of iridium communication module SBD communication mode is 1960 bytes, need the safety monitoring data length of passback much larger than many rotor wing unmanned aerial vehicles, enough meet and use requirement.
The function of emergency operation is mainly reflected in, when many rotor wing unmanned aerial vehicles are in aerial mission, ground flying environment changes suddenly, it is no longer appropriate for performing aerial mission, if unmanned plane continues flight has the danger of damage, at this moment logical the ground control system of too much rotor wing unmanned aerial vehicle order of making a return voyage, order of spiraling, land order, parachute-opening order etc. can be issued to many rotor wing unmanned aerial vehicles, and many rotor wing unmanned aerial vehicles remote control system can send current geographic coordinate by timing control system earthward, in case emergency occurs, recover unmanned plane in time.Or when many rotor wing unmanned aerial vehicles are in aerial mission, suddenly ground monitors front obstacle, current flight height unairworthiness, if unmanned plane continues flight has the danger of damage, at this moment the logical ground control system that can pass through issues, to many rotor wing unmanned aerial vehicles, instruction of climbing, and the remote control system on many rotor wing unmanned aerial vehicles can send current geographic coordinate by timing control system earthward, in case emergency occurs, recovers unmanned plane in time.In addition the emergency operation to many rotor wing unmanned aerial vehicles can be to use data dial mode, and the most effective and many rotor wing unmanned aerial vehicles set up data cube computation, and remote emergency manipulation unmanned plane carries out hedging action or urgent parachute-opening so that it is can safe falling.Amount of communication data is not limited by iridium communication module data dialcom mode, and data delay can be ignored substantially, enough meets the requirement of our dynamic realtime manipulation unmanned plane.
Furthermore, it is contemplated that the complexity of reality flight environment of vehicle, wind speed and air-flow are difficult to predict, for reducing danger coefficient, we have proposed a series of emergency measure and form corresponding emergency plan, in case of need.
The ground control system of many rotor wing unmanned aerial vehicles and remote control system support the use the corresponding function jointly achieving the communication of many rotor wing unmanned aerial vehicles and safety monitoring system.
Remote control module designs
The remote control module of many rotor wing unmanned aerial vehicles bear data cached, set up communication, to the translation resolution of data, instruction backup and the task such as emergent, being the basic guarantee that effectively runs with emergency processing of many rotor wing unmanned aerial vehicles, therefore the design to this part requires the strictest.Many rotor wing unmanned aerial vehicles used in the present invention have the activity duration long, the features such as the energy is low in energy consumption, therefore when selecting iridium satellite remote control module chip and board design, it is considered however that the features such as low in energy consumption, good stability.To this end, we devise following scheme.
1) remote control module circuit design
Many rotor wing unmanned aerial vehicles iridium satellite remote control module uses integrated, modularized design thinking, master cpu, peripheral circuit, iridium satellite 9523 module, GPS module, level switch module, SIM module, power module etc. are integrated in a housing, but it is divided into the most again 2 modules, Iridium_CPU plate and Iridium_Power plate independent design, and connected by part double cab between plate.So benefit of design is, signal processing and power pack independently separately, reduce the impact on holding wire, and supply voltage is steadily reliable, fluctuates less；Making doubling plate to connect, reduce the volume shared by panel, make panel entirety the compactest, size maximum is only 101 × 58mm, is only 23mm at doubling plate maximum height.
Iridium_CPU plate: comprise and connect bus module etc. between master cpu, interface circuit, level switch module, SIM module, GPS module, the interior secondary power supply of plate, plate, be the core of remote control module；Iridium_Power plate: comprise and connect bus module etc. between iridium satellite 9523 module, main power source supply module (7-40V turns 5V), VCC3 supply module (5V turns 3V3), iridium satellite transmitting VOOST supply module (5V turns 28V), external interface module (DB15 plug), plate.
Remote control module structure assembly follows standardization, modularity, structurized principle, is user-friendly to, safeguards, also can improve system reliability to a certain extent.According to modularized design, structure being divided into Iridium_CPU module and Iridium_Power module (power supply control), the two is spatially in laminated, and is connected by internal bus, as shown in Figure 5.Iridium_CPU module and Iridium_Power module (power supply control) are both designed as Field Replaceable Unit, reduce the field maintenance time, improve working performance.
Many rotor wing unmanned aerial vehicles remote control module hardware architecture diagram is as shown in Figure 5.Top half is Iridium_CPU plate, and mid portion is connection bus between plate, and the latter half is Iridium_Power plate.Iridium satellite remote control module system architecture specifically includes that the modules such as external interface, level switch module, GPS module, CPU module, iridium satellite module, SIM interface chip, SIM card holder, boosted switch power module, switch power module, LDO power supply as shown in Figure 6.
The iridium satellite communication system integrated design of many rotor wing unmanned aerial vehicles, communication module and communication antenna integrated design.Because the connection between all of iridium satellite communication module and communication antenna is required for one section of feeder line, although the selection of feeder line is typically all shielding line, to the decay of signal within 3dB.If but long in view of cable release, the decay to signal can be amid a sharp increase, affects effectiveness and the stability of iridium satellite communication.If it is long to simultaneously take account of feeder line, when many rotor wing unmanned aerial vehicles need attitude generation to open motor, the heavy current of generation can produce interference to data transmission.For these reasons, it is preferred to use the design of communication module assembling integrated with communication antenna, make feed line length be reduced, improve communication effectiveness and stability, and advantageously in overall assembling and the integrated design of many rotor wing unmanned aerial vehicles.
Try one's best few place to ground iridium satellite communication antenna be placed in the openst, shelter as far as possible, and also to be arranged in safer, convenient, comfortable operating room to the operator of many rotor wing unmanned aerial vehicles iridium satellite ground control platform as far as possible, we require that this ground control system communication data extended line should be the longest.This is also the necessary choice facilitating user can operate many rotor wing unmanned aerial vehicles iridium satellite communication ground report control platform in place more conveniently, safely.But the data line interface drawn in view of many rotor wing unmanned aerial vehicles iridium satellite remote control module uses the communication modes of RS232, it is known that the data communication line extended line of this ground control platform not can exceed that 15 meters.In order to preferably solve this problem, the present invention proposes a kind of RS232 and turns the mode that RS485 extends, first RS232 interface will be drawn from iridium satellite remote control module, then by RS232 interface RS485 interface, the TX/RX of RS232 can be gone between and be converted into A/B lead-in wire, thus can realize extending to data signal (extend to 1200 meters in theory) beyond hundred meters.
The present invention records the disclosedest many rotor wing unmanned aerial vehicles communication and safety monitoring system, can realize operator to the real-time ground remote control of multi-rotor aerocraft, parameter adjustment, data analysis, safety monitoring and in emergency circumstances emergency flight control, the function such as recover in time, with reach in the range of iridium satellite effective communication any place, any time, the purpose of the Real-time security monitoring of any distance.Therefore, when designing many rotor wing unmanned aerial vehicles iridium satellite communication system, should be taken into account promptness, stability, independence, the problem such as can monitor.Promptness seeks to require that many rotor wing unmanned aerial vehicles just can access iridium satellite communication network after master control system powers on timely, builds link well for ensuing work；Stably seek to ensure that many rotor wing unmanned aerial vehicles are after establishing data transmission link, it is possible to ensure that this link continuously effective works, until the end of the work such as data transmission and command reception；Independence refer to many rotors break down cannot continue flight time, including crash, GPS information loss, power failure etc., unaffected the remaining able to of this communication system normally works, return current location information, give many rotors for change for ground staff；Can monitor and refer to many rotor wing unmanned aerial vehicles and access after iridium satellite communication network sets up data transfer links, performed all command operatings, data transmit-receive can be monitored by ground control platform.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, can be by computer program and complete to instruct relevant hardware, described program can be stored in computer read/write memory medium, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-OnlyMemory, ROM) or random store-memory body (RandomAccessMemory, RAM) etc..
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert the present invention be embodied as be confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, it is also possible to make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (8)
1. rotor wing unmanned aerial vehicle communication and safety monitoring system more than one kind, it is characterised in that including: ground control system and the tele-control system being positioned on many rotor wing unmanned aerial vehicles；Ground control system and tele-control system are connected by iridium satellite communication network；
Described ground control system receives and processes detection information and the security monitoring data that tele-control system is transmitted by iridium satellite communication network, and sends out by iridium satellite communication network manipulation instruction and other data to tele-control system transmission；
Described tele-control system sends detection information and security monitoring data by iridium satellite communication network control system earthward；And receive manipulation instruction and other data that ground control system is sent by iridium satellite communication network, and carry out dissection process, complete the task of regulation.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 1 and safety monitoring system, it is characterized in that, described tele-control system receives many rotor wing unmanned aerial vehicles current geographic position information also by gps antenna, and by iridium satellite communication network, described current geographic position information is sent to ground control system.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 1 and safety monitoring system, it is characterised in that described ground control system includes: ground control main frame, communication data extended line, surface control module and ground antenna；
Described ground control main frame is connected with surface control module by communication data extended line, for setting up the iridium satellite communication network data transmission path between ground control system and the tele-control system on many rotor wing unmanned aerial vehicles, receive and process the data that tele-control system sends, returns through iridium satellite communication network and surface control module, and manipulation instruction and other data are sent to surface control module, sent to tele-control system by ground antenna the most again；
Described communication data extended line connects ground control main frame and surface control module, is used for making ground control main frame and surface control module separate on geographical position；
Described surface control module is connected with ground antenna, manipulation instruction for being sent by ground control main frame is converted into the data stream of certain format, and store up in a buffer area, then send this data stream to iridium satellite communication network with the form of microwave by ground antenna；And by the microwave signal received by ground antenna, resolve to the code that can directly read, and send ground control main frame to by data extension line, for its dissection process；
Ground antenna includes ground GPS antenna and ground iridium satellite communication antenna；Ground GPS antenna is used for receiving many rotor wing unmanned aerial vehicles current geographic position information；Ground iridium satellite communication antenna is for receiving detection information and the security monitoring data of tele-control system passback and sending manipulation instruction and other data to tele-control system.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 1 and safety monitoring system, it is characterised in that described tele-control system includes: unmanned plane manipulation main frame, remote control module and remote antenna；
Described unmanned plane manipulation main frame is connected with remote control module, carries out dissection process for manipulation instruction and other data received remote control module by remote antenna, completes the task of regulation；And send detection information and security monitoring data by remote control module and remote antenna control system earthward；
Remote control module is connected with remote antenna, unmanned plane manipulation main frame, receive detection information and security monitoring data that unmanned plane manipulation main frame gathers, convert the data into the data stream of certain format, and be stored in a buffer area, send this data stream to iridium satellite communication network with the form of microwave by remote antenna；And remote antenna is resolved to from the microwave signal received by iridium satellite communication network the code that can directly read, it is sent to unmanned plane manipulation main frame, for its dissection process；
Remote antenna includes long-range gps antenna and long-range iridium satellite communication antenna；Remotely gps antenna is used for receiving current geographic position information；Manipulation instruction that remotely iridium satellite communication antenna sends for receiving ground control system and other data and earthward control system send detection information and security monitoring data.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 3 and safety monitoring system, it is characterised in that described communication data extended line uses RS232 to turn the mode that RS485 extends, and makes the distance between ground control main frame and surface control module more than 20 meters.
6. the many rotor wing unmanned aerial vehicles communication as described in claim 3 or 4 and safety monitoring system, it is characterized in that, described surface control module is by the microwave signal received by ground antenna, resolve to the code that can directly read, and remote antenna is resolved to the code that can directly read from the microwave signal received by iridium satellite communication network by remote control module, the described code that can directly read is HEX code.
7. the many rotor wing unmanned aerial vehicles communication as described in claim 3 or 4 and safety monitoring system, it is characterised in that described detection information includes: the data that the sensor on many rotor wing unmanned aerial vehicles, detector obtain；Described security monitoring data include: many rotor wing unmanned aerial vehicles current pose value, magnitude of voltage, velocity amplitude, altitude value and current geographic position information.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 4 and safety monitoring system, it is characterised in that the assembling integrated with the communication module in described remote control module of described remote antenna, and be connected by feeder line between remote antenna with communication module.
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