CN107222238A - A kind of communication means and communication system based on half-duplex RF hopping communication protocol - Google Patents
A kind of communication means and communication system based on half-duplex RF hopping communication protocol Download PDFInfo
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- CN107222238A CN107222238A CN201710350343.4A CN201710350343A CN107222238A CN 107222238 A CN107222238 A CN 107222238A CN 201710350343 A CN201710350343 A CN 201710350343A CN 107222238 A CN107222238 A CN 107222238A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/713—Spread spectrum techniques using frequency hopping
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/7163—Spread spectrum techniques using impulse radio
- H04B1/7183—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
- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
- H04L5/16—Half-duplex systems; Simplex/duplex switching; Transmission of break signals non-automatically inverting the direction of transmission
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Abstract
The invention discloses a kind of communication means based on half-duplex RF hopping communication protocol, wherein, the communication means includes：Receive the control signal of the multiplexer channel of remote control collection；With receiver complete ID match and to frequency after, the control signal of the multiplexer channel is sent to receiver based on half-duplex RF hopping communication protocol；When the receiver receives the control signal of the multichannel, the return path signal that the receiver is sent is received based on half-duplex RF hopping communication protocol, wherein the return path signal includes the sensing data that the receiver is collected.The invention also discloses a kind of emitter, receiver and a kind of UAV Communication system.The communication means based on half-duplex RF hopping communication protocol that the present invention is provided solves the problem of remote control communication system of the prior art is mostly one-way communication, and due to the control signal of multiplexer channel can be sent simultaneously so that the function of unmanned plane is more diversified.
Description
Technical field
The present invention relates to wireless communication technology field, more particularly to a kind of leading to based on half-duplex RF hopping communication protocol
Letter method, a kind of emitter, a kind of receiver and a kind of UAV Communication system including transmitter and receiver.
Background technology
With model, the fast development in unmanned plane field, to the security of unmanned controller system manipulation, reliability,
Compatibility and to the diversity requirement more and more higher of unmanned plane function.Before the appearance of multiaxis unmanned plane, unmanned plane model neck
Domain is mainly based on fixed-wing, and control signal port number is less, and function is simple；And traditional wireless communication field, carrier frequency
Rate is relatively low, and narrower bandwidth, frequency is less, and co-channel interference phenomenon is more serious, therefore vital remote control communication system reliability
Not high, antijamming capability is weak, and most of is one-way communication, and receiver does not have remote measurement retransmission function.Additionally, due in the market
Unmanned plane model, UAV Communication equipment manufacturer are numerous, and product is numerous and diverse, and technology, standard are uneven, poor compatibility, to consumption
Person and player bring very big selection difficult and safeguard obstacle.With the fast development of the model field communication technology, underwater acoustic remote control
The replacement upgrading of equipment is extremely urgent, but also has many old remote controls, communication equipment on the market, update whole remote control and
Communication system can bring very big economic pressures and burden to consumer.
The content of the invention
It is contemplated that at least solve one of technical problem present in prior art is based on half-duplex radio frequency there is provided one kind
The communication means of frequency hopping communications agreement, a kind of emitter, a kind of receiver and a kind of unmanned plane including transmitter and receiver
Communication system, to solve the problems of the prior art.
As the first aspect of the invention there is provided a kind of communication means based on half-duplex RF hopping communication protocol,
Wherein, the communication means includes：
Receive the control signal of the multichannel of remote control collection；
With receiver complete ID match and to frequency after, the control signal of the multiplexer channel is led to based on half-duplex RF hopping
Letter agreement is sent to receiver；
When the receiver receives the control signal of the multichannel, institute is received based on half-duplex RF hopping communication protocol
The return path signal of receiver transmission is stated, wherein the return path signal includes the sensing data that the receiver is collected.
Preferably, the port number of the control signal is less than or equal to eight passages.
Preferably, the half-duplex RF hopping communication protocol includes the definition of radio frames form and reception and the hair of signal
The Frequency Synchronization mechanism sent.
Preferably, the wireless frame format includes the upper subframe and lower subframe set according to proportioning.
Preferably, the proportioning of the upper subframe and the lower subframe is 1:3.
As the second aspect of the invention there is provided a kind of communication means based on half-duplex RF hopping communication protocol,
Wherein, the communication means includes：
With emitter complete ID match and to frequency after, emitter transmission is received based on half-duplex RF hopping communication protocol
Multichannel control signal；
The control signal of the multichannel is sent to the controller of unmanned plane, and gathers sensing data；
The sensing data is sent to the emitter based on the half-duplex RF hopping communication protocol.
Preferably, the port number of the control signal is less than or equal to eight passages.
As the third aspect of the invention there is provided a kind of emitter, wherein, the emitter includes：
First receiving module, first receiving module is used for the control signal for receiving the multichannel of remote control collection；
First sending module, first sending module be used for receiver complete ID match and to frequency after, will be described more logical
The control signal in road is sent to receiver based on half-duplex RF hopping communication protocol；
Second receiving module, second receiving module is used for when the receiver receives the control signal of the multichannel
When, the return path signal that the receiver is sent is received based on half-duplex RF hopping communication protocol, wherein the return path signal bag
Include the sensing data that the receiver is collected.
As the fourth aspect of the invention there is provided a kind of receiver, wherein, the receiver includes：
3rd receiving module, the 3rd receiving module be used for emitter complete ID match and to frequency after, based on half-duplex
RF hopping communication protocol receives the control signal for the multichannel that the emitter is sent；
Acquisition module, the acquisition module is used to send the control signal of the multichannel to the controller of unmanned plane, and gathers
Sensing data；
Second sending module, second sending module is used to lead to the sensing data based on the half-duplex RF hopping
Letter agreement is sent to the emitter.
As the fifth aspect of the invention there is provided a kind of UAV Communication system, wherein, the UAV Communication system
Include the controller of remote control, previously described emitter, previously described receiver and unmanned plane, the emitter respectively with
The controller communication connection of the remote control and receiver communication connection, the receiver and the unmanned plane.
The communication means based on half-duplex RF hopping communication protocol that the present invention is provided, base between emitter and receiver
Communicated in half-duplex RF hopping communication protocol, the control signal of multiplexer channel can be sent, and have sent in emitter
The return path signal of receiver transmission can be received after the control signal of multiplexer channel, is two-way communication, solves prior art
In remote control communication system mostly the problem of be one-way communication, and because the control signal that can send multiplexer channel simultaneously causes nothing
Man-machine function is more diversified.
The UAV Communication system that the present invention is provided, due to including previously described transmitter and receiver, and emitter
Communicated, on the one hand can be transmitted many most to eight paths based on half-duplex RF hopping communication protocol between receiver
Control signal, supports the more complicated multi-functional demand of unmanned plane；Another aspect emitter can be a kind of single external module,
The PPM that can be connected with the standard sockets reserved on remote control, can functionally receive, handle the collection of remote control end, encode in structure
Pulse-modulated signal, is capable of for the simplex system on most of remote controls of compatible in the market, relative market, described logical
Letter system can also support the functions such as remote measurement, two-way communication.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute a part for specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
A kind of a kind of flow chart for communication means based on half-duplex RF hopping communication protocol that Fig. 1 provides for the present invention.
A kind of another flow for communication means based on half-duplex RF hopping communication protocol that Fig. 2 provides for the present invention
Figure.
The structural representation for the emitter that Fig. 3 provides for the present invention.
The structural representation for the receiver that Fig. 4 provides for the present invention.
The structural representation for the UAV Communication system that Fig. 5 provides for the present invention.
The structural representation of the embodiment for the UAV Communication system that Fig. 6 provides for the present invention.
The schematic diagram of the frame format for the downlink frame that Fig. 7 a provide for the present invention.
The schematic diagram for the frame format to frequency frame that Fig. 7 b provide for the present invention.
The schematic diagram of the frame format for the uplink frame that Fig. 7 c provide for the present invention.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
As the first aspect of the invention there is provided a kind of communication means based on half-duplex RF hopping communication protocol,
Wherein, as shown in figure 1, the communication means includes：
S110, the control signal for receiving the multichannel that remote control is gathered；
Specifically, the receiver receives the control signal for the multichannel that the remote control is collected, it is to be understood that described
The control signal of multichannel can be the control signal of multichannel autonomous channel or the multi-channel control letter after mixing
Number.
S120, complete with receiver ID match and to frequency after, by the control signal of the multiplexer channel based on half-duplex
RF hopping communication protocol is sent to receiver；
Specifically, the emitter with the receiver when being communicated first time, it is necessary first to is carried out to frequency, i.e., described hair
Penetrate machine to be matched with the receiver, it should be understood that be, be one to frequency based on the half-duplex RF hopping communication protocol
Plant frequency fixing communication pattern.
S130, when the receiver receives the control signal of the multichannel, based on half-duplex RF hopping communication
Agreement receives the return path signal that the receiver is sent, wherein the return path signal includes the sensor that the receiver is collected
Data.
Specifically, after the control signal that the receiver receives the multichannel, sensing data is gathered, and by institute
State sensing data and be based on the half-duplex RF hopping communication protocol as return path signal and send to emitter, the hair
Penetrate machine and the return path signal is received based on the half-duplex RF hopping communication protocol.
The communication means based on half-duplex RF hopping communication protocol that the present invention is provided, base between emitter and receiver
Communicated in half-duplex RF hopping communication protocol, the control signal of multiplexer channel can be sent, and have sent in emitter
The return path signal of receiver transmission can be received after the control signal of multichannel, is two-way communication, solves in the prior art
Remote control communication system mostly the problem of be one-way communication, and due to the control signal of multichannel can be sent simultaneously so that unmanned plane
Function it is more diversified.
It should be noted that the emitter is in the case where realizing the requirement of multifunction remote-control telemetry communication, support processing comes from
Remote control sampling, coding, pulse modulated general PPM（Pulse position modulation）Pulse-modulated signal, therefore, it is possible to be used as one kind
The radio frequency sending set of compatible in the market main flow unmanned controller product, and matching receiver constitute a set of compatible market
The radio communication module of numerous and diverse remote control, while facilitating the upgrading and maintenance of product, improves the compatibility of product.
It should be appreciated that when the emitter is communicated for the first time with the receiver, it is necessary first to progress pair
Frequently, i.e., described emitter is matched with the receiver, in the half-duplex RF hopping communication protocol, is a kind of to frequency
Frequency fixing communication pattern, UAV Communication system fixes frequency one and completes ID storage and the drafting of Hopping frequencies table, then
By the mechanical button in UAV Communication system or the functional software button at UI interfaces come into frequency pattern, completion is described
The matching of emitter and the receiver.
It is used as the embodiment of the multichannel, it is preferable that the port number of the control signal is less than or equal to eight
Passage.
It is further preferred that the multichannel includes eight passages, i.e., described emitter can be sent out to the receiver simultaneously
The control signal of eight tunnel autonomous channels is sent, the function of unmanned plane is added, the diversified demand to unmanned plane function is met.
As the embodiment of the half-duplex RF hopping communication protocol, specifically, the half-duplex radio frequency is jumped
Frequency communication protocol includes the definition of radio frames form and the reception of signal and the Frequency Synchronization mechanism sent.
Preferably, the wireless frame format includes the upper subframe and lower subframe set according to proportioning.It should be noted that institute
Stating the proportioning of subframe and the lower subframe can be configured according to business demand, be not specifically limited.
Preferably, the proportioning of the upper subframe and the lower subframe is 1:3.It is understood that when the upper subframe and
The proportioning of the lower subframe is 1:When 3, it is possible to increase the communication efficiency between the emitter and the receiver.
It should be noted that the uplink and downlink data transfer of the half-duplex radio frequency frequency modulation communication agreement is multiple using the time-division
Mode.
The communication means based on half-duplex RF hopping communication protocol that the present invention is provided, on the one hand can be transmitted more most extremely
The control signal of eight passages, supports the more complicated multi-functional demand of unmanned plane；On the other hand it is capable of the most of of compatible in the market
For simplex system on remote control, relative market, additionally it is possible to support the functions such as remote measurement, two-way communication.
As the second aspect of the invention there is provided a kind of communication means based on half-duplex RF hopping communication protocol,
Wherein, as shown in Fig. 2 the communication means includes：
S210, complete with emitter ID match and to frequency after, based on the half-duplex RF hopping communication protocol reception transmitting
The control signal for the multichannel that machine is sent；
Specifically, the receiver be the emitter complete ID matchings and to frequency after, receive what the emitter was sent
The control signal of multichannel, when receiving the control signal is carried out based on half-duplex RF hopping communication protocol.
S220, to the controller of unmanned plane the control signal of the multichannel is sent, and gather sensing data；
Specifically, the receiver sends the control signal of the multichannel received to the controller of the unmanned plane, with
Gather the sensing data for each sensor being connected with the receiver.It is understood that the control signal is control
Gather the control signal of sensing data.
S230, the sensing data sent to the emitter based on the half-duplex RF hopping communication protocol；
Specifically, the receiver is sent the sensing data as return path signal to the emitter.
The communication means based on half-duplex RF hopping communication protocol that the present invention is provided, base between emitter and receiver
Communicated in half-duplex RF hopping communication protocol, the control signal of multichannel can be sent, and have sent in emitter many
The return path signal of receiver transmission can be received after the control signal of passage, is two-way communication, solves of the prior art
The problem of remote control communication system is mostly one-way communication, and due to the control signal of multiplexer channel can be sent simultaneously so that unmanned plane
Function more diversity.
Specifically, the port number of the control signal is less than or equal to eight passages.
It should be noted that the receiver is connected with the controller and sensor of the unmanned plane, the reception function
Enough controllers to the unmanned plane send the control signal of the multichannel received, to gather each sensor
Data, and the sensing data collected is being received into the control signal that the emitter is sent as return path signal
After send to the emitter.
Retouching above is referred on the communication means based on half-duplex RF hopping communication protocol that provides of the present invention
State, here is omitted.
As the third aspect of the invention there is provided a kind of emitter, wherein, as shown in figure 3, the emitter 300 is wrapped
Include：
First receiving module 310, first receiving module 310 is used for the control signal for receiving the multichannel of remote control collection；
First sending module 320, first sending module 320 be used for receiver complete ID match and to frequency after, by institute
The control signal for stating multichannel is sent to receiver based on half-duplex RF hopping communication protocol；
Second receiving module 330, second receiving module 330 is used for when the receiver receives the control of the multichannel
During signal, the return path signal that the receiver is sent is received based on half-duplex RF hopping communication protocol, wherein described time
Passing signal includes the sensing data that the receiver is collected.
The present invention, which provides emitter, can be based on half-duplex RF hopping communication protocol to receiver transmission control signal, and
And the return path signal of receiver feedback can be received, the two-way communication between emitter and receiver is realized, is solved existing
There is the problem of remote control communication system in technology is mostly one-way communication, and due to the control signal of multiplexer channel can be sent simultaneously
So that the function of unmanned plane more diversity.
Specifically, the multichannel includes eight passages, i.e., described emitter can send eight to the receiver simultaneously and lead to
The control signal in road, adds the function of unmanned plane, meets the diversified demand to unmanned plane function.
Embodiment on emitter can also be with reference to description above, and here is omitted.
As the fourth aspect of the invention there is provided a kind of receiver, wherein, as shown in figure 4, the receiver 400 is wrapped
Include：
3rd receiving module 410, the 3rd receiving module 410 be used for emitter complete ID match and to frequency after, be based on
Half-duplex RF hopping communication protocol receives the control signal for the multichannel that the emitter is sent；
Acquisition module 420, the acquisition module 420 is used for the control signal that the multichannel is sent to the controller of unmanned plane,
And gather sensing data；
Second sending module 430, second sending module 430 is used to the sensing data being based on the half-duplex radio frequency
Frequency hopping communications agreement is sent to the emitter.
The receiver that the present invention is provided, can be based on carrying out wirelessly between half-duplex RF hopping communication protocol and emitter
Communication, realizes the two-way communication between emitter and receiver, and it is single mostly to solve remote control communication system of the prior art
To the problem of communication, and due to the control signal of multiplexer channel can be sent simultaneously so that the function more diversity of unmanned plane.
Specifically, the multiplexer channel includes eight passages, i.e., described emitter can send eight to the receiver simultaneously
The control signal of passage, adds the function of unmanned plane, meets the diversified demand to unmanned plane function.
Embodiment on receiver can also be with reference to description above, and here is omitted.
As the fifth aspect of the invention there is provided a kind of UAV Communication system, wherein, as shown in figure 5, it is described nobody
Machine communication system 10 includes the control of remote control 100, previously described emitter 300, previously described receiver 400 and unmanned plane
Device 200 processed, the emitter 300 is communicated to connect with the remote control 100 and the receiver 400 respectively, the receiver 400
Communicated to connect with the controller 200 of the unmanned plane.
The UAV Communication system that the present invention is provided, due to including previously described transmitter and receiver, and emitter
Communicated, on the one hand can be transmitted many most to eight paths based on half-duplex RF hopping communication protocol between receiver
Control signal, supports the more complicated multi-functional demand of unmanned plane；On the other hand it is capable of most of remote controls of compatible in the market, phase
For the simplex system of in the market, additionally it is possible to support the functions such as remote measurement, two-way communication.
With reference to shown in Fig. 6, the specific work process to the UAV Communication system 10 is described in detail.
As shown in fig. 6, the half-duplex RF hopping communication protocol provided for the present invention, mainly including radio frequency transmission process
In wireless frame format definition, and the emitter and the receiver Hopping frequencies synchronization mechanism realization, wherein including
：
（1）Downlink, i.e., the control signal for the multiplexer channel that described emitter gathers remote control is sent to the receiver,
The receiver receives the communication process of the control signal；
（2）Up-link, i.e., described receiver passes back to the telemetered signal that and sensor related to the receiver is gathered
The emitter, the communication process that the emitter is received；
Wherein, uplink and downlink link is worked by time-multiplexed mode, i.e., the uplink and downlink time of each radio frames separates, according to
Business demand sets appropriate upper and lower subframe proportioning.The proportioning of upper and lower subframe shown in Fig. 6 is 1:3.
（3）The emitter and the receiver to frequency process, i.e., described emitter and the receiver are for the first time
It is a kind of frequency fixing communication pattern to frequency in the half-duplex RF hopping communication protocol with pairing process when using, it is described
UAV Communication system fixes frequency one and completes ID storage, the drafting of Hopping frequencies table, passes through the UAV Communication system
The functional software button of mechanical button or the UAV Communication system UI interfaces on system enters to frequency pattern, completes institute
State the matching of emitter and the receiver.
The emitter of above-mentioned half-duplex RF hopping communication protocol is carried, gathered by demodulation, decoding from remote control end,
Coding, the control signal of pulse modulated eight paths, in the way of frequency hopping communications, support the control of most eight paths of transmitting
Signal, and the return data from receiver end remote measurement is received, handled for remote control or other equipment.
The receiver of above-mentioned half-duplex RF hopping communication protocol is carried, can be with PWM（Pulse width modulation）/PPM（Arteries and veins
Rush position modulation）/SBUS（A kind of signal bus standard that Japanese FUTABA is proposed）Deng standard industry letter more common at present
Multi-channel control, drive signal that the output of number form is launched from emitter, and the telemetering pickup number that receiver can be associated
According to passing back to emitter, remote control.
It should be noted that according to the hardware size and functional localization of receiver, the side of above-mentioned receiver output signal
Formula is probably therein one or more.
It should also be noted that, the emitter can include MCU processors, in transmit state for decoding remote control
The control signal of the multichannel of collection, controls the transmitting-receiving work and state switching of radio frequency chip；It is used to decode under reception state to receive
The return data arrived；Bidirectional transmit-receive radio frequency chip and power amplifier, antenna, radio frequency chip are mainly believed base band in transmit state
Number modulation, spread spectrum, carrier modulation；It is that the electromagnetic wave signal received is subjected to carrier wave demodulation, despreading, demodulates and send under reception state
Handled to MCU processors.Power amplifier mainly carries out gain amplification, antenna to signal and is mainly in transmit state with electromagnetism
The form of ripple goes out the emission of radio frequency signals that carrier modulation is crossed, and is in receive state reception electromagnetic wave signal and changes into electricity
Signal；Ancillary equipment, mainly power supply circuit, the part such as low-pass filter circuit.
The receiver can specifically include the RF control signal that will mainly be received under MCU processors, reception state
Coding output is carried out by certain industrial standard；The signal for mainly encoding sensor sample under passback emission state is decoded,
It is sent to radio frequency chip；Bidirectional transmit-receive radio frequency chip, in receive state the radiofrequency signal progress for reception antenna to be received
Carrier wave demodulation, despreading, demodulation obtain original data signal and are sent to MCU processors according to industrial standard carrying out coding output；
When biography signal is transmitted back under emission state, the sensor signal that MCU is decoded is modulated, spread, carrier modulation.Power amplification
Device is used for amplifying the signal or signal to be launched, antenna of reception realizing the conversion of electromagnetic signal；Ancillary equipment, mainly
Power supply, mu balanced circuit and filter circuit.
It should be appreciated that the multiplexer channel input source such as potentiometer, Multi-band switch on remote control passes through ADC（Simulate number
Word converter）After the ADC samplings that sampling A/D chip or MCU are internally integrated, the data of sampling are sent to remote control MCU and carry out mixing
Processing, each passage during mixing has the physics ID of uniqueness, according to these physics ID, and the data of sampling can be by calculating
New order is obtained to go forward side by side horizontal pulse modulation.It is commonly used due to PPM code modulation modes, most of remote controls all support with
The pulse modulated modes of PPM are by the signal output of sampling to emitter, therefore the emitter that the present invention is provided being capable of compatible market
The remote control of upper a variety of different manufacturers, and receiver is collectively as a kind of general transmitting receiving module, is that model, unmanned plane are distant
Control provides communication function.
From the foregoing it will be appreciated that the half-duplex RF hopping communication protocol that the present invention is provided is a kind of time-multiplexed
Radio frequency protocol, the difference based on business carries out time slot distribution, is divided into three kinds of data frames, i.e., descending, up and to frequency, every kind of frame
There are 17 bytes, each 8 bits of byte.Illustrate how to complete RF hopping communication with reference to specific embodiment
Process, what deserves to be explained is, the embodiment only as a part of embodiment, is not all of embodiment.
First, as shown in Figure 7b, on to frequency pattern, to frequency pattern, what emitter was transmitted to receiver is a kind of special
Different data frame, i.e., to frequency radio frames, it can be seen that described include frame head code, address code, number to frequency radio frames as shown in Fig. 7 b
According to part etc..2 bytes of frame head code part are identifiers, are the current software versions for recognizing emitter；Address code is
The exclusive physics ID of each emitter, the physics ID of each emitter is 16, is divided to two byte ID.L and ID.H transmissions, this
The physics ID of 16 is produced by a kind of particular algorithm.Data division is mainly frequency hopping frequency point information, each radio frames
Target frequency under 5 continuous frequencies can be launched, these frequencies are also to be randomly generated by special algorithm from Hopping frequencies table.
It is a kind of frequency fixing communication to frequency pattern by described previously, receiver is in a kind of frequency of systemic presupposition and received
State, emitter according to the random frequency transmitting in Hopping frequencies table to frequency radio frames, when emitter jump to it is identical with receiver
Frequency when, transmitting receiving module complete frequency matching, receiver start receive to frequency wrap.Receiver first sends emitter
Physics ID store, then receive storage frequency, the Hopping frequencies table complete until receiving, complete to code process.
In normal communication process, comprising two processes of uplink and downlink, according to time-multiplexed mode, in distribution,
Descending sub frame is matched, and completes two-way transmitting-receiving task.
During PPM impulse modulations, in units of frame, the value of each passage be by the time interval of adjacent high level pulse come
Characterize, in standard PPM pulse signals, the time interval of adjacent high level pulse is between 0.8ms-2.2ms, specifically, example
Such as, transmitting receiving module is using 1.5M crystal oscillators as reference clock, therefore in transmitting procedure, and corresponding channel value is in 1200-
Between 3300, each channel value needs 12 bits to represent.
When in downlink transfer remote control control signal, each passage has 12 bits, is divided into high six（CH.H）With
Low six (CH.L) two parts.As shown in Figure 7a, ID parts are the physics of emitter to wireless frame format in downlink transmission process
ID, is considered as just to carry out Self Matching emitter when only identical with the emitter physics ID stored to receiver during frequency
Valid data.Comprising frequency hopping frequency next time in the downlink radio frame that emitter is sent every time, the phase Phase in frame format
It is exactly this parameter, it is produced by pseudo-noise code generator, the Phase determined by pseudo noise code completes frequency hopping mistake
Frequency hopping pattern in journey.SR variables are the ginsengs that downlink radio frame switches to up-link wireless frame during switching uplink and downlink
Number, it is the statistical number for continuously transmitting aggregate-value of current downlink frame.Specifically, for example according to uplink and downlink 1:3 ratio is held
OK, i.e., emitter often launches three frame downlink frames, and emission state is switched into reception state；Receiver often receives three frame data, will
Reception state is switched to emission state, launches up-link wireless frame, frame format is as shown in Figure 7 c.ID2 represent current operating state with
And corresponding data, only 5 effective bits, working condition determines that B1-B3 is corresponding data, the 5th by lowest order B0
B4 is the flag bit of lost-control protection pattern, can be activated by pinning the button on emitter or clicking on system UI software push buttons
Lost-control protection pattern, now B4 is 1, the passage of storage in transmitters when channel data below is lost-control protection mode activation
Value, these data can be transmitted into receiver in the way of radio frames, be used as the channel output values of receiver under lost-control protection pattern.
6-17 bytes are 1-8 passages（CH0-CH7）Data, these data pass through certain coding, and row frame format specific as follows is attached
Shown in figure, wherein "<<" be bit arithmetic left shift operator.1-8 passages among these（CH0-CH7）Data are probably normal mode
The control signal of the real-time collection of formula, it is also possible to the channel data stored under lost-control protection pattern, these are in ID2
What B4 flag bits were determined.
It should be noted that these passages（CH0-CH7）Order is the order and value after remote control sampling, mixing calculating.
This be sequentially by the channel address in remote control mixing calculating is determined, the value of passage be also signal source after over-sampling,
According to user's mixing needs, recalculate what is obtained by remote control MCU.But, in actual information transmit process, remote control end
These channel datas（CH0-CH7）Emitter is not directly sent to, but is completed after PPM pulse position modulations
, the data of 8 passages can just be sent to emitter by such frame PPM signal, and emitter passes through according to PPM demodulation principles
Timer measures the duration for obtaining adjacent high level pulse, and then obtains the numerical value of each passage, and these numerical value are exactly the agreement
In the channel value mentioned, i.e. CH0-CH7 value.These values are advised according to the decoding of radio frequency protocol frame format disclosed by the invention
Then and hopping, modulated through high frequency carrier, frequency-hopping mode is sent to receiver end, despreading, demodulation restore each passage
Value.Receiver end exports the Industry Control of certain format according to the definition of receiver output interface, driven after these data are received
Dynamic signal, comes the executing agencies such as driving model, the steering wheel of unmanned plane, motor, completes the purpose of Remote.
The requirement matched according to uplink and downlink frame slot, SR variables and uplink frame that this proportioning can be in downlink frame
In SS variables carry out self-defined proportioning, specifically, according to uplink and downlink frame proportioning for 1:3 ratio carrys out transmitting/receiving wireless frame.When continuous
When downlink frame accumulative total reaches threshold value 3, launch receiving module switching state, receiver starts to launch telemetry.In uplink frame,
That start is the physics ID of receiver, is divided to two bytes ID.L and ID.H.The two ADC collections being internally integrated followed by receiver
Data, ADC1, ADC2.5th byte is made up of two parts, and highest order is the mark when receiver end sets lost-control protection
Position, when the mechanical button on by receiver sets lost-control protection, launching opportunity receives the instruction of lost-control protection, following
The a bit of time can using the current location where the input source on remote control as during lost-control protection passage give tacit consent to export, and
Store.RSSI is to characterize the parameter of signal strength degree that present receiving machine is received, and user can be according to RSSI value
Be used as with reference to controlling rational remote control distance, it is to avoid hypertelorism, communication disruption is brought caused by signal is excessively weak risk and
Loss.Whether Len is the parameter of up-link wireless frame byte length, reasonable for auxiliary judgment, the current radio frames of verification.SS is to work as
The aggregate-value that preceding receiver up-link wireless frame is continuously transmitted, when the SS that emitter is received in up-link wireless frame reaches the threshold value of setting
（It is exemplified by 1 that this, which sentences threshold value,）When, emitter receives module and starts to switch reiving/transmitting state.B0-B9 below is other sensors
Parameter value.Emitter receive receive passback telemetry after, can be sent to remote control or other-end equipment processing and can
Depending on change, real-time reference is provided the user.
Therefore, the UAV Communication system that the present invention is provided, compared with UAV Communication system of the prior art, bandwidth
Wider, frequency is more, using the frequency hopping of main flow, greatly reduces co-channel interference, more safe and reliable；In addition, larger
4 channel emission receiving modules of crowdization are compared, and can transmit the control signal of up to 8 passages, support that more complicated unmanned plane is more
Functional requirement；And can compatible most of remote controls, it is unidirectional logical on relative market as the transmitting receiving module of complete set
For letter system, remote measurement, bi-directional communication function are supported.
The UAV Communication system that the present invention is provided, Cochannel interference ability and peace are drastically increased using frequency hopping
Entirely, unfailing performance.The RF hopping communication protocol, could support up the eight passage independent controls letter that transmitting is gathered from remote control
Number, and can be by receiver-transmitter remote measurement return network the communications status of receiver end unmanned plane and related biography
The telemetry of sensor passes back to transmitting terminal, user terminal.The UAV Communication system that the present invention is provided will can also be adopted on remote control
Up to 8 channel control signals of collection are sent to the simple radio frequency communication devices of function of three, four-way on receiver, relative market,
Meet the multi-functional demand now based on multiaxis unmanned plane；And support two-way retransmission function, the biography that receiver can be connected
Sensor telemetry passes back to emitter, and the two bi-directional links realize half-duplex operation by time-division multiplex technology.In addition,
It is capable of the multi-functional communications demand of implementation model, unmanned plane well, moreover it is possible to return unmanned plane telemetry for user.Wherein send out
Machine is penetrated in the case where realizing the requirement of multifunction remote-control telemetry communication, supports processing from remote control sampling, coding, pulse modulated logical
Use PPM（Pulse position modulation）Pulse-modulated signal, therefore, it is possible to be produced as a kind of compatible in the market main flow unmanned controller
The radiofrequency emitting module of product, and matching receiver constitute the radio communication module of a set of compatible numerous and diverse remote control in market,
A kind of excellent selection scheme is provided for upgrading, maintenance and the product compatibility of product.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, but the invention is not limited in this.For those skilled in the art, the essence of the present invention is not being departed from
In the case of refreshing and essence, various changes and modifications can be made therein, and these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of communication means based on half-duplex RF hopping communication protocol, it is characterised in that the communication means includes：
Receive the control signal of the multichannel of remote control collection；
With receiver complete ID match and to frequency after, by the control signal of the multichannel based on half-duplex RF hopping communication
Agreement is sent to receiver；
When the receiver receives the control signal of the multichannel, institute is received based on half-duplex RF hopping communication protocol
The return path signal of receiver transmission is stated, wherein the return path signal includes the sensing data that the receiver is collected.
2. the communication means according to claim 1 based on half-duplex RF hopping communication protocol, it is characterised in that described
The port number of control signal is less than or equal to eight passages.
3. the communication means according to claim 1 based on half-duplex RF hopping communication protocol, it is characterised in that described
Half-duplex RF hopping communication protocol includes the definition of radio frames form and the reception of signal and the Frequency Synchronization mechanism sent.
4. the communication means according to claim 3 based on half-duplex RF hopping communication protocol, it is characterised in that described
Wireless frame format includes the upper subframe and lower subframe set according to proportioning.
5. the communication means according to claim 4 based on half-duplex RF hopping communication protocol, it is characterised in that described
The proportioning of upper subframe and the lower subframe is 1:3.
6. a kind of communication means based on half-duplex RF hopping communication protocol, it is characterised in that the communication means includes：
With emitter complete ID match and to frequency after, emitter transmission is received based on half-duplex RF hopping communication protocol
Multichannel control signal；
The control signal of the multichannel is sent to the controller of unmanned plane, and gathers sensing data；
The sensing data is sent to the emitter based on the half-duplex RF hopping communication protocol.
7. the communication means according to claim 6 based on half-duplex RF hopping communication protocol, it is characterised in that described
The port number of control signal is less than or equal to eight passages.
8. a kind of emitter, it is characterised in that the emitter includes：
First receiving module, first receiving module is used for the control signal for receiving the multichannel of remote control collection；
First sending module, first sending module be used for receiver complete ID match and to frequency after, will be described more logical
The control signal in road is sent to receiver based on half-duplex RF hopping communication protocol；
Second receiving module, second receiving module is used for when the receiver receives the control signal of the multichannel
When, the return path signal that the receiver is sent is received based on half-duplex RF hopping communication protocol, wherein the return path signal bag
Include the sensing data that the receiver is collected.
9. a kind of receiver, it is characterised in that the receiver includes：
3rd receiving module, the 3rd receiving module be used for emitter complete ID match and to frequency after, based on half-duplex
RF hopping communication protocol receives the control signal for the multichannel that the emitter is sent；
Acquisition module, the acquisition module is used to send the control signal of the multichannel to the controller of unmanned plane, and gathers
Sensing data；
Second sending module, second sending module is used to lead to the sensing data based on the half-duplex RF hopping
Letter agreement is sent to the emitter.
10. a kind of UAV Communication system, it is characterised in that the UAV Communication system includes remote control, claim 8 institute
The controller of receiver and unmanned plane described in the emitter stated, claim 9, the emitter respectively with the remote control and
The controller communication connection of the receiver communication connection, the receiver and the unmanned plane.
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