CN107132854A - A kind of unmanned plane, unmanned plane control method and system based on white frequency spectrum - Google Patents
A kind of unmanned plane, unmanned plane control method and system based on white frequency spectrum Download PDFInfo
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- CN107132854A CN107132854A CN201710292948.2A CN201710292948A CN107132854A CN 107132854 A CN107132854 A CN 107132854A CN 201710292948 A CN201710292948 A CN 201710292948A CN 107132854 A CN107132854 A CN 107132854A
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- unmanned plane
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- frequency spectrum
- controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
Unmanned plane control method and system the invention discloses a kind of unmanned plane, based on white frequency spectrum, the control system include controller and system control position.Unmanned plane and controller are matched by system control position；Receive the control instruction that controller is sent, and exported after control instruction is encrypted and/or modulated, and unmanned plane is sent in the form of radio wave by the first signal transmitting and receiving unit, and receive the signal that unmanned plane is sent by radio wave through the first signal transmitting and receiving unit to system control position；Wherein the frequency range of radio wave is in white frequency spectrum bands.Control system is communicated with unmanned plane using the wireless signal of white frequency spectrum bands, signal transmission distance relative to existing wireless product will remote several kilometers even more than ten kilometers or more than, moreover, bandwidth resources are relatively enriched, the scope of the controlled in wireless covering of unmanned plane is improved.And be difficult to interfere with existing WIFI, wireless frequency.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, and in particular to a kind of unmanned plane, the unmanned plane manipulation side based on white frequency spectrum
Method and system.
Background technology
Unmanned plane remote control technology is concentrated mainly on two kinds of controlled in wireless modes at present：1st, WiFi technology；2nd, it is wireless to move
Dynamic mechanics of communication.
Both wireless technologys are limited resources, moreover, general frame unmanned plane needs to configure a set of controlling equipment.And
And, the coverage of both wireless technologys is comparatively than small.Also, when using radio mobile communication technology,
The necessary technology operation such as cell switching occurs, control interruption is now may result in.In no wireless base station signal or
In the case that WIFI signal is covered, then the manipulation to unmanned plane can not be realized.
Wireless controller is based on both the above controlled in wireless mode, carries out unmanned aerial vehicle (UAV) control.But, the two wireless technologys
Coverage is limited, and the coverage once unmanned plane flies out, wireless controller will be unable to control it.
Therefore, prior art has much room for improvement and improved.
The content of the invention
The application provides a kind of unmanned plane, unmanned plane control method and system based on white frequency spectrum, to improve unmanned plane
The scope of controlled in wireless covering.
According to the first aspect of the invention, the present invention provides a kind of unmanned plane control system based on white frequency spectrum, including：
Controller, the control instruction for sending one frame of control or multiple UAVs；
System control position, for being matched to unmanned plane and controller；And the control instruction that reception controller is sent,
And exported after control instruction is encrypted and/or modulated, and sent out by the first signal transmitting and receiving unit in the form of radio wave
Give unmanned plane；And receive the letter that unmanned plane is sent by radio wave through the first signal transmitting and receiving unit to system control position
Number；The frequency range of wherein described radio wave is in white frequency spectrum bands；
Wherein, the unmanned plane includes the signal transmitting and receiving module received and dispatched for the wireless signal of white frequency spectrum bands.
The described unmanned plane control system based on white frequency spectrum, wherein, the system control position is to unmanned plane and controller
Matched, including：
Channel radio based on white frequency spectrum bands is set up with searching the unmanned plane of Radio Resource by the first signal transmitting and receiving unit
News connection；
The unmanned plane for setting up wireless telecommunications connection is added into control system；
Device numbering is carried out to the unmanned plane for being added to control system；
Start controller, and distribute unmanned plane to controller, complete the matching of unmanned plane and controller.
The described unmanned plane control system based on white frequency spectrum, wherein, the unmanned plane control system also includes described the
One signal transmitting and receiving unit, the first signal transmitting and receiving unit includes broadcast television signal and receives launching tower.
The described unmanned plane control system based on white frequency spectrum, wherein, it is described to be encrypted as frequency-hopping encryption.
The described unmanned plane control system based on white frequency spectrum, wherein, controller is matched as one-to-one with unmanned plane
Match somebody with somebody, one-to-many matching, many-one matching in one kind.
According to the second aspect of the invention, the present invention provides a kind of unmanned plane, including：
Signal transmitting and receiving module, the Radio Resource for searching white frequency spectrum bands, and be based on the foundation of unmanned plane control system
The wireless telecommunications connection of white frequency spectrum bands；Receive the wireless signal that sends of unmanned plane control system and demodulate control instruction, will
Control instruction, which is exported, gives function execution unit；The data-signal of receive capabilities execution unit output, and the data-signal is adjusted
Unmanned plane control system is returned to after system；
Function execution unit, is exported to signal transmitting and receiving for performing the control instruction, and by the data-signal of unmanned plane
Module；The data-signal includes the positional information of unmanned plane.
According to the third aspect of the invention we, the present invention provides a kind of unmanned plane control method based on white frequency spectrum, including such as
Lower step：
Controller sends the control instruction of one frame of control or multiple UAVs；
System control position is matched to unmanned plane and controller；The control instruction that controller is sent is received, and will control
Instruction is encrypted and/or exported after modulating to the first signal transmitting and receiving unit, to cause the first signal transmitting and receiving unit by system control
The signal that platform processed is sent is sent to unmanned plane in the form of radio wave；
The system control position receives unmanned plane and sent out by radio wave through the first signal transmitting and receiving unit to system control position
The signal gone out；The frequency range of wherein described radio wave is in white frequency spectrum bands.
The described unmanned plane control method based on white frequency spectrum, wherein, in step, " controller sends one frame of control or multi rack
Before the control instruction of unmanned plane ", in addition to step：
System control position is set up based on white frequency spectrum frequency by the first signal transmitting and receiving unit with searching the unmanned plane of Radio Resource
The wireless telecommunications connection of section；
The unmanned plane for setting up wireless telecommunications connection is added control system by system control position；
System control position carries out device numbering to the unmanned plane for being added to control system；
System control position starts controller, and distributes unmanned plane to controller, completes the matching of unmanned plane and controller.
The described unmanned plane control method based on white frequency spectrum, wherein, the first signal transmitting and receiving unit includes broadcast electricity
Launching tower is received depending on signal.
The described unmanned plane control method based on white frequency spectrum, wherein, it is described to be encrypted as frequency-hopping encryption.
Beneficial effects of the present invention：Unmanned plane that the present invention is provided, unmanned plane control method and system based on white frequency spectrum
In, the control system includes controller and system control position.Unmanned plane and controller are matched by system control position；
Receive the control instruction that sends of controller, and export after control instruction is encrypted and/or modulate, and pass through the first signal receipts
Bill member is sent to unmanned plane in the form of radio wave, and receives unmanned plane by radio wave through the first signal transmitting and receiving list
The signal that member is sent to system control position；Wherein the frequency range of radio wave is in white frequency spectrum bands.Control system is adopted with unmanned plane
Communicated with the wireless signal of white frequency spectrum bands, signal transmission distance will be remote several kilometers even ten relative to existing wireless product
Several kilometers or more than, moreover, bandwidth resources relatively enrich, improve unmanned plane controlled in wireless covering scope.And be difficult with
Existing WIFI, wireless frequency are interfered.
Brief description of the drawings
The structured flowchart for the embodiment of unmanned plane control system one based on white frequency spectrum that Fig. 1 provides for the present invention；
The flow chart for the embodiment of unmanned plane control method one based on white frequency spectrum that Fig. 2 provides for the present invention；
In the unmanned plane control method based on white frequency spectrum that Fig. 3 provides for the present invention, the step flow before step S10
Figure.
Embodiment
The present invention is described in further detail below by embodiment combination accompanying drawing.
The term definition used in the present invention：
White frequency spectrum resource is the resource of frequency range of radio and television, uses but is not in fact made comprising radio and television are distributed to
With or the frequency range, the protection frequency range between adjacent channel and the conversion of radio and TV industry simulation-to-digital that are not used fully after the free time go out
The frequency range come.
The frequency range of radio communication between the control system and unmanned plane of the present invention uses white frequency spectrum bands, to improve nobody
The scope of the controlled in wireless covering of machine.
Specifically, in embodiment one, the present invention provides a kind of unmanned plane control system based on white frequency spectrum, refer to figure
1, the control system includes：Controller 10 and system control position 210.Controller 10 and system control position 210 are wired or wireless
Communication connection, certainly, controller 10 can also be integrated in system control position 210.
Controller 10, the control instruction for sending one frame of control or multiple UAVs 30.In the present embodiment, controller 10
It is connected for wireless controller, i.e. controller 10 with the wireless telecommunications of system control position 210, it can pass through with system control position 210
WIFI network, radio mobile communication network or the cordless communication network in white frequency spectrum bands and the communication of system control position 210 company
Connect.
System control position 210, for being matched to unmanned plane 30 and controller 10；Receive the control that controller 10 is sent
Instruction, and output after control instruction is encrypted and/or modulate, and by the first signal transmitting and receiving unit 220 with radio wave
Form be sent to unmanned plane 30；And receive unmanned plane 30 by radio wave through the first signal transmitting and receiving unit 220 to system
The signal that console 210 is sent；Wherein the frequency range of radio wave is in white frequency spectrum bands.In the present embodiment, it is encrypted as frequency hopping and adds
It is close, it is to avoid signal is disturbed.Certainly, in other embodiments, it can also use with the different code of frequency or with frequency with modes such as the different IP of code, to solve
The signal interference problem that may be certainly brought with frequency.Even if with frequency, encrypted code it is different can also independent control, can also with frequency
In the case of, using time division multiplexing, it can equally avoid interference.In the present embodiment, unmanned plane 30 is through the first signal transmitting and receiving unit 220 times
The signal of biography includes the positional information of unmanned plane 30, is easy to system control position 210 to obtain the position of unmanned plane 30 in real time.System control
By the radio wave transmissions control instruction in white frequency spectrum bands and the position of unmanned plane 30 between platform 210 and unmanned plane 30 processed,
Signal transmission distance relative to existing wireless product will remote several kilometers even more than ten kilometers or more than, moreover, bandwidth resources compared with
It is abundant, improve the scope of the controlled in wireless covering of unmanned plane.And be difficult to interfere with existing WIFI, wireless frequency.
First signal transmitting and receiving unit 220, the signal for system control position 210 to be sent is sent in the form of radio wave
To unmanned plane 30, and the signal that unmanned plane 30 is sent is received, the signal return that unmanned plane 30 is sent is to system control position 210.
First signal transmitting and receiving unit 220 is connected with system control position 210.
System control position 210 is matched to unmanned plane 30 and controller 10, is specifically included：System control position 210 starts
Initialized afterwards；Set up by the first signal transmitting and receiving unit 220 with searching the unmanned plane 30 of Radio Resource based on white frequency spectrum frequency
The wireless telecommunications connection of section；After confirmation instruction is received, the unmanned plane that will set up wireless telecommunications connection adds control system；It is right
The unmanned plane 30 for being added to control system carries out device numbering, specific to be numbered using IP forms；Start controller 10, and divide
Controller 10 is given with unmanned plane 30, the matching of unmanned plane 30 and controller 10 is completed.First signal transmitting and receiving unit 220 and unmanned plane
30 set up after connection, can be instructed by operating personnel's input validation unmanned plane including control system, can also directly give tacit consent to addition.
System control position 210 can be connected with one or more controllers 10, the first signal transmitting and receiving unit 220 can with one or
Multiple unmanned planes 30 are connected.Controller 10 is matched as in one-to-one matching, one-to-many matching, many-one matching with unmanned plane 30
One kind.That is, by the signal transmitting and receiving unit 220 of system control position 210 and first, multiple controllers 10 can be achieved, and control is more simultaneously
Individual unmanned plane 30, controller 10 uses one-to-one control with unmanned plane 30.Certainly, system control position 210 can also by multi rack without
Man-machine 30 are matched with a controller 10, then a controller 10 can be controlled to multiple UAVs 30, realize unmanned plane
The clustered control of group.Certainly, system control position 210 can also match a frame unmanned plane 30 with multiple controllers 10, can meet
Unmanned plane manipulation under different use conditions.The present invention is especially suitable for the remote cluster management of unmanned plane.
System control position 210 is additionally provided with one or more display interface devices, can be connected by display interface device with display
Connect, to facilitate the video that the real-time or non real-time passback of unmanned plane is shown by display, can also carry out the display of unmanned plane position.
In the present embodiment, unmanned plane control system includes the first signal transmitting and receiving unit 220, the first signal transmitting and receiving unit
220, which include broadcast television signal, receives the existing broadcasting and TV equipment such as launching tower.Launching tower is received using existing broadcast television signal
Signal transmission is carried out with unmanned plane 30, resource and cost, broad covered area has greatly been saved.
In the present embodiment, the wireless signal frequency range communicated between the first signal transmitting and receiving unit 220 and unmanned plane 30 can be used
Vacant TV broadcast band, i.e., between 470MHz and 790MHz, can avoid the interference between existing television broadcasting.
Control system can also include unmanned plane 30, and unmanned plane 30 supports the transmitting-receiving of white frequency spectrum bands signal.
Specifically, unmanned plane 30 includes signal transmitting and receiving module and function execution unit.
Signal transmitting and receiving module, the Radio Resource for searching white frequency spectrum bands, and be based on the foundation of unmanned plane control system
The wireless telecommunications connection of white frequency spectrum bands；Receive the wireless signal that sends of unmanned plane control system and demodulate control instruction, will
Control instruction, which is exported, gives function execution unit；The data-signal of receive capabilities execution unit output, and the data-signal is adjusted
Unmanned plane control system is returned to after system.Likewise, signal transmitting and receiving module is also corresponded to carries out signal biography using frequency-hopping encryption technology
It is defeated, the interference between reduction signal.
Function execution unit, is exported to signal transmitting and receiving for performing the control instruction, and by the data-signal of unmanned plane
Module.The data-signal of unmanned plane includes the positional information of unmanned plane.
In the present embodiment, white spectrum channel is used for the passback into row positional information, and the image of unmanned plane shooting, video are then
Returned by WIFI or radio mobile communication network.Specifically, unmanned plane may also include communication module, for passing through nothing
The data backs such as image, the video that line mobile communication network or WIFI network shoot unmanned plane are to system control position.It is described
Radio mobile communication network can be：5G, 4G, 3G data card are set in the communication networks such as 5G, 4G, 3G, unmanned plane, you can passed through
Wireless base station carries out image, the passback of video.Because the data such as image, video do not have manipulation of the positional information on unmanned plane to influence
Greatly, and passback in real time is not necessarily required to, therefore signal transmission can be carried out using wireless transmission methods different from positional information.
Certainly, in other embodiments, the data such as image, the video that unmanned plane is shot can also pass through signal transmitting and receiving module
System control position is returned to through the first signal transmitting and receiving unit, in other words, video of the data-signal including unmanned plane shooting,
One or more in photo, positional information, unmanned plane state；Without using two sets of wireless transmitting systems, image, video are realized
The real-time passback of data.
Signal transmitting and receiving module includes baseband processing unit and radio frequency unit, and baseband processing unit, radio frequency unit are supported white
Frequency spectrum bands signal, and be connected with function execution unit.
Radio frequency unit, the transmitting-receiving for carrying out the wireless signal in white frequency spectrum bands.
Baseband processing unit, the Radio Resource for searching white frequency spectrum bands by radio frequency unit, and received with the first signal
Bill member sets up the wireless telecommunications connection based on white frequency spectrum bands；The wireless signal that radio frequency unit is received is demodulated；By work(
After the data signal modulation of energy execution unit output, the first signal transmitting and receiving unit 220 is returned to by radio frequency unit.
Signal transmitting and receiving module can also include intermediate frequency unit, and intermediate frequency unit is responsible between baseband processing unit and radio frequency unit
Connection, between baseband processing unit and radio frequency unit signal carry out Up/Down Conversion, crest factor decay and numeral
The processing such as predistortion.
In summary, the control system that the present invention is provided, it is effective to utilize the television broadcasting resource discarded.Meanwhile,
It can be very good to be controlled unmanned plane and manage.White frequency spectrum has strong penetration capacity, and super wide covering covering model
Enclose, control unmanned plane aerial mission under construction or in building can be completed using this technology, while can be with overlength distance
Control, and data transfer.
In second embodiment of the invention, based on above-mentioned control system, the present invention also provides a kind of nobody based on white frequency spectrum
Machine control method, referring to Fig. 2, methods described comprises the following steps：
S10, controller 10 send the control instruction of one frame of control or multiple UAVs 30.
S20, system control position 210 receive the control instruction that sends of controller 10, and control instruction is encrypted and/or
Exported after modulation to the first signal transmitting and receiving unit 220, to cause the first signal transmitting and receiving unit 220 to send system control position 210
Signal unmanned plane 30 is sent in the form of radio wave.First signal transmitting and receiving unit 220 is received including broadcast television signal
Launching tower.It is encrypted as frequency-hopping encryption.
S30, system control position 210 receive unmanned plane 30 by radio wave through the first signal transmitting and receiving unit 220 to system
The signal that console 210 is sent；The frequency range of wherein described radio wave is in white frequency spectrum bands.
Referring to Fig. 3, before step S10, in addition to step：
S01, system control position 210 start and initialized.
S02, unmanned plane 30 start.
S03, unmanned plane 30 search Radio Resource (wireless signal).
S04, unmanned plane 30 judge the frequency of the Radio Resource searched whether in white frequency spectrum bands, if then entering step
Rapid S05；If it is not, then return to step S03.
S05, system control position 210 are set up by the first signal transmitting and receiving unit 220 with searching the unmanned plane 30 of Radio Resource
Wireless telecommunications connection based on white frequency spectrum bands.
The unmanned plane 30 for setting up wireless telecommunications connection is added control system by S06, system control position 210；To being added to behaviour
The unmanned plane 30 of control system carries out device numbering, and device numbering is carried out to controller.
S07, system control position 210 start controller 10, and distribute unmanned plane 30 to corresponding controller 10, complete nobody
The matching of machine 30 and controller 10.
Because the principle and feature of the control method have been elaborated in a upper embodiment, it will not be repeated here.
Use above specific case is illustrated to the present invention, is only intended to help and is understood the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, it can also make some simple
Deduce, deform or replace.
Claims (10)
1. a kind of unmanned plane control system based on white frequency spectrum, it is characterised in that including：
Controller, the control instruction for sending one frame of control or multiple UAVs；
System control position, for being matched to unmanned plane and controller；And the control instruction that controller is sent is received, and will
Control instruction is exported after being encrypted and/or modulating, and is sent to by the first signal transmitting and receiving unit in the form of radio wave
Unmanned plane；And receive the signal that unmanned plane is sent by radio wave through the first signal transmitting and receiving unit to system control position；Its
Described in radio wave frequency range in white frequency spectrum bands；
Wherein, the unmanned plane includes the signal transmitting and receiving module received and dispatched for the wireless signal of white frequency spectrum bands.
2. the unmanned plane control system according to claim 1 based on white frequency spectrum, it is characterised in that the system control position
Unmanned plane and controller are matched, including：
Wireless telecommunications company based on white frequency spectrum bands is set up with searching the unmanned plane of Radio Resource by the first signal transmitting and receiving unit
Connect；
The unmanned plane for setting up wireless telecommunications connection is added into control system；
Device numbering is carried out to the unmanned plane for being added to control system；
Start controller, and distribute unmanned plane to controller, complete the matching of unmanned plane and controller.
3. the unmanned plane control system according to claim 1 based on white frequency spectrum, it is characterised in that the unmanned plane manipulation
System also includes the first signal transmitting and receiving unit, and the first signal transmitting and receiving unit includes broadcast television signal and receives transmitting
Tower.
4. the unmanned plane control system according to claim 1 based on white frequency spectrum, it is characterised in that described to be encrypted as frequency hopping
Encryption.
5. the unmanned plane control system according to claim 1 based on white frequency spectrum, it is characterised in that controller and unmanned plane
Matching for one-to-one matching, one-to-many matching, many-one match in one kind.
6. a kind of unmanned plane, it is characterised in that including：
Signal transmitting and receiving module, the Radio Resource for searching white frequency spectrum bands, and set up with unmanned plane control system based on white frequency
Compose the wireless telecommunications connection of frequency range；Receive the wireless signal that sends of unmanned plane control system and demodulate control instruction, will control
Function execution unit is given in instruction output；The data-signal of receive capabilities execution unit output, and by after the data signal modulation
Return to unmanned plane control system；
Function execution unit, signal transmitting and receiving module is given for performing the control instruction, and the data-signal of unmanned plane being exported；
The data-signal includes the positional information of unmanned plane.
7. a kind of unmanned plane control method based on white frequency spectrum, it is characterised in that comprise the following steps：
Controller sends the control instruction of one frame of control or multiple UAVs；
System control position is matched to unmanned plane and controller；Receive the control instruction that sends of controller, and by control instruction
It is encrypted and/or is exported after modulating to the first signal transmitting and receiving unit, causes the first signal transmitting and receiving unit by system control position
The signal sent is sent to unmanned plane in the form of radio wave；
The system control position receives what unmanned plane was sent by radio wave through the first signal transmitting and receiving unit to system control position
Signal；The frequency range of wherein described radio wave is in white frequency spectrum bands.
8. the unmanned plane control method according to claim 7 based on white frequency spectrum, it is characterised in that in step " controller
Send the control instruction of one frame of control or multiple UAVs " before, in addition to step：
System control position is set up based on white frequency spectrum bands by the first signal transmitting and receiving unit with searching the unmanned plane of Radio Resource
Wireless telecommunications are connected；
The unmanned plane for setting up wireless telecommunications connection is added control system by system control position；
System control position carries out device numbering to the unmanned plane for being added to control system；
System control position starts controller, and distributes unmanned plane to controller, completes the matching of unmanned plane and controller.
9. the unmanned plane control method according to claim 7 based on white frequency spectrum, it is characterised in that first signal is received
Bill member includes broadcast television signal and receives launching tower.
10. the unmanned plane control method according to claim 7 based on white frequency spectrum, it is characterised in that described to be encrypted as jumping
Frequency is encrypted.
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| CN201710292948.2A CN107132854A (en) | 2017-04-28 | 2017-04-28 | A kind of unmanned plane, unmanned plane control method and system based on white frequency spectrum |
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| CN108135002A (en) * | 2017-12-22 | 2018-06-08 | 南京航空航天大学 | A kind of unmanned plane frequency spectrum resource allocation method declined based on block coordinate |
| 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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Application publication date: 20170905 |