CN108475076A - Antenna alignment method and ground control terminal - Google Patents
Antenna alignment method and ground control terminal Download PDFInfo
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- CN108475076A CN108475076A CN201780005380.XA CN201780005380A CN108475076A CN 108475076 A CN108475076 A CN 108475076A CN 201780005380 A CN201780005380 A CN 201780005380A CN 108475076 A CN108475076 A CN 108475076A
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- directional aerial
- control terminal
- unmanned plane
- ground control
- antenna
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a kind of antenna alignment methods, for controlling the ground control terminal with directional aerial so that directional aerial is aligned with unmanned plane.Antenna alignment method includes：Obtain the location information of unmanned plane；Obtain the position and attitude information of ground control terminal；The communication direction that directional aerial is controlled according to location information and position and attitude information is directed at unmanned plane.The invention also discloses a kind of ground control terminals.The antenna alignment method and ground control terminal of embodiment of the present invention by adjusting directional aerial communication direction so that the communication direction of directional aerial is directed at unmanned plane always, ensure that ground control terminal is in optimal reception emission state always with unmanned plane, promotes the stability communicated between ground control terminal and unmanned plane.
Description
Technical field
The present invention relates to the communication technology, more particularly to a kind of antenna alignment method and ground control terminal.
Background technology
The remote controler of existing unmanned plane generally uses directional aerial to enhance the signal strength of target direction, therefore needs hand
Dynamic remote controller is so that directional aerial is aligned with unmanned plane.However be difficult to realize alignment after unmanned plane exceeds sighting distance, it leads
Cause poor communications quality.
Invention content
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides a kind of day
Line alignment methods and ground control terminal.
The antenna alignment method of embodiment of the present invention, for controlling the ground control terminal with directional aerial so that described
Directional aerial is aligned with unmanned plane, and the antenna alignment method includes the following steps：
Obtain the location information of the unmanned plane；
Obtain the position and attitude information of the ground control terminal；With
It is controlled according to the positional information with the position and attitude information described in the communication direction alignment of the directional aerial
Unmanned plane.
The ground control terminal of embodiment of the present invention includes directional aerial, and the ground control terminal is for controlling the orientation
Antenna is aligned with unmanned plane, and the ground control terminal further includes first processor, and the first processor is used for：
Obtain the location information of the unmanned plane；
Obtain the position and attitude information of the ground control terminal；With
It is controlled according to the positional information with the position and attitude information described in the communication direction alignment of the directional aerial
Unmanned plane.
The antenna alignment method and ground control terminal of embodiment of the present invention by adjusting directional aerial communication direction with
So that the communication direction of directional aerial is directed at unmanned plane always, ensures that ground control terminal is in optimal reception with unmanned plane and emits always
State promotes the stability communicated between ground control terminal and unmanned plane.
The additional aspect and advantage of embodiments of the present invention will be set forth in part in the description, partly will be from following
Description in become apparent, or the practice of embodiment through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention is from combining in description of the following accompanying drawings to embodiment by change
It obtains obviously and is readily appreciated that, wherein：
Fig. 1 is the flow diagram of the antenna alignment method of certain embodiments of the present invention.
Fig. 2 is the module diagram of the ground control terminal of certain embodiments of the present invention.
Fig. 3 is the status diagram of the antenna alignment method of certain embodiments of the present invention.
Fig. 4 is the flow diagram of the antenna alignment method of certain embodiments of the present invention.
Fig. 5 is the flow diagram of the antenna alignment method of certain embodiments of the present invention.
Fig. 6 is the flow diagram of the antenna alignment method of certain embodiments of the present invention.
Fig. 7 is the flow diagram of the antenna alignment method of certain embodiments of the present invention.
Fig. 8 is the module diagram of the ground control terminal of certain embodiments of the present invention.
Fig. 9 is the flow diagram of the antenna alignment method of certain embodiments of the present invention.
Figure 10 is the flow diagram of the antenna alignment method of certain embodiments of the present invention.
Specific implementation mode
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
Also referring to Fig. 1 to 3, the antenna alignment method of embodiment of the present invention, there is directional aerial 21 for controlling
Ground control terminal 100 so that directional aerial 21 is aligned with unmanned plane 200.Antenna alignment method includes the following steps：
S11：Obtain the location information of unmanned plane 200；
S13：Obtain the position and attitude information of ground control terminal 100；With
S15：The communication direction that directional aerial 21 is controlled according to location information and position and attitude information is directed at unmanned plane 200.
The antenna alignment method of embodiment of the present invention can be realized by the ground control terminal 100 of embodiment of the present invention.
The ground control terminal 100 of embodiment of the present invention includes directional aerial 21.Ground control terminal 100 for control directional aerial 21 with
Unmanned plane 200 is aligned.Ground control terminal 100 includes first processor 23.Step S11, step S13 and step S15 can be by
One processor 23 is realized.
In other words, first processor 23 is used for：
Obtain the location information of unmanned plane 200；
Obtain the position and attitude information of ground control terminal 100；With
The communication direction that directional aerial 21 is controlled according to location information and position and attitude information is directed at unmanned plane 200.
It is appreciated that omnidirectional antenna or directional aerial can be used in the existing ground control terminal 100 communicated with unmanned plane 200
Carry out reception of wireless signals and transmission.When ground control terminal 100 is using omnidirectional antenna, omnidirectional antenna can reach relatively better
Horizontal direction covers, but would generally form antenna gain zero in the surface of ground control terminal 100, so as to cause unmanned plane
200 flying height above ground control terminal 100 is not high.In addition, being likely to be received from other directions using omnidirectional antenna
Interference signal, lead to the poor communications quality between unmanned plane 200 and ground control terminal 100.And ground control terminal 10 uses
The alignment for being oriented antenna and the direction of the antenna of unmanned plane 200 by hand is needed when directional aerial.It is regarded when unmanned plane 200 exceeds
Away from rear, it cannot achieve and precisely align.
The antenna alignment method of embodiment of the present invention can pass through the location information and ground control terminal of unmanned plane 200
The communication direction of 100 position and attitude information adjust automatically alignment antenna 21, to ensure more than 100 unmanned plane of ground control terminal
200 are in optimal reception and emission state always, promote the stability communicated between ground control terminal 100 and unmanned plane 200.
In a specific embodiment of the present invention, gain directional antenna can be used in alignment antenna 21.Gain directional antenna
With higher antenna gain, the transmission range of wireless signal is farther, can be promoted unmanned plane 200 and ground control terminal 100 it
Between wireless signal transmission quality.Meanwhile the highly directional property of gain directional antenna makes directional aerial 21 in other communications
Side is upwardly formed gain zero, can effectively reduce the interference signal on other directions.In addition, the high of embodiment of the present invention increases
Beneficial directional aerial can carry out communication direction according to the location information of unmanned plane 200 and the position and attitude information of ground control terminal 100
Adjust automatically, the letter of [- 25 °, 90 °] on 360 ° and short transverse may be implemented in horizontal direction by the adjustment of communication direction
Number omnidirectional covering so that the communication direction of gain directional antenna is aligned with unmanned plane 200 always.Wherein, directional aerial 21
Communication direction refer to the radiation direction of alignment antenna 21, imply that reception of wireless signals direction and wireless signal transmitting to.
Also referring to Fig. 2 to Fig. 4, in some embodiments, the antenna alignment method of embodiment of the present invention includes
Following steps：
S14：It controls ground control terminal 100 and parses location information and position and attitude information.
In some embodiments, ground control terminal 100 further includes second processor 32.Step S14 can be by second
Device 32 is managed to realize.In other words, second processor 32 is additionally operable to control ground control terminal 100 and parses location information and position and attitude
Information.
It is appreciated that unmanned plane 200 with electromagnetic wave passes through unmanned plane 200 after being modulated the location information of itself
The antenna of itself is sent to ground control terminal 100, and the alignment antenna 21 of ground control terminal 100 receives the location information.It controls on ground
Also there is the position and attitude information of itself at end 100 processed.Ground control terminal 100 passes through the parsing to location information and position and attitude information
To obtain location information and position and attitude information of the tool as numeralization, to the location information and position appearance according to tool as numeralization
State information is oriented the adjustment of the communication direction of antenna 100.
Also referring to Fig. 2, Fig. 3 and Fig. 5, in some embodiments, ground control terminal 100 includes tracking antenna assembly
20 and remote controler 30, wherein tracking antenna assembly 20 includes directional aerial 21, remote controler 30 is communicated with tracking antenna assembly 20, step
The step of rapid S14 controls ground control terminal 100 parses location information and position and attitude information includes the following steps：
S141：Control tracking antenna assembly 20 receives the location information that unmanned plane 200 is sent；
S142：Control tracking antenna assembly 20 forwards location information to remote controler 30；
S143：The location information that the control parsing tracking antenna assembly 20 of remote controler 30 forwards is to obtain parsing location information；
With
S144：It controls remote controler 30 and sends parsing location information to tracking antenna assembly 20.
In some embodiments, step S141 and step S142 can be realized by first processor 23, step S143 and
Step S144 can be realized by second processor 32.
In other words, first processor 23 is additionally operable to：
Control tracking antenna assembly 20 receives the location information that unmanned plane 200 is sent；With
Control tracking antenna assembly 20 forwards location information to remote controler 30；
Second processor 32 is used for：
The location information that the control parsing tracking antenna assembly 20 of remote controler 30 forwards is to obtain parsing location information；With
It controls remote controler 30 and sends parsing location information to tracking antenna assembly 20.
Specifically, first processor 23 is arranged in tracking antenna assembly 20, and second processor 32 is arranged in remote controler 30
In.The location information of unmanned plane 200 is received by tracking antenna assembly 20 and is transmitted to remote controler 30.Remote controler 30 is by position
Information obtains parsing location information after being parsed.Parsing location information is location information of the tool as the unmanned plane 200 of numeralization.
Remote controler 30 will parse location information and be sent to tracking antenna assembly 20, and tracking antenna assembly 20 is according to parsing location information and position
Set the communication direction adjustment that status information is oriented antenna 21.In this way, the parsing of location information is carried out by remote controler 30, it can be with
Mitigate the data processing load of tracking antenna assembly 20.It should be noted that in other embodiments, step S14 can also
Directly realized by first processor 23 in tracking antenna assembly 20.
In a specific embodiment of the present invention, remote controler 30 is connect with tracking antenna assembly 20 by RF coaxial line.
During controlling the flight of unmanned plane 200, the position of tracking antenna assembly 20 can be fixed or mobile.For example, tracking
Antenna assembly 20 can be arranged to be fixed on tripod.It connects remote controler 30 and tracks the RF coaxial of antenna assembly 20
Line has certain length, flies to walk about with hand-held remote controller 30 to facilitate observation nothing when hand manipulation 200 flight of unmanned plane
Man-machine 200 flight condition.Wherein, the length of RF coaxial line can be 5 meters, 10 meters, 15 meters even greater than 15 meters, not do herein
Limitation.Tracking antenna assembly 20 can also be arranged on automobile, to adapt to control what unmanned plane 200 flew during vehicle-mounted mobile
Scene.
Also referring to Fig. 2, Fig. 3 and 6, in some embodiments, the location information of unmanned plane 200 includes unmanned plane
200 longitude and latitude, the position and attitude information of ground control terminal 100 include the longitude and latitude of directional aerial 21.Directional aerial 21 leads to
Believe that direction includes horizontal direction parameter.Step S15 controls the communication of directional aerial 21 according to location information and position and attitude information
The step of direction alignment unmanned plane 200, includes the following steps：
S1511：According to the calculation of longitude ＆ latitude horizontal direction parameter of the longitude and latitude of unmanned plane 200 and directional aerial 21.
In some embodiments, step S1511 can be realized by first processor 23.
In other words, first processor 23 is further used for the warp of the longitude and latitude and directional aerial 21 according to unmanned plane 200
Latitude calculated level directioin parameter.
In a specific embodiment of the present invention, unmanned plane 200 is provided with Global Satellite Navigation System (GNSS, Global
Navigation Satellite System) receiver, the latitude and longitude information of unmanned plane 200 can carry out by GNSS receiver
It obtains.Ground control terminal 100 is again provided with GNSS receiver for obtaining the longitude and latitude of directional aerial 21.Wherein, GNSS
Receiver includes that american global positioning system receiver, Chinese Beidou satellite navigation system receiver, Russian Glonass are defended
Star navigation system receiver or European Galileo satellite navigation system receiver, are not limited herein.The level side of communication direction
What is referred to parameter is the origin company of the origin line and directional aerial 21 and earth coordinates of unmanned plane 200 and earth coordinates
The line angle on the longitude-latitude face of earth coordinates in other words in the horizontal direction.Horizontal direction parameter can be used for really
Determine the relative position in the horizontal direction between unmanned plane 200 and directional aerial 21.Ground control terminal 100 is according to above-mentioned level side
Upward relative position is oriented the rotation of 21 horizontal direction of antenna to realize the alignment of directional aerial 21 and unmanned plane 200.
Please again together refering to Fig. 2, Fig. 3 and 6, in some embodiments, the location information of unmanned plane 200 includes unmanned plane
200 height, the position and attitude information of ground control terminal 100 include the height of directional aerial 21, the communication party of directional aerial 21
To including short transverse parameter.Step S15 controls the communication direction of directional aerial 21 according to location information and position and attitude information
The step of being directed at unmanned plane 200 includes the following steps：
S1512：According to the height computed altitude directioin parameter of the height of unmanned plane 200 and directional aerial 21.
In some embodiments, step S1512 can be realized by first processor 23.
In other words, first processor 23 is further used for the height of the height and directional aerial 21 according to unmanned plane 200
Computed altitude directioin parameter.
In a specific embodiment of the present invention, unmanned plane 200 is additionally provided with barometer, and the height of unmanned plane 200 can lead to
It crosses GNSS receiver and barometer measures jointly.Specifically, GNSS receiver can carry out unmanned plane 3D positioning to obtain
To the height of unmanned plane 200, barometer can be by detecting the air pressure around unmanned plane 200 to carry out elevation carrection.To GNSS
The height for the unmanned plane 200 that receiver and air pressure meter measure respectively, which carries out fusion treatment, can make the height of unmanned plane 200 more
Add accurate.Similarly, ground control terminal 100 is also provided with GNSS receiver and barometer simultaneously.The height of directional aerial 21 can
To be measured jointly by GNSS and barometer.What short transverse parameter referred to is unmanned plane 200 and directional aerial 21 in short transverse
On relative position.After short transverse parameter is calculated by the height of unmanned plane 200 and the height of directional aerial 21, you can
Rotation of 21 short transverse of antenna in other words on pitch angle direction is oriented to realize orientation day according to short transverse parameter
The alignment of line 21 and unmanned plane 200.
Please again together refering to Fig. 2, Fig. 3 and Fig. 6, in some embodiments, tracking antenna assembly 20 includes for rotating
The communication direction of the holder 22 of directional aerial 21, directional aerial 21 includes the target bearing angular dimensions of directional aerial 21, position appearance
State information includes the present orientation angular dimensions of directional aerial 21.It is fixed that step S15 is controlled according to location information and position and attitude information
The step of being directed at unmanned plane 200 to the communication direction of antenna 21 includes the following steps：
S1513：Holder 22 is controlled so that the diversity factor of present orientation angular dimensions and target bearing angular dimensions is less than first in advance
Determine range.
In some embodiments, step S1513 can be realized by first processor 23.
In other words, first processor 23 is additionally operable to control holder 22 so that present orientation angular dimensions is joined with azimuth of target
Several diversity factoies is less than the first preset range.
Specifically, target bearing angular dimensions refers in the horizontal direction in other words on longitude-latitude face, directional aerial
Projecting direction weight of the maximum gain direction of 21 communication direction with the line of unmanned plane 200 and directional aerial 21 on latitude axis
The azimuth of directional aerial 21 at this time when conjunction.Present orientation angle refers to the azimuth of current directional aerial 21.The present invention's
In specific embodiment, the azimuth of directional aerial 21 can be measured by compass.In other embodiments, directional aerial 21
Azimuth can also be measured using other measurement methods, for example, being measured using carrier phase difference technology RTK
Deng not being limited herein.The water between horizontal direction parameter i.e. unmanned plane 200 and directional aerial 21 is calculated in step S1511
Square upward relative position, needs the angle rotated according on the relative position calculated level direction of above-mentioned horizontal direction, from
And control the rotation that holder 22 carries out above-mentioned angle.Holder 22 rotates so that present orientation angular dimensions and target bearing angular dimensions
The communication direction of directional aerial 21 can be directed at unmanned plane 200 when diversity factor is less than the first preset range.Wherein, the first predetermined model
Enclose the company for indicating that the maximum gain direction of the communication direction of directional aerial 21 is not necessarily required to unmanned plane 200 and directional aerial 21
Projecting direction of the line on latitude axis is completely superposed.Because the electromagnetic wave on the communication direction of directional aerial 21 has certain wave
Beam width has certain angle of radiation.Therefore, even if the maximum gain direction of the communication direction of directional aerial 21 there is not being and not being
Man-machine 200 and projecting direction of the line on latitude axis of directional aerial 21 be completely superposed, as long as ensure maximum gain direction with
The difference of the angle of projecting direction of the line of unmanned plane 200 and directional aerial 21 on latitude axis is less than the first preset range,
It can ensure that the communications between unmanned plane 200 and ground control terminal 100.
Please again together refering to Fig. 2, Fig. 3 and Fig. 6, in some embodiments, holder 22 also can adjust directional aerial 21
Pitch angle.The communication direction of directional aerial 21 includes the target pitch angular dimensions of directional aerial, and position and attitude information includes current
Pitching angular dimensions.The communication direction that step S15 controls directional aerial 21 according to location information and position and attitude information is directed at nobody
The step of machine 200, includes the following steps：
S1514：Holder 22 is controlled so that the diversity factor of current pitching angular dimensions and target pitch angular dimensions is less than second in advance
Determine range.
In some embodiments, step S1514 can be realized by first processor 23.
In other words, first processor 23 is further used for controlling holder 22 so that current pitching angular dimensions and target pitch
The diversity factor of angular dimensions is less than the second preset range.
Specifically, target pitch angular dimensions refers in the height direction, and the communication direction of directional aerial 21 most increases
Directional aerial 21 is at this time when the projecting direction on altitude axis overlaps for beneficial direction and the line of unmanned plane 200 and directional aerial 21
Pitch angle.Current pitching angular dimensions refers to the pitch angle of current directional aerial 21.Short transverse ginseng is calculated in step S1512
Relative position in short transverse of the number i.e. between unmanned plane 200 and directional aerial 21, according to the opposite position of above-mentioned short transverse
The angle for needing to rotate on computed altitude direction is set, to control angle of the holder 22 according to required rotation in above-mentioned short transverse
Rotation.When holder 22 rotates so that the diversity factor of current pitching angular dimensions and target pitch angular dimensions is less than the second preset range
The communication direction of directional aerial 21 can be directed at unmanned plane 200.Wherein, the second preset range indicates the communication party of directional aerial 21
To maximum gain direction be not necessarily intended to it is complete with projecting direction of the line of unmanned plane 200 and directional aerial 21 on altitude axis
It overlaps.Electromagnetic wave on the communication direction of alignment antenna 21 has certain beam angle, that is, angle of radiation, therefore, even if orientation
The not throwing with the line of unmanned plane 200 and directional aerial 21 on altitude axis of the maximum gain direction of the communication direction of antenna 21
Shadow direction is completely superposed, as long as ensureing maximum gain direction with the line of unmanned plane 200 and directional aerial 21 on altitude axis
The difference of the angle of projecting direction is less than the second preset range, also ensures that stabilization between unmanned plane 200 and ground control terminal 100
Communications.It should be noted that in other embodiments, step S15 can also pass through second processing in remote controler 30
Device 32 is realized.
Also referring to Fig. 7 to Fig. 8, in some embodiments, directional aerial 21 includes phased array antenna, phased array day
Line includes multiple directional radiation units, and each radiating element corresponds to a radiation direction.The communication direction of directional aerial 21 includes
The target bearing angular dimensions of directional aerial 21 and the target pitch angular dimensions of directional aerial 21.Step S15 according to location information and
The step of communication direction alignment unmanned plane 200 of position and attitude information control directional aerial 21, includes the following steps：
S1521：Control phased array antenna with selective actuation radiating element and make startup radiating element radiation direction
It is less than third preset range with the diversity factor of target bearing angular dimensions.
S1522：Control phased array antenna with selective actuation radiating element and make startup radiating element radiation direction
It is less than the 4th preset range with the diversity factor of target pitch angular dimensions.
In some embodiments, step S1521 and step S1522 can be realized by first processor 23.
In other words, first processor 23 is additionally operable to：
Control phased array antenna with selective actuation radiating element and make startup radiating element radiation direction and target
The diversity factor of orientation angular dimensions is less than third preset range.
Control phased array antenna with selective actuation radiating element and make startup radiating element radiation direction and target
The diversity factor of pitching angular dimensions is less than the 4th preset range.
Specifically, realize that antenna beam is directed toward in the movement in space or one kind of scanning by phase change when phased array antenna
Directional aerial.Multiple radiating elements are provided in phased array antenna.Wherein, radiating element can be single waveguide trumpet day
Line, dipole antenna, paster antenna etc..Phased array antenna work when can control in multiple radiating elements it is one or several into
Row wireless signal directional transmissions and reception.In a specific embodiment of the present invention, the shape of phased array antenna is one 180 °
Hemisphere face.Radiating element is evenly distributed on hemisphere face.Target bearing angular dimensions refers to phased array antenna selective actuation
The radiation direction of radiating element overlap phase with projecting direction of the line of unmanned plane 200 and directional aerial 21 on latitude axis
Control the azimuth of the radiation direction relative altitude axis at this time of array antenna.Target pitch angle refers to phased array antenna selective actuation
The radiation direction of radiating element overlap phase with projecting direction of the line of unmanned plane 200 and directional aerial 21 on altitude axis
Control the pitch angle of the radiation direction relative altitude axis at this time of array antenna.At this point, tracking antenna assembly 20 is without being arranged holder 22.
First processor 23 is according to the longitude and latitude and elevation information of unmanned plane 200, the longitude and latitude of phased array antenna 21 and elevation information meter
The relative position information of unmanned plane 200 and phased array antenna 20 is calculated, and according to relative position information selective actuation one or more
A radiating element is so that the radiation direction of radiating element is less than third preset range with the diversity factor of target bearing angular dimensions, together
When so that the radiation direction of radiating element is less than the 4th preset range with the diversity factor of target pitch angular dimensions.Wherein, starting
During one or more radiating elements, first processor 23 can control the selection of phased array antenna progress radiating element
Adjustment.The radiating element of corresponding startup when the RSSI maximum values that phased array antenna receives after the selection adjustment of first processor 23
As final communication direction.Similarly, after phased array antenna selective actuation radiating element, the radiation direction of radiating element is still
It is so that there is certain angle of radiation, the diversity factor of final communication direction and azimuth of target is less than third preset range, and
It is less than the 4th preset range with the diversity factor of target pitch angular dimensions, can guarantee unmanned plane 200 and ground control terminal 100 at this time
Stabilization communications.
It should be noted that when using phased array antenna, tracking antenna assembly 20 can with 30 integral packaging of remote controler,
It can respectively be independently arranged.When tracking antenna assembly 20 with 30 integral packaging of remote controler, first processor 23 and second processing
Device 32 can be unified to be replaced to execute the function of first processor 23 and second processor 32 with a processor.In tracking antenna
When device and remote controler 30 are independently arranged, track antenna assembly 20 and remote controler 30 respectively there is the processor of oneself with facilitate into
Row data processing.
Also referring to Fig. 2, Fig. 3 and Fig. 9, in some embodiments, step S15 is according to location information and position and attitude
The step of communication direction alignment unmanned plane 200 of information control directional aerial 21, includes the following steps：
S1531：Judge whether the changing value of communication direction is less than the first predetermined threshold value；
S1532：When changing value is less than the first predetermined threshold value, control ground control terminal 100 changes the orientation of directional aerial 21
Angle is multiple scan position angles；
S1533：It obtains logical between unmanned plane 200 and directional aerial 21 when directional aerial 21 is located at multiple scan position angles
Believe intensity；With
S1534：The azimuth of target of the directional aerial 21 is redefined according to communication strength, azimuth of target is communication
The scan position angle of maximum intensity.
In some embodiments, step S1531, step S1532, step S1533 and step S1534 can be by first
Device 23 is managed to realize.
In other words, first processor 23 is further used for：
Judge whether the changing value of communication direction is less than the first predetermined threshold value；
It is more that when changing value is less than the first predetermined threshold value, control ground control terminal 100, which changes the azimuth of directional aerial 21,
A scan position angle；
The communication obtained when directional aerial 21 is located at multiple scan position angles between unmanned plane 200 and directional aerial 21 is strong
Degree；With
Redefine the azimuth of target of the directional aerial 21 according to communication strength, azimuth of target be communication strength most
Big scan position angle.
Specifically, the changing value of the communication strength before unmanned plane 200 and directional aerial 21 is less than the first predetermined threshold value
When, in other words, when unmanned plane 200 and the relative position of directional aerial 21 change little, first according to unmanned plane 200 at this time
The position and attitude information of location information and directional aerial 21 calculates the relative position information of unmanned plane 200 and directional aerial 21, phase
Azimuthal residual quantity of current unmanned plane 200 and 21 horizontal direction of timing antenna is indicated location information.Then, ground control terminal
100 without obtaining the azimuth of itself, it is only necessary to carry out azimuthal change according to relative position information, and change to each azimuth
The received signal strength RSSI that directional aerial 21 receives after change is compared judgement, so that it is determined that RSSI maximums, that is, communication strength
Corresponding azimuth is azimuth of target when maximum.
Also referring to Fig. 2, Fig. 3 and Figure 10, in some embodiments, remote controler 30 includes omnidirectional antenna 31, this hair
The antenna alignment method of bright embodiment is further comprising the steps of：
S161：Judge whether the communication strength between directional aerial 21 and unmanned plane 200 is less than the second predetermined threshold value；With
S162：When communication strength is less than the second predetermined threshold value, control omnidirectional antenna 31 is communicated with the unmanned plane 200.
In some embodiments, step S161 can be realized that step S162 can be by second by first processor 23
Device 32 is managed to realize.
In other words, first processor 23 is additionally operable to：
Judge whether the communication strength between directional aerial 21 and unmanned plane 200 is less than the second predetermined threshold value；
Second processor 32 is additionally operable to：
When communication strength is less than the second predetermined threshold value, control omnidirectional antenna 31 is communicated with the unmanned plane 200.
It is appreciated that although the directional aerial 21 of embodiment of the present invention can be by adjusting communication direction to be directed at nothing
Man-machine 200, but in some special cases, for example, when winged hand manipulation unmanned plane 200 flies to the back side of megaplex object, this
Even if when directional aerial 21 be targeted by unmanned plane 200, but due to megaplex object blocking it is also possible that unmanned plane 200 and ground
Face control terminal 100 is out of touch.And be more than the predetermined time in the lost contact time of unmanned plane 200 and ground control terminal 100, such as 10 seconds
When, unmanned plane can make a return voyage automatically, and the position of unmanned plane 200 may be fallen at the gain zero of directional aerial 21 during making a return voyage.
Therefore, when judging that the communication strength between directional aerial 21 and unmanned plane 200 is less than the second predetermined threshold value, remote control can be passed through
The omnidirectional antenna 31 that is arranged on device 30 scans the position of unmanned plane 200 to realize the logical of unmanned plane 200 and ground control terminal 100
Letter connection.It can continue to communicate with ground control terminal 100 within a certain period of time in this way, unmanned plane 200 is after lost contact, ensure nothing
Man-machine 200 safety.
In conclusion the antenna alignment method and ground control terminal 100 of embodiment of the present invention are by adjusting directional aerial
21 communication direction ensures ground control terminal 100 and nobody so that the communication direction of directional aerial 21 is directed at unmanned plane 200 always
Machine 200 is in optimal reception emission state always, promotes the stability communicated between ground control terminal 100 and unmanned plane 200.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
What the description of mode ", " example ", " specific example " or " some examples " etc. meant to describe in conjunction with the embodiment or example
Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the present invention.In this specification
In, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific spy of description
Sign, structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
Module, segment or the portion of the code of one or more executable instructions for the step of executing specific logical function or process
Point, and the range of the preferred embodiment of the present invention includes other execution, wherein can not press shown or discuss suitable
Sequence, include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for executing logic function, can specifically execute in any computer-readable medium, for
Instruction execution system, device or equipment (system of such as computer based system including processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be executed with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage
Or firmware executes.It, and in another embodiment, can be under well known in the art for example, if executed with hardware
Any one of row technology or their combination execute：With the logic gates for executing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that execute all or part of step that above-mentioned implementation carries
It is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer readable storage medium
In, which includes the steps that one or a combination set of embodiment of the method when being executed.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block executes, and can also be executed in the form of software function module.The integrated module is such as
Fruit is executed in the form of software function module and when sold or used as an independent product, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the present invention
System, those skilled in the art can be changed above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (22)
1. a kind of antenna alignment method, for control the ground control terminal with directional aerial so that the directional aerial and nobody
Machine is aligned, which is characterized in that the antenna alignment method includes the following steps：
Obtain the location information of the unmanned plane；
Obtain the position and attitude information of the ground control terminal；With
Controlled according to the positional information with the position and attitude information directional aerial communication direction alignment it is described nobody
Machine.
2. antenna alignment method according to claim 1, which is characterized in that the location information includes the unmanned plane
Longitude and latitude, the position and attitude information include the longitude and latitude of the directional aerial, and the communication direction includes horizontal direction parameter；
It is described the directional aerial is controlled with the position and attitude information according to the positional information communication direction alignment it is described nobody
The step of machine, includes the following steps：
According to horizontal direction parameter described in the calculation of longitude ＆ latitude of the longitude and latitude of the unmanned plane and the directional aerial.
3. antenna alignment method according to claim 1, which is characterized in that the location information includes the unmanned plane
Highly, the position and attitude information includes the height of the directional aerial, and the communication direction includes short transverse parameter；It is described
The communication direction for controlling the directional aerial with the position and attitude information according to the positional information is directed at the unmanned plane
Step includes the following steps：
The short transverse parameter is calculated according to the height of the unmanned plane and the height of the directional aerial.
4. antenna alignment method according to claim 1, which is characterized in that the ground control terminal includes that tracking day is traditional thread binding
It sets, the tracking antenna assembly includes the holder for horizontally rotating the directional aerial, and the communication direction includes described fixed
To the target bearing angular dimensions of antenna, the position and attitude information includes the present orientation angular dimensions of the directional aerial；It is described
The communication direction for controlling the directional aerial with the position and attitude information according to the positional information is directed at the unmanned plane
Step includes：
The PTZ level rotation is controlled so that the diversity factor of the present orientation angular dimensions and the target bearing angular dimensions is small
In the first preset range.
5. antenna alignment method according to claim 1, which is characterized in that the ground control terminal includes that tracking day is traditional thread binding
It sets, the tracking antenna assembly includes the holder for adjusting the directional aerial pitching, and the communication direction includes described fixed
To the target pitch angular dimensions of antenna, the position and attitude information includes current pitching angular dimensions；It is described to be believed according to the position
The step of communication direction that breath and the position and attitude information control the directional aerial is directed at the unmanned plane includes following step
Suddenly：
The holder is controlled so that the diversity factor of the current pitching angular dimensions and the target pitch angular dimensions is less than second in advance
Determine range.
6. antenna alignment method according to claim 1, which is characterized in that the directional aerial includes phased array antenna,
The phased array antenna includes multiple directional radiation units, and each radiating element corresponds to a radiation direction, the communication
Direction includes the target bearing angular dimensions of the directional aerial；It is described according to the positional information with the position and attitude information control
The step of communication direction alignment unmanned plane for making the directional aerial, includes the following steps：
Control the phased array antenna with radiating element described in selective actuation and make startup the radiating element the spoke
It penetrates direction and the diversity factor of the target bearing angular dimensions is less than third preset range.
7. antenna alignment method according to claim 1, which is characterized in that the directional aerial includes phased array antenna,
The phased array antenna includes multiple directional radiation units, and each radiating element corresponds to a radiation direction, the communication
Direction includes the target pitch angular dimensions of the directional aerial；It is described according to the positional information with the position and attitude information control
The step of communication direction alignment unmanned plane for making the directional aerial, includes the following steps：
Control the phased array antenna with radiating element described in selective actuation and make startup the radiating element the spoke
It penetrates direction and the diversity factor of the target pitch angular dimensions is less than the 4th preset range.
8. antenna alignment method according to claim 1, which is characterized in that it is described according to the positional information with institute's rheme
The step of posture information controls the communication direction alignment unmanned plane of the directional aerial is set to include the following steps：
Judge whether the changing value of the communication direction is less than the first predetermined threshold value；
The side that the ground control terminal changes the directional aerial is controlled when the changing value is less than first predetermined threshold value
Parallactic angle is multiple scan position angles；
It obtains logical between the unmanned plane and the directional aerial when directional aerial is located at the multiple scan position angle
Believe intensity；With
The azimuth of target of the directional aerial is redefined according to the communication strength, the azimuth of target is the communication
The scan position angle of maximum intensity.
9. antenna alignment method according to claim 1, which is characterized in that the antenna alignment method includes following step
Suddenly：
It controls the ground control terminal and parses the location information and the position and attitude information.
10. antenna alignment method according to claim 9, which is characterized in that the ground control terminal includes tracking antenna
Device and with the remote controler that communicate of tracking antenna assembly, the control ground control terminal parse the location information with
The step of position and attitude information, includes the following steps：
It controls the tracking antenna assembly and receives the location information that the unmanned plane is sent；
Controlling the tracking antenna assembly forwards the location information to the remote controler；
It controls the remote controler and parses the location information to obtain parsing location information；With
It controls the remote controler and sends the parsing location information to the tracking antenna assembly.
11. antenna alignment method according to claim 1, which is characterized in that the ground control terminal includes remote controler, institute
It includes omnidirectional antenna to state remote controler, and the antenna alignment method is further comprising the steps of：
Judge whether the communication strength between the directional aerial and the unmanned plane is less than the second predetermined threshold value；With
The omnidirectional antenna and the UAV Communication are controlled when the communication strength is less than second predetermined threshold value.
12. a kind of ground control terminal, the ground control terminal includes directional aerial, and the ground control terminal is described fixed for controlling
Wire antenna is aligned with unmanned plane, which is characterized in that the ground control terminal further includes first processor, and the first processor is used
In：
Obtain the location information of the unmanned plane；
Obtain the position and attitude information of the ground control terminal；With
Controlled according to the positional information with the position and attitude information directional aerial communication direction alignment it is described nobody
Machine.
13. ground control terminal according to claim 12, which is characterized in that the location information includes the unmanned plane
Longitude and latitude, the position and attitude information include the longitude and latitude of the directional aerial, and the communication direction includes horizontal direction parameter；
The first processor is further used for：
According to horizontal direction parameter described in the calculation of longitude ＆ latitude of the longitude and latitude of the unmanned plane and the directional aerial.
14. ground control terminal according to claim 12, which is characterized in that the location information includes the unmanned plane
Highly, the position and attitude information includes the height of the directional aerial, and the communication direction includes short transverse parameter；It is described
First processor is further used for：
The short transverse parameter is calculated according to the height of the unmanned plane and the height of the directional aerial.
15. ground control terminal according to claim 12, which is characterized in that the ground control terminal includes that tracking day is traditional thread binding
It sets, the tracking antenna assembly includes the holder for horizontally rotating the directional aerial, and the communication direction includes described fixed
To the target bearing angular dimensions of antenna, the position and attitude information includes the present orientation angular dimensions of the directional aerial；It is described
First processor is further used for：
The holder is controlled so that the diversity factor of the present orientation angular dimensions and the target bearing angular dimensions is less than first in advance
Determine range.
16. ground control terminal according to claim 12, which is characterized in that the ground control terminal includes that tracking day is traditional thread binding
It sets, the tracking antenna assembly includes the holder for adjusting the directional aerial pitching, and the communication direction includes described fixed
To the target pitch angular dimensions of antenna, the position and attitude information includes current pitching angular dimensions；The first processor is into one
Step is used for：
The holder is controlled so that the diversity factor of the current pitching angular dimensions and the target pitch angular dimensions is less than second in advance
Determine range.
17. ground control terminal according to claim 12, which is characterized in that the directional aerial includes phased array antenna,
The phased array antenna includes multiple directional radiation units, and each radiating element corresponds to a radiation direction, the communication
Direction includes the target bearing angular dimensions of the directional aerial；The first processor is additionally operable to：
Control the phased array antenna with radiating element described in selective actuation and when the spoke of the radiating element that starts
It penetrates direction and the diversity factor of the target bearing angular dimensions is less than third preset range.
18. ground control terminal according to claim 12, which is characterized in that the directional aerial includes phased array antenna,
The phased array antenna includes multiple directional radiation units, and each radiating element corresponds to a radiation direction, the communication
Direction includes the target pitch angular dimensions of the directional aerial；The communication direction includes the target pitch angle of the directional aerial
Parameter, the first processor are additionally operable to：
Control the phased array antenna with radiating element described in selective actuation and make startup the radiating element the spoke
It penetrates direction and the diversity factor of the target pitch angular dimensions is less than the 4th preset range.
19. ground control terminal according to claim 12, which is characterized in that the first processor is additionally operable to：
Judge whether the changing value of the communication direction is less than predetermined threshold value；
The azimuth that the ground control terminal changes the directional aerial is controlled when the changing value is less than the predetermined threshold value
For multiple scan position angles；
It obtains logical between the unmanned plane and the directional aerial when directional aerial is located at the multiple scan position angle
Believe intensity；With
The azimuth of target to antenna is redefined according to the communication strength, the azimuth of target is that the communication is strong
Spend the maximum scan position angle.
20. ground control terminal according to claim 12, which is characterized in that the ground control terminal further includes second processing
Device, the second processor are used for：
It controls the ground control terminal and parses the location information and the position and attitude information.
21. ground control terminal according to claim 20, which is characterized in that the ground control terminal includes that tracking day is traditional thread binding
The remote controler set and communicated with the tracking antenna assembly, the first processor are additionally operable to：
It controls the tracking antenna assembly and receives the location information that the unmanned plane is sent；With
Controlling the tracking antenna assembly forwards the location information to the remote controler；
The second processor is additionally operable to：
It controls the remote controler and parses the location information to obtain parsing location information；With
It controls the remote controler and sends the parsing location information to the tracking antenna assembly.
22. ground control terminal according to claim 12, which is characterized in that the ground control terminal includes remote controler, institute
It includes omnidirectional antenna and second processor to state remote controler, and the first processor is additionally operable to：
Judge whether the communication strength between the directional aerial and the unmanned plane is less than the second predetermined threshold value；With
The second processor is additionally operable to：
The omnidirectional antenna and the UAV Communication are controlled when the communication strength is less than second predetermined threshold value.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/081472 WO2018191965A1 (en) | 2017-04-21 | 2017-04-21 | Antenna alignment method and ground control terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108475076A true CN108475076A (en) | 2018-08-31 |
| CN108475076B CN108475076B (en) | 2021-05-04 |
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ID=63266019
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780005380.XA Active CN108475076B (en) | 2017-04-21 | 2017-04-21 | Antenna alignment method and ground control terminal |
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| CN (1) | CN108475076B (en) |
| WO (1) | WO2018191965A1 (en) |
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| CN108475076B (en) | 2021-05-04 |
| WO2018191965A1 (en) | 2018-10-25 |
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