CN106981187B - Quadrotor drone communication means and system based on bluetooth and Wi-Fi - Google Patents
Quadrotor drone communication means and system based on bluetooth and Wi-Fi Download PDFInfo
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- G—PHYSICS
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- 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
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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Abstract
The embodiment of the invention discloses quadrotor drone communication means and system based on bluetooth and Wi-Fi, it is related to UAV Communication field, effective redundancy architecture is formed using two kinds of data transfer means of bluetooth and Wi-Fi, for realizing the wireless communication between Android earth station and unmanned plane, can parallel, high speed receive Android earth station telecommand, it is repeated by instruction code, multiple and two-way transmitted in parallel mode, improves reliability, the real-time wirelessly communicated between Android earth station and ground observing and controlling terminal；Communication expands communication distance, avoids the limited problem of communication distance.
Description
Technical field
The present invention relates to UAV Communication fields, more particularly to the quadrotor drone communication party based on bluetooth and Wi-Fi
Method and system.
Background technique
In information-based contemporary society, with being widely used for the technologies such as micro electronmechanical, microelectronics and micro navigation, unmanned plane skill
Art rapidly becomes research hotspot, and has obtained quick development.And quadrotor drone because adjacent rotor turn on the contrary,
To offset reaction torque, therefore does not have to special design tail-rotor to balance antitorque of rotor, there is vertical lift, hovering and quickly change
Become the flight characteristicses such as posture, has many advantages, such as that small in size, mobility is good, cost performance is high compared with common unmanned plane, therefore
There is huge application value in terms of military and civilian.
Earth station is the important component of UAV system, it is responsible for carrying out aircraft control and to the letter of aircraft
Breath is acquired and handles, with comprehensive functions such as control, commander, communication, monitoring and scoutings.With small aircraft function day
Benefit is abundant and requires flight higher and higher, and to earth station, higher requirements are also raised.Traditional small aircraft ground
Information acquisition system is mostly desktop system, and inconvenient for operation and volume is not readily portable greatly.Android system be it is a kind of with Linux with
Open source code operating system based on JAVA, is mainly used for portable equipment.Android system makes as mobile phone operating system
A great variety of models for mobile phone, the more convenient multiplicity of function, can satisfy different consumer demands.Android earth station is a kind of new
Emerging earth station had not only realized earth station's major function compared with traditional earth station, but have concurrently longevity of service, be easy to carry about with one,
The advantages that easy to operate and transplantability is strong will be used widely in rotor type UAV system.
Communication system is the core of UAV system information control and transmission, provides the data between earth station and unmanned plane
Link (uplink and downlink).The order and instruction that uplink transmits operator on unmanned plane, downlink transmission nobody
The status data of machine is to earth station.Communication system between Android earth station and quadrotor drone mainly uses Android operation eventually
USB OTG (ON-The-Go) function connects USB data radio station is held to realize.The communication mode is to Android operating terminal, data radio station
Interface function there are certain requirements, and the performance indicator of data radio station is limited, influences UAV system and uses over long distances.City at present
Also have on field based on 4G network and based on the communication system of Wi-Fi.These communications be all using network as communication infrastructure, it is easy by
To the influence of the signal strength of local networks.And transmitted in network signal from far-off regions unstable, also will affect system can
By using.Meanwhile there is also communication distance limitations for Wi-Fi communication system.
To sum up, between current Android earth station and quadrotor drone communication link have reliability insufficient and distance by
The problem of limit.
Summary of the invention
The embodiment of the present invention provides quadrotor drone communication means and system based on bluetooth and Wi-Fi, the communication
Method and system is not necessarily to network assistance, can be combined to realize that data are transmitted, be had with data radio station by bluetooth, Wi-Fi
The advantages of operating distance length, good operating stability.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
Quadrotor drone communication means based on bluetooth and Wi-Fi, comprising:
S1, Android earth station send instruction queue to bluetooth communication and Wi-Fi communication module；
S2, the bluetooth communication and Wi-Fi communication module receive described instruction queue, then are transmitted by serial communication
To ground observing and controlling terminal control unit；
S3, the ground observing and controlling terminal control unit acquire the bluetooth communication and the Wi-Fi communication module uploads
Described instruction queue and carry out verification judgement, obtain bluetooth valid frame and Wi-Fi valid frame after judgement, the ground observing and controlling is whole
Side controller merges the bluetooth valid frame and the Wi-Fi valid frame, obtains effective telecommand queue, and by institute
It states effective telecommand queue and is sent to ground digital transmission module；
S4, the ground digital transmission module acquire effective telecommand queue, and through wireless communication by institute
It states effective telecommand queue and is sent to airborne digital transmission module；
S5, the airborne digital transmission module acquire effective telecommand queue, and put to radiofrequency signal therein
Greatly, it demodulates, obtains control instruction, the control instruction is sent to quadrotor drone control again by the airborne digital transmission module
Device；
S6, the quadrotor drone controller acquire the control instruction, and according to the content control of the control instruction
Airborne platform processed repeats the S1-S6 subsequently into next control period.
Further, described instruction queue verification and judgement using cumulative and verification or CRC check.
Further, in S3, the fusion of the bluetooth valid frame and the Wi-Fi valid frame includes:
S301, the bluetooth valid frame and the Wi-Fi valid frame obtain Bluetooth commands according to instruction control of right rule
Weight matrix and Wi-Fi instruct weight matrix；
S302, the Bluetooth commands weight matrix and Wi-Fi instruction weight matrix sum to obtain instruction weight matrix；
S303, the element in described instruction weight matrix is compared with effective threshold value is instructed, if more than effective threshold
Value then sets 1, otherwise sets 0, using obtained new matrix as instruction control word；
S304, according to described instruction control word and instruction mask formed effective instruction control word, wherein, instruction control word with
Mask is instructed to carry out position and (&) operation；
S305, according to the effective instruction control word, transfer corresponding instruction code from instruction set, instruction code be subjected to group
Frame, coding obtain effective telecommand queue.
Further, the effective threshold value value range of described instruction is 0.5~1, it is proposed that takes 0.8.
Further, the effective instruction control word progress position that described instruction mask was obtained by a upper control period negates
(~), then taken with instruction class type-word or (|) operation obtains, and initial value is unit vector.
Further, in instruction set, if the instruction type of i-th of instruction executes instruction for single, corresponding instruction
Class type-word corresponding positions are 0；If instruction is continuously performed, then corresponding instruction class type-word corresponding positions are 1；Wherein, described instruction collection
In total number of instructions be Ns, i=1,2,3 ... Ns。
Further, described instruction control of right rule includes:
In the Wi-Fi instruction queue, the sum of the Wi-Fi valid frame is Nw, in the Bluetooth commands queue,
The sum of the bluetooth valid frame is Nb, described instruction, which is concentrated, shares NsA instruction, NsFor positive integer, the Wi-Fi valid frame and
Some instruction that each frame and described instruction in the bluetooth valid frame are concentrated is corresponding, wherein, the Wi-Fi instructs team
It is n that column, which neutralize the corresponding frame number of i-th of instruction,wi, wherein i=1,2,3 ... Ns, i-th of instruction of Bluetooth commands queue neutralization
Corresponding frame number is nbi, then i-th of instruction be for the instruction weight of the Wi-Fi instruction queueThe bluetooth is referred to
The instruction weight for enabling queue isTherefore, the Bluetooth commands weight matrix of composition corresponding with described instruction collection isWi-Fi instruction weight matrix isThe Bluetooth commands weight square
Battle array and Wi-Fi instruction weight matrix sum to obtain instruction weight matrix.
The present invention also provides the quadrotor drone communication system based on bluetooth and Wi-Fi, including ground surface end and airborne
End, the ground surface end include Android earth station, bluetooth communication, Wi-Fi communication module, ground observing and controlling terminal control unit,
Face digital transmission module, the Android earth station wirelessly communicate with the bluetooth communication, Wi-Fi communication module, institute
It states bluetooth communication and connects the ground observing and controlling terminal control unit, the ground observing and controlling terminal control with Wi-Fi communication module
Device connects the ground digital transmission module；The airborne end include airborne digital transmission module, unmanned aerial vehicle (UAV) control device and airborne platform and according to
Secondary connection, the ground digital transmission module and the airborne digital transmission module wirelessly communicate.
Quadrotor drone communication means and system provided in an embodiment of the present invention based on bluetooth and Wi-Fi, passes through indigo plant
Tooth chain road and Wi-Fi link match, and solve the problems, such as communication link reliability deficiency, and airborne end and ground surface end pass through
Communication interaction avoids the limited problem of distance.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is communication system architecture block diagram provided in an embodiment of the present invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
Present invention is further described in detail for formula.
The embodiment of the present invention provides the quadrotor drone communication means based on bluetooth and Wi-Fi
S1, Android earth station send instruction queue to bluetooth communication and Wi-Fi communication module, pass through Wi-Fi and indigo plant
Two kinds of communication modes of tooth, parallel, high speed receive the instruction queue that Android earth station issues；
S2, the bluetooth communication and Wi-Fi communication module receive described instruction queue, then are transmitted by serial communication
To ground observing and controlling terminal control unit；
S3, the ground observing and controlling terminal control unit acquire the bluetooth communication and the Wi-Fi communication module uploads
Described instruction queue and carry out verification judgement, obtain bluetooth valid frame and Wi-Fi valid frame after judgement, the ground observing and controlling is whole
Side controller merges the bluetooth valid frame and the Wi-Fi valid frame, obtains effective telecommand queue, and by institute
It states effective telecommand queue and is sent to ground digital transmission module；
S4, the ground digital transmission module acquire effective telecommand queue, and through wireless communication by institute
It states effective telecommand queue and is sent to airborne digital transmission module；
S5, the airborne digital transmission module acquire effective telecommand queue, and put to radiofrequency signal therein
Greatly, it demodulates, obtains control instruction, the control instruction is sent to quadrotor drone control again by the airborne digital transmission module
Device；
S6, the quadrotor drone controller acquire the control instruction, and according to the content control of the control instruction
Airborne platform processed.
Further, in S3, the fusion process of the bluetooth valid frame and the Wi-Fi valid frame includes:
S301, the bluetooth valid frame and the Wi-Fi valid frame obtain Bluetooth commands according to instruction control of right rule
Weight matrix and Wi-Fi instruct weight matrix；
S302, the Bluetooth commands weight matrix and Wi-Fi instruction weight matrix sum to obtain instruction weight matrix；
S303, the element in described instruction weight matrix is compared with effective threshold value is instructed, if more than effective threshold
Value then sets 1, otherwise sets 0, using obtained new matrix as instruction control word, wherein effective threshold value is instructed to indicate a data packet
The ratio of total number of instructions shared by middle effective instruction code, value range are 0.5~1, it is proposed that being worth is 0.8, i.e., in Wi-Fi or bluetooth list
When channel effectively works, 80% instruction is the instruction code in a bag data, then it is assumed that the instruction code is to perform effectively instruction.Instruction
Effective threshold value is avoided losing instruction, accidentally be instructed for extracting current latest command code in largely instructing from Wi-Fi, bluetooth.；
S304, effective instruction control word is formed according to described instruction control word and instruction mask, wherein described instruction mask
According to instruction type, instruction sending method construction.When instruction type is remote regulating instruction and remote regulating numerical value is consecutive variations (such as
Pitch angle target value), mask corresponding position 1 is instructed, guarantees each control period, which can uplink.Other situations are then
According to instruction sending method setting, if instruction executes instruction for single, after a upper control cycles per instruction is sent, mask sets 0,
Instruction code is avoided to continuously transmit；It is repeatedly continuously transmitted if allowing to instruct, mask sets 1, does not carry out at shielding to instruction control word
Reason；
S305, according to the effective instruction control word, from instruction set, (all instructions is encoded in communications protocol, if wherein wrapping
Containing NsA instruction code) corresponding instruction code is transferred, instruction code is subjected to framing, coding, obtains effective telecommand queue.
Further, described instruction control of right rule includes:
In the Wi-Fi instruction queue, the sum of the Wi-Fi valid frame is Nw, in the Bluetooth commands queue,
The sum of the bluetooth valid frame is Nb, described instruction, which is concentrated, shares NsA instruction, NsFor positive integer, the Wi-Fi valid frame and
Some instruction that each frame and described instruction in the bluetooth valid frame are concentrated is corresponding, wherein, the Wi-Fi instructs team
It is n that column, which neutralize the corresponding frame number of i-th of instruction,wi, wherein i=1,2,3 ... Ns, i-th of instruction of Bluetooth commands queue neutralization
Corresponding frame number is nbi, then i-th of instruction be for the instruction weight of the Wi-Fi instruction queueIf Wi-Fi instructs nothing
Effect does not receive effective i-th of instruction, then the instruction weight of i-th of instruction codeIt is 0, for the Bluetooth commands queue
Instruction weight beIf Bluetooth commands are invalid or do not receive effective i-th of instruction, the instruction weight of i-th of instruction codeIt is 0, therefore, all instructions that inquiry instruction is concentrated in Wi-Fi instruction queue and Bluetooth commands queue obtains the finger
Order collection corresponds to the Bluetooth commands weight matrix constitutedWi-Fi instruction weight matrix is
The quadrotor drone communication system based on bluetooth and Wi-Fi that the present invention also provides a kind of, as shown in Figure 1, packet
Ground surface end and airborne end are included, the ground surface end includes Android earth station, bluetooth communication, Wi-Fi communication module, ground observing and controlling
Terminal control unit, ground digital transmission module, the Android earth station are wirelessly logical with the bluetooth communication, Wi-Fi
Believe module communication, the bluetooth communication connects the ground observing and controlling terminal control unit, the ground with Wi-Fi communication module
Detection and control terminal controller connects the ground digital transmission module；The airborne end include airborne digital transmission module, unmanned aerial vehicle (UAV) control device and
Airborne platform is simultaneously sequentially connected, and the ground digital transmission module and the airborne digital transmission module wirelessly communicate.
Wherein, bluetooth communication, Wi-Fi communication mould and ground digital transmission module, airborne digital transmission module are substantially carried out ground
Wireless communication between face station and unmanned plane；Ground observing and controlling terminal control unit is mainly resolved and is executed to instruction.Ground is surveyed
Control terminal controller receives the data that bluetooth communication is sent by UART interface, receives Wi-Fi communication by SPI interface
The data that module is sent, ground observing and controlling terminal control unit pass through SPI interface again and transfer data to ground digital transmission module.
Bluetooth communication, in order to reduce design risk and Speeding up development process, bluetooth communication uses bluetooth V2.0
Consensus standard.Module size size is 27mm × 13mm × 2mm or so, and module for power supply voltage is 3.3~3.6V, and operating current is not
Greater than 50mA, power consumption is lower.The effective communication distance of bluetooth communication is 10m or so, and can be instructed by AT to bluetooth
The baud rate and pairing password of communication are modified.
Wi-Fi communication module supports WPA/WPA2 safe mode, built-in ICP/IP protocol stack.Its operating voltage is 3.3V,
Average operating current is 80mA, AT command set can be used, there are three types of operating modes for tool: ap mode, Station mode and AP are simultaneous
Station mode.The effective communication distance of Wi-Fi communication module is 90m or so, has radio wave coverage wide and transmission
Speed is fast, provides the characteristics such as maximum practicability with least cost.
Ground digital transmission module and airborne digital transmission module are a kind of radio transmitting and receiving chips, have multiband, low-power consumption, highly integrated
The features such as spending.Reachable+the 20dBm of output power, receiving sensitivity reach -126dBm, it is possible to provide to data packet processing, data buffering
FIFO, received signal strength indicator (RSSI), clear channel assessment (CCA) (CCA), timer, low voltage test, temperature sensing are waken up
The hardware supported of the functions such as device, 8 bit A/D converters and general I/O port.Ground digital transmission module selected by the present invention and
Airborne digital transmission module is smaller to the dependence of outer member when in use, and configuring several capacitors, inductance and a crystal oscillator can group
At a higher data receiving-transmitting system of reliability, the workload of secondary development is reduced.
Ground observing and controlling terminal control unit select mainstream singlechip chip, have multiple power sources management mode (such as normal mode,
Suspend mode, idle mode etc.), 2 undervoltage detectors being internally integrated are respectively suitable for normal mode and suspend mode,
Operating current is only 50nA under suspend mode.The controller need to include an efficient DC boost converter, give internal micro-control
Device processed and other components provide 65mW power supply.In power consumption, the electric current under operation mode can be reduced to by electricity-saving architecture
170μA/MHz.Meet the design demand with this.
To sum up, using Wi-Fi and two kinds of communication modes of bluetooth, parallel, high speed receives the remote control of Android earth station and refers to the present invention
It enables, is repeated by instruction code, multiple and two-way transmitted in parallel mode, improve nothing between Android earth station and ground observing and controlling terminal
Reliability, the real-time of line communication；Communication expands communication distance, avoids the limited problem of communication distance.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (7)
1. the quadrotor drone communication means based on bluetooth and Wi-Fi characterized by comprising
S1, Android earth station send instruction queue to bluetooth communication and Wi-Fi communication module；
S2, the bluetooth communication and Wi-Fi communication module receive described instruction queue, then are transmitted to ground by serial communication
Face detection and control terminal controller；
S3, the ground observing and controlling terminal control unit acquire the institute that the bluetooth communication and the Wi-Fi communication module upload
It states instruction queue and is verified and judged, bluetooth valid frame and Wi-Fi valid frame, the ground observing and controlling terminal are obtained after judgement
Controller merges the bluetooth valid frame and the Wi-Fi valid frame, obtains effective telecommand queue, and will be described
Effective telecommand queue is sent to ground digital transmission module；
S4, the ground digital transmission module acquire effective telecommand queue, and have through wireless communication by described
Effect telecommand queue is sent to airborne digital transmission module；
S5, the airborne digital transmission module acquire effective telecommand queue, and amplify, solve to radiofrequency signal therein
It adjusts, obtains control instruction, the control instruction is sent to quadrotor drone controller again by the airborne digital transmission module；
S6, the quadrotor drone controller acquire the control instruction, and according to the content-control machine of the control instruction
Carrying platform repeats the S1-S6 subsequently into next control period.
2. the quadrotor drone communication means according to claim 1 based on bluetooth and Wi-Fi, which is characterized in that institute
It states in S3, the verification and judgement of described instruction queue are using cumulative and verification or CRC check.
3. the quadrotor drone communication means according to claim 1 based on bluetooth and Wi-Fi, which is characterized in that institute
It states in S3, the fusion of the bluetooth valid frame and the Wi-Fi valid frame includes:
S301, the bluetooth valid frame and the Wi-Fi valid frame obtain Bluetooth commands weight according to instruction control of right rule
Matrix and Wi-Fi instruct weight matrix；
S302, the Bluetooth commands weight matrix and Wi-Fi instruction weight matrix sum to obtain instruction weight matrix；
S303, the element in described instruction weight matrix is compared with effective threshold value is instructed, if more than the effective threshold of described instruction
Value then sets 1, otherwise sets 0, using obtained new matrix as instruction control word；
S304, effective instruction control word is formed according to described instruction control word and instruction mask；
S305, according to the effective instruction control word, transfer corresponding instruction code from instruction set, by instruction code carry out framing, compile
Code, obtains effective telecommand queue.
4. the quadrotor drone communication means according to claim 3 based on bluetooth and Wi-Fi, which is characterized in that institute
Stating the effective threshold value value range of instruction is 0.5~1.
5. the quadrotor drone communication means according to claim 3 based on bluetooth and Wi-Fi, which is characterized in that institute
Instruction mask is stated to negate by carrying out position with a upper control period obtained effective instruction control word, then with instruction class type-word
It takes or operation obtains.
6. the quadrotor drone communication means according to claim 5 based on bluetooth and Wi-Fi, which is characterized in that
Described instruction is concentrated, if the instruction type of i-th of instruction executes instruction for single, corresponding described instruction class type-word corresponding positions
It is 0；If instruction is continuously performed, then corresponding described instruction class type-word corresponding positions are 1；Wherein, the instruction that described instruction is concentrated
Sum is Ns, i=1,2,3 ... Ns。
7. the quadrotor drone communication means according to claim 3 based on bluetooth and Wi-Fi, which is characterized in that institute
Stating instruction control of right rule includes:
In the Wi-Fi instruction queue, the sum of the Wi-Fi valid frame is Nw, described in the Bluetooth commands queue
The sum of bluetooth valid frame is Nb, described instruction, which is concentrated, shares NsA instruction, NsFor positive integer, the Wi-Fi valid frame and described
Some instruction that each frame and described instruction in bluetooth valid frame are concentrated is corresponding, wherein, in the Wi-Fi instruction queue
Corresponding frame number is n with i-th of instructionwi, wherein i=1,2,3 ... Ns, the Bluetooth commands queue neutralization i-th of instruction correspondence
Frame number be nbi, then i-th of instruction be for the instruction weight of the Wi-Fi instruction queueFor the Bluetooth commands team
The instruction weight of column isTherefore, the Bluetooth commands weight matrix of composition corresponding with described instruction collection isWi-Fi instruction weight matrix isThe Bluetooth commands weight square
Battle array and Wi-Fi instruction weight matrix sum to obtain instruction weight matrix.
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| CN110415503A (en) * | 2019-07-18 | 2019-11-05 | 东南大学 | A kind of no-manned machine distant control system based on Bluetooth control |
| CN110430254B (en) * | 2019-07-31 | 2021-11-16 | 西安爱生无人机技术有限公司 | Unmanned aerial vehicle remote controller signal analyzing method, signal processing method and system |
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