CN106452563A - Unmanned aerial vehicle (UAV) data link universal access system based on communication satellites - Google Patents
Unmanned aerial vehicle (UAV) data link universal access system based on communication satellites Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18539—Arrangements for managing radio, resources, i.e. for establishing or releasing a connection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18515—Transmission equipment in satellites or space-based relays
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18523—Satellite systems for providing broadcast service to terrestrial stations, i.e. broadcast satellite service
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18545—Arrangements for managing station mobility, i.e. for station registration or localisation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18578—Satellite systems for providing broadband data service to individual earth stations
- H04B7/18586—Arrangements for data transporting, e.g. for an end to end data transport or check
Abstract
The invention discloses an unmanned aerial vehicle (UAV) data link universal access system based on communication satellites, which is applied in a communication satellite control and management center. The system comprises a multithread multitask processing module, a network distribution module, and an IPC data exchange module, wherein the network distribution module is used for configuring ports and IP addresses for data senders and data receivers in an offline manner; the multithread multitask processing module is used for creating a master control process after data is received from the data senders, the master control process comprises a plurality of threads, the received data is split through the threads, and the split data is repacked into data frame formats required by the data receivers; and the IPC data exchange module is used for scheduling the threads during processes. The system provided by the invention has the advantages that UAV ground stations needn't respectively construct relevant protocol conversion modules, so that the link access efficiency and the UAV interoperability are improved, and communication satellite communication transmission protocol requirements are satisfied.
Description
Technical field
The invention belongs to UAS overall-in-one control schema technology, solve telecommunication satellite communication data chain in unmanned aerial vehicle
Generalization in control station accesses problem.Because satellite communications data chain adopts fixed ground data terminal, this technological innovation
Property ground access general-purpose interface converting unit, merge different UAV TT ＆ C's agreements, meet the general access of variety classes unmanned plane
Demand.
Technical background
Unmanned Aerial Vehicle Data Link is the unique tie connecting unmanned plane and ground control's control station system, determines unmanned plane system
The efficiency of the task that carries out of uniting, is the most important embodiment that total system " unmanned " is worth.Actually used in telecommunication satellite communication link
In, for access communications satellite communication link, UAV ground control station defends firstly the need of sending to satellite resource administrative center
Star resource request for utilization, by reply satellite resource application result after satellite resource administrative center United Dispatching resource with using meter
Draw.According to application plan, ground control station needs for contactless transmission frame to be converted to the unified forward direction number of satellite resource administrative center
According to transmission frame, and receive the back user data that satellite resource administrative center returns, be both converted to the user at unmanned aerial vehicle station
Determine protocol format.
Different types of unmanned aerial vehicle station is required for knowing the transformat of telecommunication satellite, and is specifically designed for this transmission association
View develops respective interface modular converter, causes the repeatability exploitation of associated equipment, and discrete telecommunication satellite cut-in method causes
Each operational node is separate, is unfavorable for managing.With the generalization development of UAV ground control station, need badly a kind of general
Interface conversion method and telecommunication satellite data link enter means, improve the access efficiency of telecommunication satellite communication link.
Content of the invention
In order to customer center provide a platform quickly accessing communication satellite system, meet information quick transmission and
Shared operational requirements, the goal of the invention of the present invention is in the centrally disposed Unmanned Aerial Vehicle Data based on telecommunication satellite of telecommunication satellite keyholed back plate
Chain universal access system, passes through to merge the observing and controlling standard of unmanned plane, it is to avoid each in this Unmanned Aerial Vehicle Data Link universal access system
Related protocol modular converter is built at unmanned aerial vehicle station respectively, is conducive to improving link access efficiency, lifting unmanned plane interoperability
Level, and meet the requirement of COMSTAR Communication Star communication transport protocols.
The goal of the invention of the present invention is achieved through the following technical solutions：
A kind of Unmanned Aerial Vehicle Data Link universal access system based on telecommunication satellite, applies at telecommunication satellite keyholed back plate center, bag
Processing module containing multi thread and multi task, net distribution module and IPC data Switching Module.
Described net distribution module is configured to as each data sender and data receiver's off-line arrangement port and IP
Address；
After described multi thread and multi task processing module is configured in the data receiving data sender's transmission, create master control
Process, this host process is made up of multiple threads, by thread, the data receiving is split, and is repackaged into data and connects
Data frame format needed for debit；
Described IPC data Switching Module is configured to the multithreading in each process is scheduling.
Further, described net distribution module adopts Socket is each data sender and data receiver's off-line arrangement end
Mouth and IP address, carry out Transmission Control Protocol process to view data, video data, to speech data, remote-control data, telemetry
Carry out udp protocol process.
Further, described IPC data Switching Module is scheduling to the multithreading in each process using Linux.
There is the main technical essential of three below in the present invention.
(1) multi thread and multi task is processed, and in traditional operating system, process is system resource allocation and treatment mechanism
Ultimate unit, process allows another entity to do certain affairs and need to derive from subprocess by fork and is processed, need by
The memory object of parent process is copied to subprocess, and cost compares " expensive ".Thread for realize multifunctional information integrated treatment with
Very meaningful for distribution function, it is no longer necessary to the data exchange between the IPC communication mode maintenance process of complexity, simultaneously
Multiple threads can also be independent, parallel execution.The also referred to as light power process of thread, it is an execution route in process,
Allow in each process to comprise multiple paths concurrently executing.In multi-threaded system, it is that operating system carries out processor scheduling
Ultimate unit, the thread in same process shares the primary memory space and the resource that process obtains, and they reside in identical address
Space, can access identical data, allow to operate on different CPU.Thread has the following advantages compared with process:(1) cut
Throw-over degree is fast, and (2) overhead is few, and (3) communication easily and is realized, and (4) degree of concurrence is high, and (5) save memory headroom.
(2) configurable net distribution, unmanned aerial vehicle station owner will pass through Ethernet and other subsystems of UAS
Carry out data interaction, mainly describe that to realize Linux and Linux and Linux and Windows using Socket cross-platform herein
Network service.Socket is the most typical application and development interface of corresponding ICP/IP protocol.As network application programming interface,
Socket conceals the complicated structure of network bottom layer and agreement so that programming personnel can simply operate to network.
Socket mainly has two kinds of communication modes, and the first is convection type, also referred to as towards connected mode, in this manner, communication
A kind of virtual connection to first be set up, this mode is corresponding to be Transmission Control Protocol, and its transmission feature is reliable communications between process
Property, by the order receiving data sending；Data is counted as byte stream, no length limitation.Second is called datagram mode, and
Claim connectionless-mode, it provides Connectionless transport service, and corresponding is udp protocol, and this mode does not provide data error-free guarantee, data
May lose or repeat, and accept order confusion, the length of message is limited.Socket Programming Principle is based on socket
System is called.Application program must call socket () to create socket by system first, then calls bind () will be socketed
Word address is connected with the socket being created.By connect () and accept () two systems call establishment socket
Connection, wherein connect () be used for set up connect, accept () be used for make server wait from client actual connection.
Listen () is used for towards connection server, shows that it is ready to receive and connects.It is possible to use system after a connection establishment
System calls send () and recv () to send and receive data.Finally call closesocket () to close socket, and discharge
The resource of distributed to socket.Design of Network Communication is carried out based on Socket, mainly employ based on connect C/S model and
Based on the C/S model (as shown in Figure 1) of datagram, unrelated with platform, language due to being had based on the network service of Socket
Feature, realizes configurability and the versatility of network service, in conjunction with ini configuration file communication network is carried out offline port and
IP address configures, and realizes Overpassing Platform by Using and increased the motility of network service.
(3) Real-Time Scheduling Police, although Linux itself provides two kinds of Real-Time Scheduling Police FIFO (first dispatching first) and RR
(rotation system scheduling) although both realize all fairly simple, not from actually improving real-time processing mechanism, so needing
The ability that certain modification to improve real-time processing is carried out to scheduling strategy.Improve network data real-time processing performance, mainly
It is to shorten the process time sending data and receiving data and forwarding data, Linux is a kind of based on priority scheduling strategy
Operating system.Process is divided into two types, real-time process and non-real-time process by Linux.For real-time process using preferential
The round robin scheduling of level and the FIFO service dispatch based on priority.Non-real-time process is employed based on priority
The radix of the priority of priority ratio non-real-time process of round robin scheduling real-time process is high by 1000.Linux passes through priority
Radix sets and achieves classification, and real-time process and non-real-time process are with a scheduling queue, but reality is divided into two-stage,
I.e. real-time process priority is definitely higher than non-real-time process and can preferentially be dispatched.In Linux, no matter when real-time process is entered
Enter process waiting list, before all being come non-real-time process.Linux is a kind of operating system of non-preemptive again, when being
When system is carrying out the task of a low priority, the task of high priority can not seize the task of low priority, and is in
Waiting state.The task waiting time of high priority is determined by the implementation status of the task of low priority.Thus, Linux
Real-time is not only determined by real-time process execution time, is also determined by the execution time of non-real-time process.Linux interrupt processor
It is formed with the feature of its own, in Linux, interrupt handling routine can be divided into rudimentary process part and advanced processes part.Low
The effect of level process part is used to timely respond to interrupt signal, and the senior place of interruption is then given in specific interrupt processing work
Reason is partially completed；Advanced processes work is not to complete immediately, but after processing routine is placed in a special queue
Execute again.By this mechanism, Linux shortens the response time asked to external world, and this can largely reduce earth station
The response time of total system, improves the sensitivity of system response.
Brief description
Fig. 1 is the operation principle schematic diagram of the present invention
Fig. 2 is the operation principle schematic diagram of IPC data Switching Module.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in figure 1, a kind of Unmanned Aerial Vehicle Data Link universal access system based on telecommunication satellite of the present embodiment, reside in logical
Letter satellite keyholed back plate center, including multi thread and multi task processing module, net distribution module, and IPC data Switching Module.
(1) net distribution module：
After unmanned plane, earth station and combat unit obtain the resource of telecommunication satellite, it is that each data sender is connect with data
Debit's off-line arrangement port and IP address.
As data core processing module, earth station needs to realize the interconnection between unmanned plane, earth station and combat unit
Interoperability, for commanding the information of control and distribution unmanned plane collection, this is under the networked environment of unmanned aerial vehicle station
Joint fighting capability proposes certain demand, carries out data sharing by LAN and receives information data, through analysis, merges, processes
And different data distributions is given different processing units, this needs to realize ground based on the configurable net distribution technology of Linux
The Real-time and Dynamic configuration of face station network service, achievable floor manager personnel's online modification, carry to effectively completing aerial mission
Supply to ensure.
Net distribution module is the complicated software system in on-premise network environment, and its topological structure and software action can
Configure in real time, there is autonomy and reactivity, that is, have relative independentability, initiative, adaptivity and, by the method mould
Block is unnecessary to carry out new design and realization it is possible to increase new communication function module in ground control station, so open
Property definition and requirement so that ground control station design and realize during adopt modular method, modules it
Between function mutually there is certain independence, these block combiner together, are realized the function of whole system, are realized this system
Generalization.
Unmanned aerial vehicle station owner will carry out data interaction by Ethernet and other subsystems of UAS, utilizes
Socket is realized Linux and is communicated with Linux and Linux and Windows cross-platform network.Socket is corresponding ICP/IP protocol
Most typical application and development interface.As network application programming interface, Socket conceal the complicated structure of network bottom layer and
Agreement is so that programming personnel can simply operate to network.In implementing, network service is carried out based on Socket
Design, mainly employs based on the C/S model connecting and the C/S model (as shown in Figure 1) based on datagram, due to being based on
The network service of Socket has the characteristics that unrelated with platform, language, realizes configurability and the versatility of network service, in conjunction with
Ini configuration file carries out the configuration of offline local ip address, local port number and communication type to communication network, realizes across flat
Platform communicates and increased motility, once modification in need is it is only necessary to be adjusted to configuration file, the maintenance reducing system becomes
This.
(2) multi thread and multi task processing module
After receiving the data of data sender's transmission, create host process, this host process is made up of multiple threads, lead to
Cross thread the data receiving is split, be repackaged into the data frame format needed for data receiver and send；
Due to the requirement of real-time at unmanned aerial vehicle station, need to no-manned machine distant control, remote measurement, image, video, voice, rise
The multi-source data such as fall guiding and aviation management information carries out real-time parallel process, and in legacy operating system, process is system resource allocation
With the ultimate unit for the treatment of mechanism, it is also the ultimate unit of processor scheduling, a process allows another entity do certain affairs
Need to be processed by fork derivation subprocess, need for the memory object of parent process to be copied to subprocess, cost compares " high
Expensive ".
Thus using the multithreading based on Linux for realizing the multifunctional information integrated treatment of unmanned aerial vehicle station and distribution
Function is very meaningful, and it is no longer necessary to the data exchange between the communication mode maintenance process of complexity.Due in a process
Thread share process obtain the primary memory space and resource, due to resident same address space, same data parallel can be deposited
Take it is allowed to operate on different CPU, thus possess that switch speed is fast, overhead is few, communication is easily achieved, degree of concurrence
Advantage that is high, saving memory headroom.
In implementing, because UAS data volume is big, broad categories, the business datum of each unmanned plane, distant
Survey, remote-control data, voice, image, video etc. are required for carrying out the sequence of operations such as receiving, process, encapsulate and forward, for this
The process of class high-volume data, using traditional three tiers model：Client, the LINUX application services based on process, are processed
Performance will be difficult to be guaranteed, and the most obvious weakness of concurrently execution completing multiple affairs in units of process is exactly processing business
When increasing, the performance of system is decreased obviously.A kind of new process structure-multithreading one process structure can preferably solve multi-service simultaneously
Send out the problem of execution.In the data handling system of one process multithreaded architecture, system only creates a host process, this process
Can be made up of multiple threads, concurrent executable unit is changed to thread by process, communication between thread is only realized by message, often increases
Plus a data processing business only needs to increase a thread, the conversion of thread is the change of simple running status, and not
The switching of the process space can be caused, decrease overhead so that the handling capacity ratio of the response time of data processing and system
The structure of each one process of business significantly improves.
Service end host process acquisition processing business code is given corresponding Service Processing Module and is processed, Business Processing mould
By respective packet logic by packet when block is processed, and create a process thread for each packet.Each thread adds
The data carrying corresponding packet is processed to internal memory, can be realized when thread etc. using the method for multithreading based on Linux
Whne I/O complete or calculate in a large number final result when, another thread can continue other process, so that earth station's data
Process and be constantly in run mode with distribution, and responded at any time, and then improve the response efficiency of system；In addition, due to
Multithreading shares a process space, and this Billy is accessed shared by common data structure by shared drive with multiple independent threads
System resource is little, can improve the resource utilization of integrated data processing system, between the communication between thread is than process
Communication is simply too much, during design synthesis process systems programme, can create corresponding thread according to data category and be processed,
Make program structure also more clear.
According to functional requirement, modular mentality of designing is adopted to unmanned plane, during realizing, establish data receiver
Module, data processing module, data memory module, data communication module etc., data receiver is mainly responsible for network UDP and TCP
The reception of data, data processing module is mainly responsible for tearing frame framing open, and data storage is mainly responsible for recording corresponding data, number
Mainly realize the autonomous configuration off-line arrangement of network IP and port numbers according to communication.By opening multithreading and multiple task management
Carry out priority and call realization in the process of implementation, flow and functionality demand according to execution, host process and thread call phase respectively
The module answered, realizes specific function.
(3) IPC data Switching Module
Multithreading in each process is scheduling.
Unmanned aerial vehicle station is the critical subsystem of one of whole UAS, by data processing and distribution
Receive downlink data from unmanned plane to be distributed and pass through this system sending flight orders and mission payload instruction to unmanned plane, because
This involves how to improve multitask inter-thread communication data exchange.
In Linux, common communication mechanism can be divided into two classes, a class such as signal, pipeline, shared drive, semaphore, disappears
Breath queue, they are mainly used to realize the communication between process in same computer, a class such as socket, and main difference of realizing calculates
Process communication between machine.Wherein, the quantity of information that signal can transmit extremely limited thus be not suitable for complexity interactive operation, pipeline is no
Method differentiates data sender, and Semaphore Mechanism is that the process of mutual operation provides a kind of synchronization mechanism of complexity, and it may produce
Life and death is locked.It is in the way of a kind of discontinuous message rather than with a kind of unformatted character stream during message queue transmission data
Mode, therefore can be setup flexibly data, when particularly transmitting little data block, efficiency is very high.
In implementing, data communication between module be can achieve by this IPC communication, mainly timing data processes mould
Block, data processing module are interacted with the data flow between input, output module, as shown in Figure 2.
Each data block has been seen as a type, and receiving thread can have different types of data with individual reception
Block, Linux is that in system, all of message queue safeguards a msgque chained list, and each pointer in this chained list points to one
Msgid_ds structure, this structural integrity describes a message queue.When setting up a message queue, system is divided from internal memory
Join a msdid_ds structure and pointer is added in msgque chained list.Thread calls msgget to create by system or obtains
Obtain a message queue, it returns message queue indications；Sent by calling msgsnd that message is put in queue
Message；Message to be safeguarded by the order arriving in queue, when process reads message, can call msgrcv, by these message from team
Remove in row；With msgctl, message queue is controlled.
It is understood that for those of ordinary skills, with technology according to the present invention scheme and its can send out
Bright design in addition equivalent or change, and all these change or replace the guarantor that all should belong to appended claims of the invention
Shield scope.
Claims (3)
1. a kind of Unmanned Aerial Vehicle Data Link universal access system based on telecommunication satellite, applies at telecommunication satellite keyholed back plate center, comprises
Multi thread and multi task processing module, net distribution module and IPC data Switching Module it is characterised in that：
Described net distribution module is configured to as each data sender and data receiver's off-line arrangement port and IP address；
After described multi thread and multi task processing module is configured in the data receiving data sender's transmission, creates master control and enter
Journey, this host process is made up of multiple threads, by thread, the data receiving is split, is repackaged into data receiver
The data frame format of Fang Suoxu；
Described IPC data Switching Module is configured to the multithreading in each process is scheduling.
2. a kind of Unmanned Aerial Vehicle Data Link universal access system based on telecommunication satellite according to claim 1, described network
It is each data sender and data receiver's off-line arrangement port and IP address that distribution module adopts Socket, to picture number
Carry out Transmission Control Protocol process according to, video data, udp protocol process is carried out to speech data, remote-control data, telemetry.
3. a kind of Unmanned Aerial Vehicle Data Link universal access system based on telecommunication satellite according to claim 1, described IPC number
Multithreading in each process is scheduling using Linux according to Switching Module.
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