CN106998589A - A kind of UAV Communication method and device - Google Patents
A kind of UAV Communication method and device Download PDFInfo
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- CN106998589A CN106998589A CN201710208502.7A CN201710208502A CN106998589A CN 106998589 A CN106998589 A CN 106998589A CN 201710208502 A CN201710208502 A CN 201710208502A CN 106998589 A CN106998589 A CN 106998589A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
- H04W72/044—Wireless resource allocation based on the type of the allocated resource
- H04W72/0446—Resources in time domain, e.g. slots or frames
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/003—Arrangements for allocating sub-channels of the transmission path
- H04L5/0058—Allocation criteria
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/003—Arrangements for allocating sub-channels of the transmission path
- H04L5/0078—Timing of allocation
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Abstract
The invention provides a kind of UAV Communication method and device, wherein, communication means includes：Generate the downlink data of the first unmanned plane；Unique corresponding relation between identification information based on each unmanned plane in each default time interval resource and unmanned plane cluster, it is determined that the time interval resource matched with the identification information of the first unmanned plane, unmanned plane cluster at least includes multiple unmanned planes, and the time interval resource that different unmanned planes are used is differed；Downlink data is sent using the time interval resource ground station of determination.By UAV Communication method and device provided by the present invention, each unmanned plane in unmanned plane cluster is communicated using unique corresponding time interval resource with earth station, limited channel resource has been saved, has improved the utilization rate of channel.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of UAV Communication method and device.
Background technology
UAV abbreviation unmanned plane (English：Unmanned Aerial Vehicle, referred to as：UAV), it is a kind of
The not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself, because it possesses small volume, flexibility
Strong the advantages of, particularly important role is play in military, civil area.
In addition, Unmanned Aerial Vehicle Data link can be divided into up-link and downlink according to the difference of data transfer direction.
Up-link mainly completes earth station to upstream data (such as takeoff order, landing order, change lamp order and the locking solution of unmanned plane
Lock order) transmission, realize flight attitude in real time control and automation commander；Downlink mainly completes unmanned plane to earth station
Downlink data (such as telemetry and flight attitude, track and localization information) transmission.Dependent on above-mentioned Unmanned Aerial Vehicle Data
Link, constitutes unmanned plane trunking communicating technology.It is real between each unmanned plane and earth station in unmanned plane trunking communicating technology
When interact, to realize from taking off, path perform, destination landing etc..
Unmanned plane trunking communicating technology in correlation technique typically uses frequency division multiplex communication mechanism.Frequency division multiplex communication machine
System requires that the transmission frequency of uplink downlink makes a distinction, and the different channel of transmission frequency is used to different unmanned planes, newly
The unmanned plane of increasing can also cause burden to limited channel resource, and the utilization rate of channel is relatively low.
The content of the invention
In view of this, it is an object of the invention to provide a kind of UAV Communication method and device, to improve the profit of channel
With rate, practicality is more preferably.
In a first aspect, the embodiments of the invention provide a kind of UAV Communication method, methods described includes：
Generate the downlink data of the first unmanned plane；
It is unique right between identification information based on each unmanned plane in each default time interval resource and unmanned plane cluster
It should be related to, it is determined that the time interval resource matched with the identification information of first unmanned plane, the unmanned plane cluster at least includes
Multiple unmanned planes, the time interval resource that different unmanned planes are used is differed；
The downlink data is sent using the time interval resource ground station of determination.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
Before the time interval resource ground station transmission downlink data for stating utilization determination, including：
Main pulse when obtaining calibration, main pulse is by the global navigational satellite system that is arranged in the first unmanned plane during the calibration
The synchronised clock that GNSS module of uniting is produced is determined；
The onboard clock of first unmanned plane is calibrated according to main pulse during the calibration of acquisition.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide second of first aspect
Possible embodiment, wherein, onboard clock of the main pulse to first unmanned plane during calibration according to acquisition
Calibrated, including：
Periodically the onboard clock of first unmanned plane is calibrated according to main pulse during the calibration of acquisition.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, wherein, also
Including：
In default ascending time slot resource, the upstream data that the earth station sends is received.
Second aspect, the embodiment of the present invention additionally provides a kind of UAV Communication method, and methods described includes：
Any unmanned plane in unmanned plane cluster is received to utilize and the unique corresponding time interval resource hair of any unmanned plane
The downlink data sent, the unmanned plane cluster at least includes multiple unmanned planes, and the time interval resource that different unmanned planes are used is differed；
The downlink data of reception is handled.
The third aspect, the embodiment of the present invention additionally provides a kind of unmanned plane, including：
Generation module, the downlink data for generating the first unmanned plane；
Determining module, for the identification information based on each unmanned plane in each default time interval resource and unmanned plane cluster
Between unique corresponding relation, it is determined that the time interval resource matched with the identification information of first unmanned plane, the unmanned plane
Cluster at least includes multiple unmanned planes, and the time interval resource that different unmanned planes are used is differed；
Sending module, for sending the downlink data using the time interval resource ground station determined.
With reference to the third aspect, the embodiments of the invention provide the possible embodiment of the first of the third aspect, wherein, also
Including calibration module；The calibration module includes：
Acquiring unit, main pulse during for obtaining calibration, main pulse is by being arranged in the first unmanned plane during the calibration
The synchronised clock that global navigation satellite system GNSS module is produced is determined；
Alignment unit, for being carried out according to main pulse during the calibration of acquisition to the onboard clock of first unmanned plane
Calibration.
With reference to the first possible embodiment of the third aspect, the embodiments of the invention provide second of the third aspect
Possible embodiment, wherein, the alignment unit is additionally operable to periodically according to main pulse during the calibration of acquisition to institute
The onboard clock for stating the first unmanned plane is calibrated.
With reference to the third aspect, the embodiments of the invention provide the possible embodiment of the third of the third aspect, wherein, also
Including uplink receiving module；
The uplink receiving module, in default ascending time slot resource, receiving the up of earth station's transmission
Data.
Fourth aspect, the embodiment of the present invention additionally provides a kind of earth station, including：
Downlink reception module, utilizes unique with any unmanned plane for receiving any unmanned plane in unmanned plane cluster
The downlink data that corresponding time interval resource is sent, the unmanned plane cluster at least includes multiple unmanned planes, and different unmanned planes are used
Time interval resource differ；
Processing module, is handled for the downlink data to reception.
UAV Communication method provided in an embodiment of the present invention, including：Generate the downlink data of the first unmanned plane；Based on pre-
If each time interval resource and unmanned plane cluster in each unmanned plane identification information between unique corresponding relation, it is determined that with
The time interval resource that the identification information of one unmanned plane matches, unmanned plane cluster at least includes multiple unmanned planes, and different unmanned planes make
Time interval resource is differed；Downlink data is sent using the time interval resource ground station of determination.Pass through institute of the embodiment of the present invention
The UAV Communication method and device of offer, by each unmanned plane in unmanned plane cluster using unique corresponding time interval resource
Communicated with earth station, saved limited channel resource, improve the utilization rate of channel.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of flow chart for UAV Communication method that the embodiment of the present invention is provided；
Fig. 2 shows the flow chart for another UAV Communication method that the embodiment of the present invention is provided；
Fig. 3 shows the flow chart for another UAV Communication method that the embodiment of the present invention is provided；
Fig. 4 shows a kind of structural representation for UAV Communication device that the embodiment of the present invention is provided；
Fig. 5 shows a kind of structural representation for UAV Communication device alignment module that the embodiment of the present invention is provided
Figure；
Fig. 6 shows the structural representation for another UAV Communication device that the embodiment of the present invention is provided.
Main element symbol description：
11st, generation module；12nd, determining module；13rd, sending module；14th, calibration module；141st, acquiring unit；142nd, calibrate
Unit；21st, downlink reception module；22nd, processing module.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
It is a part of embodiment of the invention, rather than whole embodiments.The present invention being generally described and illustrated herein in the accompanying drawings is real
Applying the component of example can be arranged and be designed with a variety of configurations.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on embodiments of the invention, the institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
Frequency division multiplex communication mechanism is typically used in view of the unmanned plane trunking communicating technology in correlation technique.Frequency division multiplexing
Communication mechanism requires that the transmission frequency of uplink downlink makes a distinction, and to different unmanned planes using the different letter of transmission frequency
Road, newly-increased unmanned plane can also cause burden to limited channel resource, and the utilization rate of channel is relatively low.Based on this, the present invention is real
Example is applied there is provided a kind of UAV Communication method and device, to improve the utilization rate of channel, practicality is more preferably.
The flow chart of UAV Communication method provided in an embodiment of the present invention shown in Figure 1, methods described is by first
Unmanned plane or the execution chip of the first unmanned aerial vehicle (UAV) control are performed, and specifically include following steps：
S101, the downlink data for generating the first unmanned plane；
Specifically, the tool of the targeted unmanned plane cluster of the UAV Communication method provided in view of the embodiment of the present invention
In body application scenarios, the embodiment of the present invention, for any first unmanned plane in unmanned plane cluster, it is required to generation
The downlink data (such as telemetry and flight attitude, track and localization information) of first unmanned plane sends to earth station and carried out
Corresponding analysis and processing.Therefore, for any first unmanned plane, downlink data to be communicated is firstly generated.The present invention
The UAV Communication method that embodiment is provided focuses on the Land use systems to transmission channel, at this to the particular content of downlink data
It is not limited.
Between S102, the identification information based on each unmanned plane in each default time interval resource and unmanned plane cluster only
One corresponding relation, it is determined that the time interval resource matched with the identification information of the first unmanned plane, unmanned plane cluster at least includes multiple
Unmanned plane, the time interval resource that different unmanned planes are used is differed；
Specifically, the embodiment of the present invention will set up the mark of each time interval resource and each unmanned plane in unmanned plane cluster first
Know the unique corresponding relation between information, then determine the identification information phase with the first unmanned plane further according to the unique corresponding relation
The unique time slot resource of matching.Wherein, the first unmanned plane is any unmanned plane in unmanned plane cluster.
Wherein, above-mentioned unmanned plane cluster at least includes multiple unmanned planes, and the time interval resource that different unmanned planes are used is differed,
The embodiment of the present invention be based on the unified addressing that all unmanned planes in unmanned plane cluster are identified with information, then further according to
Above-mentioned unified addressing sets up the unique corresponding relation with all time interval resources, and the unique corresponding relation is to appointing based on unified addressing
One channel carries out the segmentation result of time interval resource.In addition, the embodiment of the present invention is based on unified addressing, by for the expansion of unmanned plane cluster
Exhibition leaves the space of abundance.
S103, the time interval resource ground station transmission downlink data using determination.
Specifically, the unmanned plane of time interval resource first based on above-mentioned determination can ground station send generation lower line number
According to.
UAV Communication method provided in an embodiment of the present invention, with the unmanned plane trunking communicating technology in correlation technique due to
Cause the utilization rate of channel is relatively low to compare using frequency division multiplex communication mechanism, it firstly generates the downlink data of the first unmanned plane,
It is then based on unique corresponding pass between each default time interval resource and the identification information of each unmanned plane in unmanned plane cluster
System, it is determined that the time interval resource matched with the identification information of the first unmanned plane, unmanned plane cluster at least includes multiple unmanned planes, no
Differed with the time interval resource that unmanned plane is used, finally send downlink data using the time interval resource ground station determined, it will
Each unmanned plane in unmanned plane cluster is communicated using unique corresponding time interval resource with earth station, has saved limited
Channel resource, improves the utilization rate of channel.
In order to avoid the frame synchronization mode in correlation technique is when packet loss occurs for communication synchronization frame, separate nodes are sent
The situation of moment unordered state, the probability increase for causing radio communication to conflict, or the complete packet loss of downlink data, the present invention is real
UAV Communication method that example provided is applied before ground station sends downlink data, also by according to Ji Mai during the calibration of acquisition
Capable calibration is rushed in, referring to Fig. 2, is calibrated especially by following steps：
S201, main pulse when obtaining calibration, main pulse is by the global navigational satellite that is arranged in the first unmanned plane during calibration
The synchronised clock that system GNSS module is produced is determined；
S202, according to main pulse during the calibration of acquisition the onboard clock of the first unmanned plane is calibrated.
Specifically, the UAV Communication method that the embodiment of the present invention is provided is the GNSS by being arranged in the first unmanned plane
The nanosecond synchronization clock that (Global Navigation Satellite System, GLONASS) module is produced
Synchronize, main pulse calibrates the onboard clock to the first unmanned plane during the calibration that the synchronization is determined all the time.
Wherein, each first unmanned plane will be calibrated by main pulse during above-mentioned calibration, that is, ensure it is all nobody
Machine is calibrated using same clock.This is due to that above-mentioned GNSS module can be received available for the accurate to nanosecond of time service
Temporal information, can be with it come the time of the automatic local clock (i.e. onboard clock) that calibrate the first unmanned plane, it is ensured that the first nothing
Man-machine run time is synchronous with GNSS time.So as to reach the Time Division Multiple Access of nanosecond synchronization precision, multiple access effectively prevent
Communication contention aware, improves real-time, the reliability of the corresponding command scheduling of unmanned plane cluster, comprehensively networking number in optimization unmanned plane cluster
According to the link-quality of transmission.
In addition, main pulse is in pulse arrival rising edge triggering moment, to every frame during calibration during above-mentioned calibration
The local clock of unmanned plane, which is synchronized, puts number, and then calibrated.After the different unmanned plane of identification information will be based on calibration
Local clock postpone the time of different basic time piece multiples after send downlink data.
In addition, the UAV Communication method that the embodiment of the present invention is provided is periodically according to Ji Mai during the calibration of acquisition
Rush and the onboard clock of the first unmanned plane is calibrated.
Specifically, the embodiment of the present invention also uses calibration cycle periodically according to main pulse during the calibration of acquisition to first
The onboard clock of unmanned plane is calibrated, so as to further ensure the real-time and accuracy of data syn-chronization.
In order to preferably realize the duplex communication of upstream data and downlink data, the unmanned plane that the embodiment of the present invention is provided
Communication means is also in default ascending time slot resource, the upstream data that satellite receiver is sent.
Specifically, the UAV Communication method that the embodiment of the present invention is provided connects also in default ascending time slot resource
Receive the upstream data that earth station sends.Wherein, the time interval resource that above-mentioned ascending time slot resource is distributed with each first unmanned plane is not
Together, so as to realizing unmanned plane to the duplex communication of earth station, earth station to unmanned plane.
UAV Communication method provided in an embodiment of the present invention, with the unmanned plane trunking communicating technology in correlation technique due to
Cause the utilization rate of channel is relatively low to compare using frequency division multiplex communication mechanism, it firstly generates the downlink data of the first unmanned plane,
It is then based on unique corresponding pass between each default time interval resource and the identification information of each unmanned plane in unmanned plane cluster
System, it is determined that the time interval resource matched with the identification information of the first unmanned plane, unmanned plane cluster at least includes multiple unmanned planes, no
Differed with the time interval resource that unmanned plane is used, finally send downlink data using the time interval resource ground station determined, it will
Each unmanned plane in unmanned plane cluster is communicated using unique corresponding time interval resource with earth station, has saved limited
Channel resource, improves the utilization rate of channel.
The embodiment of the present invention additionally provides a kind of UAV Communication method, and the embodiment of the present invention shown in Figure 3 is provided
UAV Communication method flow chart, methods described performs by earth station, specifically includes following steps：
S301, any unmanned plane received in unmanned plane cluster are utilized to be sent out with the unique corresponding time interval resource of any unmanned plane
The downlink data sent, unmanned plane cluster at least includes multiple unmanned planes, and the time interval resource that different unmanned planes are used is differed；
S302, the downlink data to reception are handled.
Specifically, the UAV Communication method that is provided of the embodiment of the present invention by receive in unmanned plane cluster it is any nobody
Machine utilizes the downlink data sent with the unique corresponding time interval resource of any unmanned plane, and to the downlink data of reception at
Reason.
Wherein, unmanned plane cluster at least includes multiple unmanned planes, and the time interval resource that different unmanned planes are used is differed.
UAV Communication method provided in an embodiment of the present invention, with the unmanned plane trunking communicating technology in correlation technique due to
Cause the utilization rate of channel is relatively low to compare using frequency division multiplex communication mechanism, its receive first in unmanned plane cluster it is any nobody
Machine utilizes the downlink data sent with the unique corresponding time interval resource of any unmanned plane；Wherein, unmanned plane cluster at least includes many
Individual unmanned plane, the time interval resource that different unmanned planes are used is differed, and then the downlink data of reception is handled, its by nobody
Each unmanned plane in machine cluster is communicated using unique corresponding time interval resource with earth station, has saved limited channel
Resource, improves the utilization rate of channel.
The embodiment of the present invention additionally provides a kind of UAV Communication device, and the UAV Communication device is above-mentioned for realizing
The first UAV Communication method, referring to Fig. 4, the UAV Communication device includes：
Generation module 11, the downlink data for generating the first unmanned plane；
Determining module 12, believes for the mark based on each unmanned plane in each default time interval resource and unmanned plane cluster
Unique corresponding relation between breath, it is determined that the time interval resource matched with the identification information of the first unmanned plane, unmanned plane cluster is extremely
Include multiple unmanned planes less, the time interval resource that different unmanned planes are used is differed；
Sending module 13, for sending downlink data using the time interval resource ground station determined.
In order to avoid the frame synchronization mode in correlation technique is when packet loss occurs for communication synchronization frame, separate nodes are sent
The situation of moment unordered state, the probability increase for causing radio communication to conflict, or the complete packet loss of downlink data, the present invention is real
Apply in example, the first unmanned plane will also be calibrated, referring to figure before ground station sends downlink data by calibration module 14
5, above-mentioned calibration module 14 includes：
Acquiring unit 141, main pulse during for obtaining calibration, main pulse is complete in the first unmanned plane by being arranged on during calibration
The synchronised clock that ball navigational satellite system GNSS module is produced is determined；
Alignment unit 142, for being calibrated according to main pulse during the calibration of acquisition to the onboard clock of the first unmanned plane.
Wherein, above-mentioned alignment unit 142, is additionally operable to periodically according to main pulse during the calibration of acquisition to the first unmanned plane
Onboard clock calibrated.
In order to preferably realize the duplex communication of upstream data and downlink data, the unmanned plane that the embodiment of the present invention is provided
Communicator also includes uplink receiving module, the uplink receiving module, in default ascending time slot resource, receiving ground
Stand send upstream data.
UAV Communication device provided in an embodiment of the present invention, with the unmanned plane trunking communicating technology in correlation technique due to
Cause the utilization rate of channel is relatively low to compare using frequency division multiplex communication mechanism, it firstly generates the downlink data of the first unmanned plane,
It is then based on unique corresponding pass between each default time interval resource and the identification information of each unmanned plane in unmanned plane cluster
System, it is determined that the time interval resource matched with the identification information of the first unmanned plane, unmanned plane cluster at least includes multiple unmanned planes, no
Differed with the time interval resource that unmanned plane is used, finally send downlink data using the time interval resource ground station determined, it will
Each unmanned plane in unmanned plane cluster is communicated using unique corresponding time interval resource with earth station, has saved limited
Channel resource, improves the utilization rate of channel.
The embodiment of the present invention additionally provides a kind of UAV Communication device, and the UAV Communication device is above-mentioned for realizing
Second of UAV Communication method, referring to Fig. 6, the UAV Communication device includes：
Downlink reception module 21, utilizes uniquely right with any unmanned plane for receiving any unmanned plane in unmanned plane cluster
The downlink data that the time interval resource answered is sent, unmanned plane cluster at least includes multiple unmanned planes, the time slot that different unmanned planes are used
Resource is differed；
Processing module 22, is handled for the downlink data to reception.
UAV Communication device provided in an embodiment of the present invention, with the unmanned plane trunking communicating technology in correlation technique due to
Cause the utilization rate of channel is relatively low to compare using frequency division multiplex communication mechanism, its receive first in unmanned plane cluster it is any nobody
Machine utilizes the downlink data sent with the unique corresponding time interval resource of any unmanned plane, unmanned plane cluster at least include it is multiple nobody
Machine, the time interval resource that different unmanned planes are used is differed, and then the downlink data of reception is handled, and it is by unmanned plane cluster
In each unmanned plane communicated using unique corresponding time interval resource with earth station, saved limited channel resource,
Improve the utilization rate of channel.
The UAV Communication method and device that the embodiment of the present invention is provided, can be applied not only to multiple unmanned planes over the ground
The many-one at face station or earth station should to the unmanned plane cluster of the one-to-many carry out tree topology networking of multiple unmanned planes
With environment, the application scenarios that unmanned plane is formed into columns can also be applied to, the unmanned plane, which is formed into columns, to be referred to, the upstream data that earth station sends
Each group member is forwarded to by aircraft group leader, and the aircraft group leader's fusion treatment of the downlink data of each unmanned plane Jing Guo each group turns
It is sent to earth station.
In addition, the embodiment of the present invention also yet forms both a UAV Communication system based on each above-mentioned unmanned plane and earth station
System, wherein, unmanned plane according to multipair 1 between earth station with tree topology networking is carried out, and the downlink data of aircraft is according to each
Data are sent from time slot passage, earth station then sends upstream data according to dedicated time slot, time division multiple acess networking formed, so as to save
Frequency resource, improves radio channel utilization, the scalability for unmanned plane number of clusters provides space.
The computer program product of the method for the progress UAV Communication that the embodiment of the present invention is provided, including store journey
The computer-readable recording medium of sequence code, the instruction that described program code includes can be used for performing institute in previous methods embodiment
The method stated, implements and can be found in embodiment of the method, will not be repeated here.
The device for the UAV Communication that the embodiment of the present invention is provided for the specific hardware in equipment or can be installed on
Software or firmware in equipment etc..The technique effect of the device that the embodiment of the present invention is provided, its realization principle and generation is with before
State embodiment of the method identical, to briefly describe, device embodiment part does not refer to part, refers to phase in preceding method embodiment
Answer content.It is apparent to those skilled in the art that, for convenience and simplicity of description, system described above,
The specific work process of device and unit, may be referred to the corresponding process in above method embodiment, will not be repeated here.
, can be by others side in embodiment provided by the present invention, it should be understood that disclosed apparatus and method
Formula is realized.Device embodiment described above is only schematical, for example, the division of the unit, only one kind are patrolled
Collect function to divide, there can be other dividing mode when actually realizing, in another example, multiple units or component can combine or can
To be integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed each other
Coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of device or unit by some communication interfaces
Connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in the embodiment that the present invention is provided can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized using in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are to cause a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each of the invention embodiment methods described.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-OnlyMemory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing, in addition, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that indicating or implying relative importance.
Finally it should be noted that：Embodiment described above, is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention.The protection in the present invention should all be covered
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of UAV Communication method, it is characterised in that including：
Generate the downlink data of the first unmanned plane；
Based on unique corresponding pass between each default time interval resource and the identification information of each unmanned plane in unmanned plane cluster
System, it is determined that the time interval resource matched with the identification information of first unmanned plane, the unmanned plane cluster at least includes multiple
Unmanned plane, the time interval resource that different unmanned planes are used is differed；
The downlink data is sent using the time interval resource ground station of determination.
2. according to the method described in claim 1, it is characterised in that described to send institute using the time interval resource ground station determined
Before stating downlink data, including：
Main pulse when obtaining calibration, main pulse is by the GLONASS that is arranged in the first unmanned plane during the calibration
The synchronised clock that GNSS module is produced is determined；
The onboard clock of first unmanned plane is calibrated according to main pulse during the calibration of acquisition.
3. method according to claim 2, it is characterised in that main pulse is to described during the calibration according to acquisition
The onboard clock of first unmanned plane is calibrated, including：
Periodically the onboard clock of first unmanned plane is calibrated according to main pulse during the calibration of acquisition.
4. according to the method described in claim 1, it is characterised in that also include：
In default ascending time slot resource, the upstream data that the earth station sends is received.
5. a kind of UAV Communication method, it is characterised in that including：
Receive any unmanned plane in unmanned plane cluster and utilize what is sent with the unique corresponding time interval resource of any unmanned plane
Downlink data, the unmanned plane cluster at least includes multiple unmanned planes, and the time interval resource that different unmanned planes are used is differed；
The downlink data of reception is handled.
6. a kind of UAV Communication device, it is characterised in that including：
Generation module, the downlink data for generating the first unmanned plane；
Determining module, between the identification information based on each unmanned plane in each default time interval resource and unmanned plane cluster
Unique corresponding relation, it is determined that the time interval resource matched with the identification information of first unmanned plane, the unmanned plane cluster
At least include multiple unmanned planes, the time interval resource that different unmanned planes are used is differed；
Sending module, for sending the downlink data using the time interval resource ground station determined.
7. device according to claim 6, it is characterised in that also including calibration module；The calibration module includes：
Acquiring unit, main pulse during for obtaining calibration, main pulse is by the whole world that is arranged in the first unmanned plane during the calibration
The synchronised clock that navigational satellite system GNSS module is produced is determined；
Alignment unit, for carrying out school to the onboard clock of first unmanned plane according to main pulse during the calibration of acquisition
It is accurate.
8. device according to claim 7, it is characterised in that the alignment unit, is additionally operable to periodically according to acquisition
The calibration when main pulse onboard clock of first unmanned plane is calibrated.
9. device according to claim 6, it is characterised in that also including uplink receiving module；
The uplink receiving module, in default ascending time slot resource, receiving the upstream data that the earth station sends.
10. a kind of UAV Communication device, it is characterised in that including：
Downlink reception module, utilizes uniquely corresponding with any unmanned plane for receiving any unmanned plane in unmanned plane cluster
Time interval resource send downlink data, the unmanned plane cluster at least include multiple unmanned planes, different unmanned planes use when
Gap resource is differed；
Processing module, is handled for the downlink data to reception.
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| CN109195196A (en) * | 2018-10-28 | 2019-01-11 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | The method of earth station and unmanned plane autonomous pairing work frequency point and spreading code |
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| CN109195196A (en) * | 2018-10-28 | 2019-01-11 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | The method of earth station and unmanned plane autonomous pairing work frequency point and spreading code |
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| CN112737662A (en) * | 2020-12-22 | 2021-04-30 | 中国电子科技集团公司第五十四研究所 | Unmanned aerial vehicle pipeline inspection system and multi-station relay method |
| CN112737662B (en) * | 2020-12-22 | 2022-08-02 | 中国电子科技集团公司第五十四研究所 | Unmanned aerial vehicle pipeline inspection system and multi-station relay method |
| CN115996459A (en) * | 2023-03-23 | 2023-04-21 | 西安羚控电子科技有限公司 | Unmanned aerial vehicle cluster clock synchronization method |
| CN117579669A (en) * | 2023-11-29 | 2024-02-20 | 青岛映蓝科技有限公司 | Multi-channel control method and system for remote control unmanned ship |
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