CN109039437B - Unmanned aerial vehicle regional networking system - Google Patents
Unmanned aerial vehicle regional networking system Download PDFInfo
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- CN109039437B CN109039437B CN201811319155.6A CN201811319155A CN109039437B CN 109039437 B CN109039437 B CN 109039437B CN 201811319155 A CN201811319155 A CN 201811319155A CN 109039437 B CN109039437 B CN 109039437B
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- repeater
- unmanned aerial
- aerial vehicle
- transponder
- machine
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/04—Large scale networks; Deep hierarchical networks
- H04W84/06—Airborne or Satellite Networks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses an unmanned aerial vehicle regional networking system, and relates to the technical field of radio communication. According to the system, the unmanned aerial vehicle is used as a forwarding center, the ground measurement and control station remotely commands the clustered unmanned aerial vehicle and ground individual equipment to carry out networking, a large-scale airspace can be covered, ultra-long-distance air-ground intercommunication can be realized, and wireless communication link support is provided for target reconnaissance and tactical striking in a certain area.
Description
Technical Field
The invention relates to the technical field of radio communication, in particular to an unmanned aerial vehicle regional networking system.
Background
At present, the active unmanned aerial vehicle communication technology still takes the data link communication technology of unmanned aerial vehicle single machine and single machine communication and unmanned aerial vehicle single machine and ground information command center as the main, and both communication modes are sight distance propagation, and the flight height of unmanned aerial vehicle is usually lower, and the communication of sight distance propagation receives the earth curvature influence, when unmanned aerial vehicle work under the lower condition of long-distance elevation, can't realize normal communication function.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle regional networking system so as to solve the problems in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an unmanned aerial vehicle regional networking system, comprising: the ground measurement and control system comprises a ground measurement and control station, a repeater, a detection machine and a handheld station, wherein a plurality of detection machines and a plurality of handheld stations are respectively in communication connection with the repeater, and a plurality of repeaters are respectively in communication connection with the ground measurement and control station; the investigation machine and the transponder adopt the same hardware platform, so that the investigation machine and the transponder can be interchanged.
Preferably, the ground measurement and control station is arranged on a turntable of the ground command vehicle, and the turntable can accurately align with the azimuth of the transponder.
Preferably, the acquisition data links from the investigation machine and the handheld station to the repeater and from the repeater to the ground measurement and control station comprise two types of 10kbps information rate and 2Mbps information rate, wherein the acquisition data link with the 10kbps information rate supports 48 users to transmit acquisition data at the same time, and the acquisition data link with the 2Mbps information rate supports 3 users to transmit acquisition data at the same time;
the command control links from the ground measurement and control station to the repeater, from the repeater to the investigation machine and to the handset all operate at an information rate of 10 kbps.
Preferably, the phased array antenna of the ground measurement and control station adopts a 4×4 antenna array, 4 antenna sheets of the antenna array are combined into a subarray to form 4 subarrays, each subarray is connected with a low noise amplifier, the signals are amplified and then transmitted to an ADC (analog to digital converter) for sampling through a receiving channel, the FPGA carries out digital phase modulation processing after sampling, information processing is carried out after maximum signals are obtained, the maximum signals are communicated with a ground network and a command system, and simultaneously, an instruction uploaded by the command system is transmitted to the transponder through the transmitting antenna array after being amplified through a transmitting channel and power.
Preferably, the circuit of the repeater and the circuit of the investigation machine both adopt two DSPs, wherein one DSP is communicated with the ground measurement and control station, and the other DSP is communicated with the other investigation machine and the handheld station, so that two independent communication systems are formed.
Preferably, after the repeater works, the investigation machine is classified into the grades by a command, and the investigation machine can replace the repeater in turn at any time according to the priority.
Preferably, the method is carried out specifically as follows:
s1, the repeater works and sends out a broadcast signal;
s2, accessing and synchronizing the investigation machine;
s3, designating the high-priority investigation machine as the next backup repeater; the investigation machine as the backup transponder occupies the downlink time slot to send the auxiliary broadcast;
s4, the other investigation machines analyze the broadcasting of the transponder and the broadcasting of the backup transponder, and acquire the information of the transponder and the backup transponder;
s5, when the repeater receives a command to stop working or suddenly stops working due to an external factor, the backup repeater receives a switching command or continuously receives N frames of broadcast of the repeater, and then the repeater is replaced;
s6, repeating the steps S3-S5.
Preferably, in S5, N is preferably 8.
Preferably, S5 further includes automatically changing to the repeater if no other of the spy machine consecutive 4×n×p frames receives the broadcast from the repeater or the broadcast from the backup repeater, where P is the priority of the spy machine, and a smaller value of P represents a higher priority.
The beneficial effects of the invention are as follows: according to the unmanned aerial vehicle regional networking system provided by the embodiment of the invention, the unmanned aerial vehicle is used as a forwarding center, the ground measurement and control station remotely commands the clustered unmanned aerial vehicle and ground individual equipment to carry out networking, a large-scale airspace can be covered, ultra-long-distance air-ground intercommunication can be realized, and wireless communication link support is provided for target reconnaissance and tactical striking in a certain region.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle regional networking system provided by the invention;
FIG. 2 is a schematic diagram of the hardware architecture of a ground measurement and control station;
FIG. 3 is a schematic diagram of the hardware architecture of a repeater and a scout engine;
fig. 4 is a schematic diagram of a data frame structure of an unmanned aerial vehicle regional networking system provided by the invention;
fig. 5 is a schematic diagram of Slot 0/Slot 1 Slot structure.
In the figure, the meanings of the symbols are as follows:
1 ground measurement and control station, 2 transponder, 3 investigation machine, 4 handheld station.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description is presented by way of example only and is not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle regional networking system, including: the ground measurement and control system comprises a ground measurement and control station 1, a repeater 2, a detection machine 3 and a handheld platform 4, wherein a plurality of detection machines 3 and a plurality of handheld platforms 4 are respectively in communication connection with the repeater 2, and a plurality of repeaters 2 are respectively in communication connection with the ground measurement and control station 1; the detection machine 3 and the transponder 2 adopt the same hardware platform, so that the detection machine 3 and the transponder 2 can be interchanged.
In the networking system with the structure, the repeater can be simply called a master node, the investigation machine and the handheld station can be simply called slave nodes, and the handheld station can be applied to a vehicle-mounted system or a ship-based system. In the invention, the ground measurement and control station, the repeater, the investigation machine and the handheld station form an air-ground local area network through the construction network, in the local area network, the ground measurement and control station realizes information intercommunication with the slave nodes through the master node, and can realize control of other slave nodes in the network through the master node.
The working principle of the structure is as follows:
the unmanned aerial vehicle regional networking system takes a ground measurement and control station and a master node as networking cores, the master node transmits networking information in a broadcast mode during networking, each slave node and the ground measurement and control station receive the broadcast information and then carry out networking application, after the application is completed, the master node can establish a local area network after verification, and the network establishment process has the maximum user quantity networking time less than 2S. After the network is built, the master node performs time slot allocation, timing synchronization and other functional allocation.
The ground measurement and control station mainly has the function of finishing uploading control instruction information and receiving acquisition information downloaded by the main node. As can be seen from fig. 1, the ground measurement and control station may be disposed on a turntable of the ground command vehicle, and the main node may be accurately aligned with the turntable.
After the unmanned aerial vehicle regional networking system networking is completed, the ground measurement and control station can receive data information collected by each slave node in real time, command and control a master node or a slave node in the regional networking according to the condition of the data information, and command each slave node to complete subsequent data collection work according to a formulated route.
The unmanned aerial vehicle regional networking system realizes wide-area air-ground intercommunication, so that the distance of the reconnaissance aircraft sight transmission is extended; the unmanned aerial vehicle regional networking system realizes ground intercommunication, so that the ground communication control coverage is expanded, and compared with the prior ground communication, the ground station is easily influenced by the earth curvature due to the shielding of the topography.
In the embodiment of the invention, the ground measurement and control station 1 can be arranged on a turntable of a ground command vehicle, and the turntable can be accurately aligned with the azimuth of the transponder 2.
By adopting the structure, the ground measurement and control station and the repeater can realize communication.
In the embodiment of the present invention, the acquisition data links from the investigation machine 3 and the handheld station 4 to the repeater 2 and from the repeater 2 to the ground measurement and control station 1 include two types of 10kbps information rate and 2Mbps information rate, wherein the acquisition data link with the 10kbps information rate supports 48 users to transmit acquisition data at the same time, and the acquisition data link with the 2Mbps information rate supports 3 users to transmit acquisition data at the same time;
the command control links of the ground measurement and control station 1 to the repeater 2, the repeater 2 to the investigation machine 3 and the handheld station 4 all work at an information rate of 10kbps, and all support 48 users to accept command commands simultaneously.
The data transmission link information can be seen in table 1.
Table 1 data link comparison
Table 1 illustrates that the number of supported users corresponding to different data transmission rates of each link in the present invention is different, for example, when transmitting data amount instruction data or voice data, 10kbps with lower rate is selected, and when transmitting image data with larger data amount, 2Mbps with higher rate is selected; meanwhile, the transmission distance between different nodes and between the nodes and the ground station are described in detail in the table.
As shown in fig. 2, in this embodiment, the phased array antenna of the ground measurement and control station adopts a 4×4 antenna array, 4 antenna chips of the antenna array are combined into a subarray to form 4 subarrays, each subarray is connected with a low noise amplifier, after signal amplification, the signal is converted into frequency and transmitted to an ADC for sampling through a receiving channel, after sampling, digital phase modulation processing is performed by an FPGA, information processing is performed after obtaining the maximum signal, and the maximum signal is communicated with a ground network and a command system, and at the same time, an instruction uploaded by the command system is transmitted to the transponder through the transmitting antenna array after being amplified through a transmitting channel and power.
The ground measurement and control station antenna adopts an array antenna mode, the antenna synthesis gain is higher, the beam direction can be adjusted according to the scanned received signals, the beam main lobe direction is aligned to the signal direction, and the array signal processing technology is used for nulling the interference signals.
As shown in fig. 3, in the embodiment of the present invention, the circuits of the repeater 2 and the investigation machine 3 both adopt two DSPs, wherein one DSP communicates with the ground measurement and control station 1, and the other DSP communicates with the investigation machine 3 and the handheld station 4, so as to form two independent communication systems.
The hardware circuits of the unmanned aerial vehicle (comprising the transponder and the investigation machine) are designed on a platform of the FPGA and the double DSPs. The master node unmanned aerial vehicle needs to process uplink signals of 48 users at most, and signals of each user need to be subjected to relevant detection and channel estimation processing, so that the task amount is large. One DSP cannot meet the performance requirements for simultaneous operation of ground measurement and control station communication and slave node communication, so in this embodiment, two DSPs are adopted to communicate with the ground measurement and control station and the slave node respectively.
In the invention, the communication of the master node to the ground measurement and control station and the communication to the slave node are two independent communication systems, and the two systems independently operate two DSPs, so that the two communication systems are ensured to be completely independent, and the development, maintenance, management and the like are convenient.
The unmanned aerial vehicle hardware circuit inside the slave node area networking is kept consistent with the master node, so that the unmanned aerial vehicle of the slave node is ensured to be changed into the backup capability of the master node at any time.
The handheld station does not need to perform the function of backing up the main node, so that a link communicated with the ground measurement and control station can be closed in actual use.
In a preferred embodiment of the invention, after the operation of the transponder, the investigation machine is classified into classes by command, which investigation machine can replace the transponder in turn at any time depending on priority.
The method can be implemented as follows:
s1, the repeater works and sends out a broadcast signal;
s2, accessing and synchronizing the investigation machine;
s3, designating the high-priority investigation machine as the next backup repeater; the investigation machine as the backup transponder occupies the downlink time slot to send the auxiliary broadcast;
s4, the other investigation machines analyze the broadcasting of the transponder and the broadcasting of the backup transponder, and acquire the information of the transponder and the backup transponder;
s5, when the repeater receives a command to stop working or suddenly stops working due to an external factor, the backup repeater receives a switching command or continuously receives N frames of broadcast of the repeater, and then the repeater is replaced;
s6, repeating the steps S3-S5.
In S5, N is preferably 8.
S5 may further include automatically changing to the repeater if the other spy machine receives no broadcast from the repeater or no broadcast from the backup repeater in consecutive 4×n×p frames, where P is the priority of the spy machine, and a smaller P value represents a higher priority.
Therefore, by the method, the backup transponder can always keep timing synchronization with the main node, so that quick switching can be realized, and switching operation can be completed in hundreds of milliseconds.
In the embodiment of the invention, the structure of the unmanned aerial vehicle regional networking data frame can be shown in fig. 4.
Wherein the frame length of the data frame is 8ms, the chip rate is 10Mcps, and each frame is 80000 chips. A frame consists of 50 slots, each 1600 chips in length. The slot consists of 4 sub-slots, each sub-slot being 400 chips. Each sub-slot consists of three parts Pilot, data, GP, each of which has a length of 80 chips, 292 chips, 28 chips.
Pilot is used for signal acquisition and channel estimation; data is used for transmitting valid Data; GP is a guard interval for timing offset protection.
The Slot 0/Slot 1 is slightly different from other time slots, and the structure of the Slot 0/Slot 1 can be shown in fig. 5.
DL Slot 0 carries broadcast messages including system timing characteristics, etc. Pilot 0 is used for signal acquisition and Pilot1 is used for timing synchronization. DL Slot 1 is used to carry paging messages, access grant messages, and control and adjust the timing of the various uplink signals. UL Slot 0,1 is used for random access.
Each Slot can transmit one 10Kbps link, and can support simultaneous transmission of 48 10Kbps links at maximum. A2 Mbps link can be transmitted by 15 slots in succession, and a maximum of 3 2Mbps links and 3 10Kbps links can be simultaneously transmitted. For no 2Mbps transmission requirement, 6 slots can be used to transmit 10Kbps link, so as to further improve the gain of 10Kbps link (the way that the ground measurement and control station transmits uplink channel to the main node is used).
In the invention, the unmanned aerial vehicle regional networking data frame structure is compiled according to the existing CPU processing capacity, the implementation mode of software and the battlefield environment in practical application, and is the key content for realizing the technical scheme of the invention.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained: according to the unmanned aerial vehicle regional networking system provided by the embodiment of the invention, the unmanned aerial vehicle is used as a forwarding center, the ground measurement and control station remotely commands the clustered unmanned aerial vehicle and ground individual equipment to carry out networking, a large-scale airspace can be covered, ultra-long-distance air-ground intercommunication can be realized, and wireless communication link support is provided for target reconnaissance and tactical striking in a certain region.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which is also intended to be covered by the present invention.
Claims (7)
1. An unmanned aerial vehicle regional networking system, comprising: the ground measurement and control system comprises a ground measurement and control station, a repeater, a detection machine and a handheld station, wherein a plurality of detection machines and a plurality of handheld stations are respectively in communication connection with the repeater, and a plurality of repeaters are respectively in communication connection with the ground measurement and control station; the detection machine and the transponder adopt the same hardware platform, so that the detection machine and the transponder can be interchanged;
after the repeater works, the investigation machine is classified into grades through commands, and the investigation machine can replace the repeater at any time in sequence according to the priority;
the method is implemented according to the following steps:
s1, the repeater works and sends out a broadcast signal;
s2, accessing and synchronizing the investigation machine;
s3, designating the high-priority investigation machine as the next backup repeater; the investigation machine as the backup transponder occupies the downlink time slot to send the auxiliary broadcast;
s4, the other investigation machines analyze the broadcasting of the transponder and the broadcasting of the backup transponder, and acquire the information of the transponder and the backup transponder;
s5, when the repeater receives a command to stop working or suddenly stops working due to an external factor, the backup repeater receives a switching command or continuously receives N frames of broadcast of the repeater, and then the repeater is replaced;
s6, repeating the steps S3-S5.
2. The unmanned aerial vehicle regional networking system of claim 1, wherein the ground measurement and control station is disposed on a turntable of a ground command vehicle, the turntable being accurately aligned with the azimuth of the transponder.
3. The unmanned aerial vehicle regional networking system of claim 1, wherein the acquisition data links of the forensic machine and the handheld station to the repeater, the repeater to the ground measurement and control station comprise two of a 10kbps information rate and a 2Mbps information rate, wherein the acquisition data link of the 10kbps information rate supports 48 users transmitting acquisition data simultaneously, and the acquisition data link of the 2Mbps information rate supports 3 users transmitting acquisition data simultaneously;
the command control links from the ground measurement and control station to the repeater, from the repeater to the investigation machine and to the handset all operate at an information rate of 10 kbps.
4. The unmanned aerial vehicle regional networking system of claim 1, wherein the ground measurement and control station phased array antenna adopts a 4 x 4 antenna array, 4 antenna pieces of the antenna array are combined into a subarray to form 4 subarrays, each subarray is connected with a low noise amplifier, after signal amplification, the signals are transmitted to an ADC (analog to digital converter) for sampling through frequency conversion of a receiving channel, after sampling, digital phase modulation processing is carried out by an FPGA (field programmable gate array), information processing is carried out after maximum signals are obtained, the signals are communicated with a ground network and a command system, and meanwhile, instructions uploaded by the command system are transmitted to the transponder through the transmitting antenna array after being amplified through a transmitting channel and power.
5. The unmanned aerial vehicle regional networking system of claim 1, wherein the repeater and the circuit of the investigation machine each employ two DSPs, one DSP in communication with the ground measurement and control station and the other DSP in communication with the investigation machine and the handset, forming two independent sets of communication systems.
6. The unmanned aerial vehicle regional networking system of claim 1, wherein in S5, N is 8.
7. The unmanned aerial vehicle regional networking system of claim 1, wherein S5 further comprises automatically changing to the repeater if no broadcast by the repeater or the broadcast by the backup repeater is received by the other scout machines for consecutive 4 x n x P frames, wherein P is the priority of the scout machine, and a smaller P value represents a higher priority.
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| CN110190891B (en) * | 2019-05-13 | 2020-08-21 | 华南农业大学 | Monitoring data acquisition method and system for cultivated land quality low-altitude remote sensing and ground sensing |
| CN111628821A (en) * | 2020-06-29 | 2020-09-04 | 广西翼界科技有限公司 | Beyond-visual-range unmanned aerial vehicle signal relay system adopting mooring unmanned aerial vehicle |
| CN112087256A (en) * | 2020-09-18 | 2020-12-15 | 南京新频点电子科技有限公司 | Emergency communication networking device, networking method and automatic searching method |
| CN113629401B (en) * | 2021-08-04 | 2022-12-06 | 西南交通大学 | Linear phased array antenna management device suitable for unmanned aerial vehicle communication network deployment |
| CN116185077B (en) * | 2023-04-27 | 2024-01-26 | 北京历正飞控科技有限公司 | Narrow-band accurate striking method of black flying unmanned aerial vehicle |
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