CN106487927A - A kind of communication control system of many rotor wing unmanned aerial vehicles - Google Patents
A kind of communication control system of many rotor wing unmanned aerial vehicles Download PDFInfo
- Publication number
- CN106487927A CN106487927A CN201611123116.XA CN201611123116A CN106487927A CN 106487927 A CN106487927 A CN 106487927A CN 201611123116 A CN201611123116 A CN 201611123116A CN 106487927 A CN106487927 A CN 106487927A
- Authority
- CN
- China
- Prior art keywords
- data sink
- control system
- unmanned aerial
- communication control
- rotor wing
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
Abstract
The invention provides a kind of communication control system of many rotor wing unmanned aerial vehicles, including automatic pilot, binocular camera, first XBee module, 2nd XBee module, first data sink and the second data sink, a described XBee module, first data sink and the second data sink are all on ground, described binocular camera is connected on automatic pilot, and be wirelessly connected with described first data sink and the second data sink, it is provided with DSP module in described automatic pilot, and be connected with the 2nd XBee module, wirelessly connect between a described XBee module and the 2nd XBee module.Beneficial effects of the present invention：Improve transmission crypticity, decrease that interference effect, robustness be good, long transmission distance and speed is fast, power consumption is relatively low, cost is relatively low, signal attenuation is little, effectively strengthen the flight communication stability of unmanned plane.
Description
Technical field
The invention belongs to UAV Communication control technology field, especially relate to a kind of Control on Communication of many rotor wing unmanned aerial vehicles
System.
Background technology
UAV referred to as " unmanned plane ", is to be manipulated with the presetting apparatus provided for oneself by radio robot
Not manned aircraft, unmanned plane needs in the course of the work to carry certain equipment and carries out investigations and take pictures, so and earth station,
Communication between the ground installations such as ground surface end data transmission equipment just seems very important.
Many rotor wing unmanned aerial vehicles in the market, mobility is good, small volume, and compared to general aircraft in the identical wing
Can there is higher load capacity under exhibition and can hover, therefore be used widely, such as fire-fighting, environment are investigated, taken photo by plane.
These applications are required for being communicated between such as earth station, ground surface end data transmission equipment, but to there is transmission speed slow, logical for communication
Communication distance compared near, signal attenuation is excessive the problems such as, seriously limit development and the application of unmanned plane.
Content of the invention
In view of this, it is contemplated that proposing a kind of communication control system of many rotor wing unmanned aerial vehicles, to solve the above problems
In weak point, strengthen the flight communication stability of many rotor wing unmanned aerial vehicles and reliability.
For reaching above-mentioned purpose, the technical scheme is that and be achieved in that：
A kind of communication control system of many rotor wing unmanned aerial vehicles, including automatic pilot, binocular camera, an XBee module,
2nd XBee module, the first data sink and the second data sink, a described XBee module, the first data receiver
, all on ground, described binocular camera is connected on automatic pilot for device and the second data sink, and with described
One data sink and the second data sink are wirelessly connected, and are provided with DSP module in described automatic pilot, and with
2nd XBee module connects, and wirelessly connects between a described XBee module and the 2nd XBee module.
Further, described automatic pilot is PIXHAWK flight controller.
Further, described binocular camera includes front mesh camera and aerial camera, and described front mesh camera passes through automatic Pilot
Transmitter module in instrument is wirelessly connected with the first data sink, and described aerial camera is fixed on cradle head controllor even
On the head connecing, described cradle head controllor is connected on automatic pilot by CAN line, and described automatic pilot passes through head control
Device processed carries out PTZ control to aerial camera, and described cradle head controllor passes through air-launched end and described second data sink
Wireless connection.
Further, described transmitter module is simulation PAL video transmitting set.
Further, two described XBee modules are equipped with dipole antenna.
Further, omnidirectional circular-polarized antenna and orientation circular polarisation sky are equipped with two described data sinks
Line.
Further, described orientation circular polarized antenna points to the direction away from unmanned plane.
Further, described omnidirectional circular-polarized antenna on two data sinks be respectively right-handed circular polarization antenna and
Left-hand circular polarization antenna.
With respect to prior art, a kind of communication control system of many rotor wing unmanned aerial vehicles of the present invention has following excellent
Gesture：
The communication control system of many rotor wing unmanned aerial vehicles of the present invention improves the crypticity of transmission, decreases interference effect
Should, robustness is good, long transmission distance and speed is fast, power consumption is relatively low, cost is relatively low, signal attenuation is little, effectively strengthens unmanned plane
Flight communication stability.
Brief description
The accompanying drawing constituting the part of the present invention is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the fundamental diagram of the communication control system of many rotor wing unmanned aerial vehicles described in the embodiment of the present invention；
Fig. 2 is the radiation pattern on data sink described in the embodiment of the present invention.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combine.
In describing the invention it is to be understood that term " first ", " second " etc. are only used for describing purpose, and not
It is understood that as indicating or implying relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " the
One ", the feature of " second " etc. can be expressed or implicitly include one or more this feature.In description of the invention
In, unless otherwise stated, " multiple " are meant that two or more.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or is integrally connected；Can
To be to be mechanically connected or electrical connection；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
To describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
A kind of communication control system of many rotor wing unmanned aerial vehicles, its operation principle is as shown in figure 1, include automatic pilot, double
Mesh camera, an XBee module, the 2nd XBee module, the first data sink and the second data sink, described first
, all on ground, described binocular camera is connected to certainly for XBee module, the first data sink and the second data sink
On dynamic pilot, and wirelessly it is connected with described first data sink and the second data sink, described automatically driven
Sail in instrument and be provided with DSP module, and be connected with the 2nd XBee module, wireless between a described XBee module and the 2nd XBee module
Connect.
Described automatic pilot is PIXHAWK flight controller.
Described binocular camera includes front mesh camera and aerial camera, and described front mesh camera passes through the transmitting in automatic pilot
Module is wirelessly connected with the first data sink, and described aerial camera is fixed on the head being connected with cradle head controllor
(in figure is not drawn into), described cradle head controllor is connected on automatic pilot by CAN line, thus according to head gesture feedback intelligence
The steering of the energy ground each axle of high accuracy control and angle, and obtain control command, described automatic pilot with autopilot communication in real time
(Pan/Tilt/Zoom, represents head all-around mobile and camera lens becomes by cradle head controllor, aerial camera to be carried out with PTZ control
Again, Zoom control), described cradle head controllor is wirelessly connected with described second data sink by air-launched end, described
Front mesh camera be used for distinguish heading, described aerial camera in automatic pilot bottom, for picture of taking photo by plane.
Described transmitter module is simulation PAL video transmitting set.
Described XBee module has the characteristics that low-power consumption, cheap and light, and can provide when being bi-directionally connected must
The data rate needing, in the present embodiment, described XBee module adopts the transmission frequency of 900MHz, rather than conventionally used
2.4GHz because in the case of 900MHz equipment work than in 2.4GHz performance good, this is because the former transmission range can
To reach the distance scope of 45km.Radio frequency theory thinks, under the launching condition of Same Efficieney, relatively low frequency signal up to
To farther, therefore 900Mhz system is compared and should be able to be reached farther scope in 2.4Ghz operation at frequencies；On the other hand, electromagnetism
Ripple is propagated and easily cut-through and signal can be difficult decay in below 1GHz.But need longer antenna with 900Mhz, examine
Consider the reduction with low frequency, antenna is longer, final choice 2dBi dipole antenna, so can be in the range of moderate length
Farthest reach the advantage using 900Mhz transmission frequency.
Omnidirectional circular-polarized antenna and orientation circular polarized antenna, described orientation are equipped with two described data sinks
Circular polarized antenna points to the direction away from unmanned plane, and described omnidirectional circular-polarized antenna is used for ensureing to lead to when unmanned plane flies proximity debit
Letter is normal, and described omnidirectional circular-polarized antenna gain is 2dBi, and described orientation circular polarized antenna is the 12dBi that beam angle is 60 °
Beam antenna, forms the configuration of orthogonal minimum, therefore disturbs very little to automatic pilot.The radiation direction of two antennas and
Radiation radius are as shown in Figure 2.
Described omnidirectional circular-polarized antenna is respectively right-handed circular polarization antenna and left-handed entelechy on two data sinks
Change antenna.
The operation principle of the present embodiment is as follows：
Communication system between many rotor wing unmanned aerial vehicles and earth station is made up of two paths of signals passage, i.e. digital signal and video
Signal two-way.Wherein, digital signal aspect, aircraft position, air speed, dump energy, the height that is located, control are believed by unmanned plane
Number intensity and flight attitude information record storage in digital form, control mainboard reads data, then carries out data using DSP
Compression is processed, and the data after compression passes to the on-board data wireless transmitting device of unmanned plane by data-interface, then passes through no
Line mode passes to ground；Video signal aspect, can facilitate manipulator to do decision-making with real-time transmission of video picture.
Described digital signal and video signal are all integrated in automatic pilot, by simplifying network settings, biography
Broadcast bi-directionally transmitted, the wherein remote measurement letter apart from the remote and high DigiMesh protocol realization telemetered signal of radio frequency speed and control signal
Number from automatic pilot pass through the 2nd Xbee module transfer to ground an Xbee module, and control signal then phase therewith
Instead；The Transmission system of described video signal is one-way transmission path, and described automatic pilot is controlled according to the control command receiving
Taking one's bearings and shooting is taken photo by plane picture, two relatively independent and can work simultaneously for the system pitching of two cameras, course and roll
The link made constitutes transmission of video link, and this two links can be avoided interference by cross-polarization principle.
Specifically, in the transmission of described video signal, front mesh camera passes through the OSD transmitter module and first in autopilot
Data sink is communicated, and what described first data sink was specifically used in an embodiment is 7 cun one of hawkeye RaySee
Body display apparatus module, for carrying out one-way communication；For aerial camera, the video signal of shooting needs to pass to second on ground
Data sink, the second data sink described in the present embodiment is TZM001RX receiver module, regards picture first
Frequency signal passes to cradle head controllor, and then by aerial TZM002TX high definition mobile video transmitter and ground
TZM001RX receiver module is wirelessly transferred, and TZM001RX receiver module transmits a signal to display again.
Reduce interference effect with FHSS frequency hop spread spectrum after data sink is selected so that this link layer meeting
There is more robust multipath fading, spread spectrum communication simultaneously improves crypticity.
It is to work under 5.8GHz that communication system described in the present embodiment is selected in transmission of video frequency, rather than the most frequently used
2.4GHz.The major advantage working in high frequency, in addition to the problem not having bandwidth, can also realize one with a little antenna
Individual big gain, under this frequency, electromagnetic signal is propagated and is mainly distributed on straight line, and therefore they are beneficial to communication, but
This propagation characteristic also makes system be highly susceptible to the impact of multipath fading, in order to reduce this impact, makes two skies here
But it is different that line all receives same signal phase place, and data sink selects best signal from two antennas.
Again because communication system described in the present embodiment needs two video link to work simultaneously, in order to realize this configuration,
Each link will make a not homopolarity, transmitter module and one of data sink can utilize right-handed circular polarization antenna, and
Another data sink utilizes left-hand circular polarization antenna.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of communication control system of many rotor wing unmanned aerial vehicles it is characterised in that：Including automatic pilot, binocular camera, first
XBee module, the 2nd XBee module, the first data sink and the second data sink, a described XBee module,
, all on ground, described binocular camera is connected on automatic pilot for one data sink and the second data sink,
And be wirelessly connected with described first data sink and the second data sink, it is provided with described automatic pilot
DSP module, and be connected with the 2nd XBee module, wirelessly connect between a described XBee module and the 2nd XBee module.
2. a kind of many rotor wing unmanned aerial vehicles according to claim 1 communication control system it is characterised in that：Described automatically drive
Sailing instrument is PIXHAWK flight controller.
3. a kind of many rotor wing unmanned aerial vehicles according to claim 1 communication control system it is characterised in that：Described binocular phase
Machine includes front mesh camera and aerial camera, and described front mesh camera passes through transmitter module and the first data receiver in automatic pilot
Device is wirelessly connected, and described aerial camera is fixed on the head being connected with cradle head controllor, and described cradle head controllor leads to
Cross CAN line to be connected on automatic pilot, described automatic pilot carries out PTZ control by cradle head controllor to aerial camera,
Described cradle head controllor is wirelessly connected with described second data sink by air-launched end.
4. a kind of many rotor wing unmanned aerial vehicles according to claim 3 communication control system it is characterised in that：Described transmitting mould
Block is simulation PAL video transmitting set.
5. a kind of many rotor wing unmanned aerial vehicles according to claim 1 communication control system it is characterised in that：Described in two
It is equipped with dipole antenna in XBee module.
6. a kind of many rotor wing unmanned aerial vehicles according to claim 1 communication control system it is characterised in that：Described in two
Omnidirectional circular-polarized antenna and orientation circular polarized antenna are equipped with data sink.
7. a kind of many rotor wing unmanned aerial vehicles according to claim 6 communication control system it is characterised in that：Described orientation circle
Poliarizing antenna points to the direction away from unmanned plane.
8. a kind of many rotor wing unmanned aerial vehicles according to claim 6 communication control system it is characterised in that：Described omnidirectional circle
Poliarizing antenna is respectively right-handed circular polarization antenna and left-hand circular polarization antenna on two data sinks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611123116.XA CN106487927A (en) | 2016-12-08 | 2016-12-08 | A kind of communication control system of many rotor wing unmanned aerial vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611123116.XA CN106487927A (en) | 2016-12-08 | 2016-12-08 | A kind of communication control system of many rotor wing unmanned aerial vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106487927A true CN106487927A (en) | 2017-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611123116.XA Pending CN106487927A (en) | 2016-12-08 | 2016-12-08 | A kind of communication control system of many rotor wing unmanned aerial vehicles |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109474638A (en) * | 2018-12-29 | 2019-03-15 | 深圳市多翼创新科技有限公司 | A kind of agreement and software implement scheme of real-time messages communication |
| WO2019104652A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle system, and communication method and remote control device therefor |
-
2016
- 2016-12-08 CN CN201611123116.XA patent/CN106487927A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019104652A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle system, and communication method and remote control device therefor |
| CN109474638A (en) * | 2018-12-29 | 2019-03-15 | 深圳市多翼创新科技有限公司 | A kind of agreement and software implement scheme of real-time messages communication |
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Application publication date: 20170308 |