CN109361478A - A kind of UAV Communication method of quality control, apparatus and system - Google Patents
A kind of UAV Communication method of quality control, apparatus and system Download PDFInfo
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- CN109361478A CN109361478A CN201811223902.6A CN201811223902A CN109361478A CN 109361478 A CN109361478 A CN 109361478A CN 201811223902 A CN201811223902 A CN 201811223902A CN 109361478 A CN109361478 A CN 109361478A
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- tower station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/10—Monitoring; Testing of transmitters
- H04B17/11—Monitoring; Testing of transmitters for calibration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/20—Monitoring; Testing of receivers
- H04B17/21—Monitoring; Testing of receivers for calibration; for correcting measurements
Abstract
The invention discloses a kind of UAV Communication method of quality control, apparatus and system, are related to aircraft communication control technology field, and this method includes whether the mobile communications network connection status between judgement and tower station cradle head control end is normal；The network configuration parameters at setting tower station cradle head control end and initial digit layout parameter when normal；Obtain the GPS data of unmanned plane and the GPS data of tower station holder；Angle resolves the angle for obtaining that tower station holder needs to rotate when the strong area of coverage of antenna is directed toward unmanned plane；Angle adjustment instruction information comprising angle is sent to tower station cradle head control end；The information comprising signal quality value for sending back and is obtained from unmanned aerial vehicle onboard end；The alignment accuracy of unmanned plane is directed toward according to the strong area of coverage of signal quality value calibration antenna, make tower station cloud platform rotation angu-lar deviation within default allowable range, guarantee that unmanned plane during flying activity always carries out in the strong area of coverage of antenna, realize that antenna to the real-time tracking of unmanned plane, guarantees the reliability of telecommunication.
Description
Technical field
The present invention relates to aircraft communication control technology fields, and in particular to a kind of UAV Communication method of quality control,
Apparatus and system.
Background technique
With China's economy, the lasting propulsion of the rapid development of society and airspace management reform, low altitude airspace is gradually opened
It puts, unmanned aerial vehicle onboard end will obtain development energetically and more be widely applied, for example, unmanned aerial vehicle onboard end can be applied
To fields such as electric power, communication, meteorology, agricultural, ocean, exploration, insurances, it specifically such as can be used for earth observation, forest fire protection
With fire extinguishing, disaster detection, communication relay, maritime surveillance, oil-gas pipeline inspection, pesticide spraying, land resources survey, wild animal
Monitoring, flood-control and drought relief monitoring, the locating fish, video display are taken photo by plane, drug law enforcement is seized smugglers or smuggled goods, border patrol, public security anti-terrorism etc..
But the UAV Communication quality control system provided in the prior art, it is all the side communicated by motor driven frame station
Formula, using the fewer and fewer of based mobile communication facility, even if having is also to instruct unmanned plane using the fixed existing antenna installed additional
Aerial mission is executed along the line, not can guarantee the reliability of telecommunication.
Summary of the invention
Therefore, technical problems to be solved of the embodiment of the present invention are UAV Communication quality control in the prior art system
The reliability of system telecommunication is low.
For this purpose, a kind of UAV Communication method of quality control of the embodiment of the present invention, applied to remote control terminal, including with
Lower step:
Whether the mobile communications network connection status between judgement and tower station cradle head control end is normal；
When the mobile communications network connection status between the cradle head control end of tower station is normal, the net at tower station cradle head control end is set
Network configuration parameter and initial digit layout parameter；
The GPS data for obtaining unmanned plane from unmanned aerial vehicle onboard end using mobile communications network obtains tower from tower station cradle head control end
It stands the GPS data of holder；
Angle resolving is carried out according to the GPS data of the GPS data of the unmanned plane and tower station holder, the strong area of coverage of antenna is obtained and refers to
Tower station holder needs the angle rotated when to unmanned plane；
Angle adjustment instruction information comprising the angle is sent to tower station cradle head control end, for control tower station holder according to
The angular turn；
The information comprising signal quality value for sending back and is obtained from unmanned aerial vehicle onboard end；
It is directed toward the alignment accuracy of unmanned plane according to the strong area of coverage of the signal quality value calibration antenna, makes tower station cloud platform rotation angle
Deviation is spent within default allowable range.
Preferably, the network configuration parameters at the setting tower station cradle head control end and the step of initial digit layout parameter, wrap
It includes:
The holder control of tower station is established by the independent discovery with each tower station cradle head control end according to preset group's configuration parameter
Network processed；
Newest network topological information is obtained from tower station cradle head control end；
According to the network topological information and preset unmanned plane during flying operation course line, the initial bit for obtaining each tower station holder is matched
Set parameter；
Information comprising the initial digit layout parameter is sent to corresponding tower station cradle head control end, is used for control tower station holder
Carry out initial bit configuration.
Preferably, described that angle resolving is carried out according to the GPS data of the unmanned plane and the GPS data of tower station holder, it obtains
Obtaining the step of tower station holder needs the angle rotated when the strong area of coverage of antenna is directed toward unmanned plane includes:
The GPS data of current unmanned plane is filtered, the first data are obtained；
According to first data, the GPS data of unmanned plane after T time is predicted, obtain the second data, wherein T is tower station holder
The time required to turning to the angle for needing to rotate；
Second data are transformed into geocentric rectangular coordinate system, third data are obtained；
The GPS data of tower station holder is transformed into geocentric rectangular coordinate system, the 4th data are obtained；
According to the third data and the 4th data, calculate tower station holder be directed toward the direction of unmanned plane position after prediction T time to
Amount；
Calculated separately in geocentric rectangular coordinate system direction vector straight up and it is horizontal north to vector and it is described be directed toward to
Angle in place between amount；
According to the angle in place, calculates and obtain the angle that tower station cloud platform rotation needs to rotate to the angle in place, obtain day
The strong area of coverage of line is directed toward unmanned plane.
Preferably, the alignment accuracy that unmanned plane is directed toward according to the strong area of coverage of the signal quality value calibration antenna,
The step of tower station cloud platform rotation angu-lar deviation is within allowable range is set to include:
A two-dimensional network is constructed around the angle that tower station holder needs to rotate, detection obtains tower station cloud platform rotation to often
Corresponding Grid Signal mass value when a grid line crosspoint；
The Grid Signal mass value is filtered interpolation processing, obtains the maximum value in the Grid Signal mass value；
Angle and the tower station holder needs when calculating corresponding to the maximum value grid line crosspoint of tower station cloud platform rotation
Deviation between the angle of rotation；
Judge the deviation whether within default allowable range；
When the deviation is within default allowable range, obtains the strong area of coverage of antenna and be directed toward the school that unmanned plane precisely aligns
Quasi- result.
A kind of UAV Communication quality control apparatus of the embodiment of the present invention is applied to remote control terminal, comprising:
First judging unit, for judging whether the mobile communications network connection status between the cradle head control end of tower station is normal；
Parameter set unit, for being arranged when the mobile communications network connection status between the cradle head control end of tower station is normal
The network configuration parameters at tower station cradle head control end and initial digit layout parameter；
GPS data acquiring unit, for the GPS data of unmanned plane to be obtained from unmanned aerial vehicle onboard end using mobile communications network, from
The GPS data of tower station cradle head control end acquisition tower station holder；
Angle solving unit, for carrying out angle resolving according to the GPS data of the unmanned plane and the GPS data of tower station holder,
Obtain the angle that tower station holder needs to rotate when the strong area of coverage of antenna is directed toward unmanned plane；
Angle adjustment instruction transmission unit, for will include that the angle adjustment instruction information of the angle is sent to the holder control of tower station
End processed, for control tower station holder according to the angular turn；
Signal quality value acquiring unit, for obtaining the information comprising signal quality value for sending back and from unmanned aerial vehicle onboard end；
Alignment accuracy calibration unit, for being directed toward the alignment of unmanned plane according to the strong area of coverage of the signal quality value calibration antenna
Accuracy makes tower station cloud platform rotation angu-lar deviation within default allowable range.
Preferably, the parameter set unit includes:
Tower station cradle head control network establishes unit, for according to preset group's configuration parameter, by with each tower station holder control
Tower station cradle head control network is established in the independent discovery at end processed；
Getting Network Topology Information unit, for obtaining newest network topological information from tower station cradle head control end；
Initial digit layout parameter obtaining unit, for being navigated according to the network topological information and preset unmanned plane during flying operation
Line obtains the initial digit layout parameter of each tower station holder；
Initial digit layout parameter transmission unit, for will include that the information of the initial digit layout parameter is sent to corresponding tower station
Cradle head control end carries out initial bit configuration for control tower station holder.
Preferably, the angle solving unit includes:
Filter processing unit obtains the first data for the GPS data of current unmanned plane to be filtered；
GPS data predicting unit obtains second for predicting the GPS data of unmanned plane after T time according to first data
Data, wherein the time required to T is tower station cloud platform rotation to the angle for needing to rotate；
First Date Conversion Unit obtains third data for second data to be transformed into geocentric rectangular coordinate system；
Second Date Conversion Unit obtains for the GPS data of tower station holder to be transformed into geocentric rectangular coordinate system
Four data；
First computing unit, for calculating tower station holder and being directed toward nothing after prediction T time according to the third data and the 4th data
The direction vector of man-machine position；
Second computing unit, for calculated separately in geocentric rectangular coordinate system direction vector straight up and it is horizontal north to
Vector and the angle in place being directed toward between vector；
Third computing unit, for calculating acquisition tower station cloud platform rotation and being needed to the angle in place according to the angle in place
The angle of rotation obtains the strong area of coverage of antenna and is directed toward unmanned plane.
Preferably, the alignment accuracy calibration unit includes:
Two-dimensional network construction unit, for constructing a two-dimensional network, inspection around the angle that tower station holder needs to rotate
Survey corresponding Grid Signal mass value when obtaining tower station cloud platform rotation to each grid line crosspoint；
Filter coefficients processing unit obtains the grid letter for the Grid Signal mass value to be filtered interpolation processing
Maximum value in number mass value；
Deviation computing unit, for calculating angle when corresponding to the maximum value grid line crosspoint of tower station cloud platform rotation
The deviation between angle for needing to rotate with tower station holder；
Second judgment unit, for judging the deviation whether within default allowable range；
Calibration result obtaining unit, for obtaining the strong area of coverage of antenna when the deviation is within default allowable range
It is directed toward the calibration result that unmanned plane precisely aligns.
A kind of UAV Communication quality control system of the embodiment of the present invention, comprising:
Unmanned aerial vehicle onboard end is connect by mobile communications network with remote control terminal, for the GPS data of unmanned plane to be sent to
Remote control terminal, and the information comprising signal quality value is sent to remote control terminal；
Tower station cradle head control end is connect, under the control of remote control terminal with remote control terminal by mobile communications network
Network configuration parameters and initial digit layout parameter are set, the GPS data of tower station holder is sent to remote control terminal, is received long-range
Angle described in the angle adjustment instruction information comprising angle and control tower station cloud platform rotation that control terminal is sent；And
Remote control terminal, including above-mentioned UAV Communication quality control apparatus.
Preferably, unmanned aerial vehicle onboard end is connect by 2.6G cordless communication network and public network with remote control terminal, tower station cloud
Platform control terminal is connect by 4G wireless routing with remote control terminal.
The technical solution of the embodiment of the present invention, has the advantages that
UAV Communication method of quality control provided in an embodiment of the present invention, apparatus and system, remote control terminal pass through GPS data
Cloud platform rotation amount is resolved, unmanned aerial vehicle onboard end obtains signal quality value and is sent to remote control terminal, and remote control terminal passes through letter
Number mass value calibrating tripod head rotation precision guarantees the positive corresponding relationship between cloud platform rotation angle and signal quality, guarantees nobody
The flying activity of machine can be carried out always in the strong area of coverage of antenna, realize that antenna to the real-time tracking of unmanned plane, guarantees long distance
Reliability from communication.
Detailed description of the invention
In order to illustrate more clearly of the technical solution in the specific embodiment of the invention, specific embodiment will be retouched below
Attached drawing needed in stating is briefly described, it should be apparent that, the accompanying drawings in the following description is some realities of the invention
Mode is applied, it for those of ordinary skill in the art, without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the flow chart of a specific example of UAV Communication method of quality control in the embodiment of the present invention 1；
Fig. 2 is the functional block diagram of a specific example of UAV Communication quality control apparatus in the embodiment of the present invention 2；
Fig. 3 is the functional block diagram of a specific example of UAV Communication quality control system in the embodiment of the present invention 3.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the term as used herein is only used for the mesh of description specific embodiment
, and it is not intended to limit the present invention.Unless clearly indicated by the context, otherwise singular " one " as used herein,
The intentions such as "one" and "the" also include plural form.When using terms such as " include " and or " include ", it is intended to illustrate exist
This feature, integer, step, operation, element and/or component, and it is not excluded for one or more other features, integer, step, behaviour
Work, element, component, and/or other presence or increase for combining.Term "and/or" includes that one or more correlations list project
Any and all combinations.Term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.Term " connected ", " connection " shall be understood in a broad sense, for example, it may be connected directly, it can also be in
Between medium be indirectly connected, can also be the connection inside two elements；It can be wireless connection, be also possible to wired connection.It is right
For those skilled in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Although exemplary embodiment is described as executing example process using multiple units, however it will be appreciated that
It is that the example process can also be executed by one or more modules.Further it will be understood that term controller/control
Unit refer to include memory and processor hardware device.Memory is configured to store module, and processor is specially matched
It is set to the process for executing and storing in above-mentioned memory module, thereby executing one or more processes.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Embodiment 1
The present embodiment provides a kind of UAV Communication method of quality control, are applied to remote control terminal, as shown in Figure 1, this method
The following steps are included:
Whether the mobile communications network connection status between S1, judgement and tower station cradle head control end is normal；When with the holder control of tower station
When mobile communications network connection status between end processed is normal, boundary is arranged in the tower station holder state into tower station cradle head control end
Face is arranged the original state of tower station holder, enters step S2；When the mobile communications network between the cradle head control end of tower station is connect
When state is abnormal, continue to establish connecting moves until connection status is normal；
S2, the network configuration parameters that tower station cradle head control end is set and initial digit layout parameter；
S3, the GPS data for being obtained unmanned plane from unmanned aerial vehicle onboard end using mobile communications network, are obtained from tower station cradle head control end
The GPS data of tower station holder；
S4, angle resolving is carried out according to the GPS data of unmanned plane and the GPS data of tower station holder, obtains the strong area of coverage of antenna and refers to
Tower station holder needs the angle rotated when to unmanned plane；
S5, the angle adjustment instruction information comprising angle is sent to tower station cradle head control end, for control tower station holder according to
Angular turn；Preferably, in the speed of control tower station cloud platform rotation angle control tower station cloud platform rotation at any time simultaneously, holder is realized
Rotation is maintained at 15 degree of speed to 30 degree per seconds, and the speed greater than 20 degree is closely sentenced within five kilometers and is rotated, and five kilometers
Above with the speed rotation less than 20 degree, guarantee holder speed can with upper unmanned plane spiral speed.
S6, the information comprising signal quality value for sending back and is obtained from unmanned aerial vehicle onboard end；
S7, the alignment accuracy that unmanned plane is directed toward according to the strong area of coverage of signal quality value calibration antenna, make tower station cloud platform rotation angle
Deviation is spent within default allowable range.
Above-mentioned UAV Communication method of quality control, remote control terminal resolve cloud platform rotation amount, unmanned plane by GPS data
Airborne end obtains signal quality value and is sent to remote control terminal, and remote control terminal passes through signal quality value calibrating tripod head rotation essence
Degree guarantees the positive corresponding relationship between cloud platform rotation angle and signal quality, guarantees that the flying activity of unmanned plane can always exist
It is carried out in the strong area of coverage of antenna, realizes that antenna to the real-time tracking of unmanned plane, guarantees the reliability of telecommunication.
Preferably, the network configuration parameters at the setting tower station cradle head control end of above-mentioned steps S2 and initial digit layout parameter
Step includes:
S2-1, tower station cloud is established by the independent discovery with each tower station cradle head control end according to preset group's configuration parameter
Platform controls network；Determine that tower station cradle head control end belongs to the control object of remote control terminal by logical network identifier, so as to
UAV Communication antenna is managed；Remote control terminal takes care of the network configuration information at all tower station cradle head control ends, including
Group configuration information.Remote control terminal can form control networking by 4G communication network with all tower station cradle head control ends.Tower
The information that cradle head control of standing end is exchanged with remote control terminal may include holder status information and cradle head control instruction.
Preferably, the process for establishing tower station cradle head control network is as follows: remote control terminal can be initially set up and first
The connection at tower station cradle head control end.Then, first tower station cradle head control end can transmit network configuration information to second tower
Cradle head control of standing end.Similarly, second tower station cradle head control end can transmit network configuration information by another connection and give
Third tower station cradle head control end；
S2-2, newest network topological information is obtained from tower station cradle head control end；Preferably, each tower station cradle head control end group member
Node can transmit newest network topological information back to remote control terminal along connection；During unmanned plane during flying, remotely
Control terminal can similarly push newest network topological information to each unmanned aerial vehicle onboard end；Alternatively, each unmanned aerial vehicle onboard
End can obtain out newest network topological information from remote control terminal；Preferably, tower station cradle head control end network topological information
It can be and automatically update and be sent in physical network unmanned aerial vehicle onboard end node according to network configuration.
Preferably, tower station cradle head control end network topological information may include a state value, correspond to each tower station cloud
The initial state information of platform；Therefore it can establish the status switch of network in a real-time flight, topology and status information can be with
It passes to whole network or is limited in each group for carrying out the accuracy adjustment of tower station holder angle.
S2-3, according to network topological information and preset unmanned plane during flying operation course line, obtain each tower station holder just
Beginning digit layout parameter completes the initial angle design of each tower station holder；
S2-4, the information comprising initial digit layout parameter is sent to corresponding tower station cradle head control end, is used for control tower station cloud
Platform carries out initial bit configuration.
The above method is realized by the selection of networking and optimizes networking plan design, realize distributing rationally for resource, saved
About resource.By designing the initial angle of tower station holder according to prebriefed pattern, thus only need to be into during aircraft flight
The tower station holder low-angle of row real-time tracking adjusts, and improves angle and regulates the speed and efficiency, further improves antenna to nothing
Man-machine real-time tracking ability, guarantees the reliability of telecommunication.
Preferably, above-mentioned steps S4 according to the GPS data of the GPS data of unmanned plane and tower station holder carries out angle solution
It calculates, obtaining the step of tower station holder needs the angle rotated when the strong area of coverage of antenna is directed toward unmanned plane includes:
S4-1, the GPS data of current unmanned plane is filtered, obtains the first data；
S4-2, according to the first data, predict the GPS data of unmanned plane after T time, obtain the second data, wherein T is tower station cloud
The time required to platform turns to the angle for needing to rotate；
S4-3, the second data are transformed into geocentric rectangular coordinate system, obtain third data；
S4-4, the GPS data of tower station holder is transformed into geocentric rectangular coordinate system, obtains the 4th data；
S4-5, according to third data and the 4th data, calculate tower station holder be directed toward the direction of unmanned plane position after prediction T time to
Amount；
S4-6, calculated separately in geocentric rectangular coordinate system direction vector straight up and it is horizontal north to vector and be directed toward to
Angle in place between amount；
S4-7, the angle for needing to rotate to angle in place according to angle in place, calculating acquisition tower station cloud platform rotation, it is strong to obtain antenna
The area of coverage is directed toward unmanned plane.The angle that tower station holder needs to rotate can be accurately calculated through the above steps, and precision is high.
Preferably, the alignment for being directed toward unmanned plane according to the strong area of coverage of signal quality value calibration antenna of above-mentioned steps S7 is accurate
Degree, makes the step of tower station cloud platform rotation angu-lar deviation is within allowable range include:
S7-1, a two-dimensional network is constructed around the angle that tower station holder needs to rotate, detection obtains tower station cloud platform rotation and arrives
Corresponding Grid Signal mass value when each grid line crosspoint；
S7-2, Grid Signal mass value is filtered to interpolation processing, obtains the maximum value in Grid Signal mass value；
S7-3, angle when calculating corresponding to the maximum value grid line crosspoint of tower station cloud platform rotation and tower station holder need to rotate
Angle between deviation；
Whether S7-4, judgment bias value are within default allowable range；When deviation is within default allowable range, into
Enter step S7-5；When deviation has exceeded default allowable range, the angle that rotates is needed to tower station holder using the deviation
Degree is corrected, and carries out rotation adjustment to tower station holder using the angle after correction, to guarantee that the strong area of coverage of antenna is directed toward nothing
It is man-machine.
S7-5, the calibration result that the strong area of coverage direction unmanned plane of antenna precisely aligns is obtained.
The above method seeks Grid Signal mass value maximum value by constructing two-dimensional network, and calculating acquisition tower station holder needs
Deviation between the angle and maximum value to be rotated implements the adjustment of alignment precision according to the size of deviation, to eliminate
Due to beam null and holder zero point are not fully overlapped and bring systematic error etc. influences, improve alignment accuracy.
Embodiment 2
Corresponding to embodiment 1, the present embodiment provides a kind of UAV Communication quality control apparatus, are applied to remote control terminal, such as
Shown in Fig. 2, comprising:
First judging unit 11, for whether just to judge the mobile communications network connection status between the cradle head control end of tower station
Often；
Parameter set unit 12, for when the mobile communications network connection status between the cradle head control end of tower station is normal, if
Set tower station cradle head control end network configuration parameters and initial digit layout parameter；
GPS data acquiring unit 13, for the GPS data of unmanned plane to be obtained from unmanned aerial vehicle onboard end using mobile communications network,
The GPS data of tower station holder is obtained from tower station cradle head control end；
Angle solving unit 14 is obtained for carrying out angle resolving according to the GPS data of unmanned plane and the GPS data of tower station holder
Obtain the angle that tower station holder needs to rotate when the strong area of coverage of antenna is directed toward unmanned plane；
Angle adjustment instruction transmission unit 15, for will include that the angle adjustment instruction information of angle is sent to tower station cradle head control
End, for control tower station holder according to angular turn；
Signal quality value acquiring unit 16, for obtaining the letter comprising signal quality value for sending back and from unmanned aerial vehicle onboard end
Breath；
Alignment accuracy calibration unit 17, for being directed toward the alignment essence of unmanned plane according to the strong area of coverage of signal quality value calibration antenna
Exactness makes tower station cloud platform rotation angu-lar deviation within default allowable range.
Above-mentioned UAV Communication quality control apparatus, remote control terminal resolve cloud platform rotation amount, unmanned plane by GPS data
Airborne end obtains signal quality value and is sent to remote control terminal, and remote control terminal passes through signal quality value calibrating tripod head rotation essence
Degree guarantees the positive corresponding relationship between cloud platform rotation angle and signal quality, guarantees that the flying activity of unmanned plane can always exist
It is carried out in the strong area of coverage of antenna, realizes that antenna to the real-time tracking of unmanned plane, guarantees the reliability of telecommunication.
Preferably, parameter set unit includes:
Tower station cradle head control network establishes unit, for according to preset group's configuration parameter, by with each tower station holder control
Tower station cradle head control network is established in the independent discovery at end processed；
Getting Network Topology Information unit, for obtaining newest network topological information from tower station cradle head control end；
Initial digit layout parameter obtaining unit, for obtaining according to network topological information and preset unmanned plane during flying operation course line
Obtain the initial digit layout parameter of each tower station holder；
Initial digit layout parameter transmission unit, for will include that the information of initial digit layout parameter is sent to corresponding tower station holder
Control terminal carries out initial bit configuration for control tower station holder.
Above-mentioned apparatus is realized by the selection of networking and optimizes networking plan design, realize distributing rationally for resource, saved
About resource.By designing the initial angle of tower station holder according to prebriefed pattern, thus only need to be into during aircraft flight
The tower station holder low-angle of row real-time tracking adjusts, and improves angle and regulates the speed and efficiency, further improves antenna to nothing
Man-machine real-time tracking ability, guarantees the reliability of telecommunication.
Preferably, angle solving unit includes:
Filter processing unit obtains the first data for the GPS data of current unmanned plane to be filtered；
GPS data predicting unit is used to predict the GPS data of unmanned plane after T time according to the first data, obtains the second data,
Wherein, the time required to T is tower station cloud platform rotation to the angle for needing to rotate；
First Date Conversion Unit obtains third data for the second data to be transformed into geocentric rectangular coordinate system；
Second Date Conversion Unit obtains the 4th number for the GPS data of tower station holder to be transformed into geocentric rectangular coordinate system
According to；
First computing unit, for calculating tower station holder and being directed toward unmanned plane after prediction T time according to third data and the 4th data
The direction vector of position；
Second computing unit, for calculated separately in geocentric rectangular coordinate system direction vector straight up and it is horizontal north to
Vector and the angle in place being directed toward between vector；
Third computing unit, for calculating and obtaining the angle that tower station cloud platform rotation needs to rotate to angle in place according to angle in place
Degree obtains the strong area of coverage of antenna and is directed toward unmanned plane.
Preferably, alignment accuracy calibration unit includes:
Two-dimensional network construction unit, for constructing a two-dimensional network around the angle that tower station holder needs to rotate, detection is obtained
Tower station cloud platform rotation to each grid line crosspoint when corresponding Grid Signal mass value；
Filter coefficients processing unit obtains Grid Signal mass value for Grid Signal mass value to be filtered interpolation processing
In maximum value；
Deviation computing unit, for the angle and tower when calculating corresponding to the maximum value grid line crosspoint of tower station cloud platform rotation
The deviation between angle that holder of standing needs to rotate；
Second judgment unit, for judgment bias value whether within default allowable range；
Calibration result obtaining unit, for obtaining the strong area of coverage of antenna and being directed toward when deviation is within default allowable range
The calibration result that unmanned plane precisely aligns.
Above-mentioned apparatus seeks Grid Signal mass value maximum value by constructing two-dimensional network, and calculating acquisition tower station holder needs
Deviation between the angle and maximum value to be rotated implements the adjustment of alignment precision according to the size of deviation, to eliminate
Due to beam null and holder zero point are not fully overlapped and bring systematic error etc. influences, improve alignment accuracy.
Embodiment 3
The present embodiment provides a kind of UAV Communication quality control systems, as shown in Figure 3, comprising: unmanned aerial vehicle onboard end 300(1,
2 or 2 or more), tower station cradle head control end 200(1,2 or 2 or more) and remote control terminal 100 etc..
Unmanned aerial vehicle onboard end 300 is connect by mobile communications network with remote control terminal, for by the GPS data of unmanned plane
It is sent to remote control terminal, and the information comprising signal quality value is sent to remote control terminal；Tower station cradle head control end 200 is logical
It crosses mobile communications network to connect with remote control terminal, for the setting network configuration parameters under the control of remote control terminal and initially
The GPS data of tower station holder is sent to remote control terminal by digit layout parameter, and receive remote control terminal transmission includes angle
Angle adjustment instruction information and control tower station cloud platform rotation angle；Remote control terminal 100, the UAV Communication including embodiment 2
Quality control apparatus 10.
Preferably, unmanned aerial vehicle onboard end is connect by 2.6G cordless communication network and public network with remote control terminal, tower station cloud
Platform control terminal is connect by 4G wireless routing with remote control terminal.When initial connection, remote control terminal need to first determine and tower station cloud
Whether the network connection state between platform control terminal is normal, and in the case where connecting normal situation, remote control terminal enters tower station holder
Holder original state is arranged in control terminal state set interface.After original state is provided with, pair between holder and unmanned plane is tested
Agree to do a favour condition, unmanned plane feeds back its static GPS information to remote control terminal, and remote control terminal obtains what holder needed to rotate after resolving
Angle, and then antenna is driven to be directed toward unmanned plane.Signal quality value is fed back to ground control terminal by unmanned aerial vehicle onboard end, if signal is strong
Angle value is in the most strong coverage values of signal, then holder tracking mode is normal, then can open holder automatic tracking function, carries out nobody
Machine flight operation.
Above-mentioned UAV Communication quality control system, remote control terminal resolve cloud platform rotation amount, unmanned plane by GPS data
Airborne end obtains signal quality value and is sent to remote control terminal, and remote control terminal passes through signal quality value calibrating tripod head rotation essence
Degree guarantees the positive corresponding relationship between cloud platform rotation angle and signal quality, guarantees that the flying activity of unmanned plane can always exist
It is carried out in the strong area of coverage of antenna, realizes that antenna to the real-time tracking of unmanned plane, guarantees the reliability of telecommunication.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of UAV Communication method of quality control is applied to remote control terminal, which comprises the following steps:
Whether the mobile communications network connection status between judgement and tower station cradle head control end is normal；
When the mobile communications network connection status between the cradle head control end of tower station is normal, the net at tower station cradle head control end is set
Network configuration parameter and initial digit layout parameter；
The GPS data for obtaining unmanned plane from unmanned aerial vehicle onboard end using mobile communications network obtains tower from tower station cradle head control end
It stands the GPS data of holder；
Angle resolving is carried out according to the GPS data of the GPS data of the unmanned plane and tower station holder, the strong area of coverage of antenna is obtained and refers to
Tower station holder needs the angle rotated when to unmanned plane；
Angle adjustment instruction information comprising the angle is sent to tower station cradle head control end, for control tower station holder according to
The angular turn；
The information comprising signal quality value for sending back and is obtained from unmanned aerial vehicle onboard end；
It is directed toward the alignment accuracy of unmanned plane according to the strong area of coverage of the signal quality value calibration antenna, makes tower station cloud platform rotation angle
Deviation is spent within default allowable range.
2. the method according to claim 1, wherein the network configuration parameters at the setting tower station cradle head control end
Include: with the step of initial digit layout parameter
The holder control of tower station is established by the independent discovery with each tower station cradle head control end according to preset group's configuration parameter
Network processed；
Newest network topological information is obtained from tower station cradle head control end；
According to the network topological information and preset unmanned plane during flying operation course line, the initial bit for obtaining each tower station holder is matched
Set parameter；
Information comprising the initial digit layout parameter is sent to corresponding tower station cradle head control end, is used for control tower station holder
Carry out initial bit configuration.
3. method according to claim 1 or 2, which is characterized in that the GPS data and tower station according to the unmanned plane
The GPS data of holder carries out angle resolving, obtains the angle that tower station holder needs to rotate when the strong area of coverage of antenna is directed toward unmanned plane
The step of include:
The GPS data of current unmanned plane is filtered, the first data are obtained；
According to first data, the GPS data of unmanned plane after T time is predicted, obtain the second data, wherein T is tower station holder
The time required to turning to the angle for needing to rotate；
Second data are transformed into geocentric rectangular coordinate system, third data are obtained；
The GPS data of tower station holder is transformed into geocentric rectangular coordinate system, the 4th data are obtained；
According to the third data and the 4th data, calculate tower station holder be directed toward the direction of unmanned plane position after prediction T time to
Amount；
Calculated separately in geocentric rectangular coordinate system direction vector straight up and it is horizontal north to vector and it is described be directed toward to
Angle in place between amount；
According to the angle in place, calculates and obtain the angle that tower station cloud platform rotation needs to rotate to the angle in place, obtain day
The strong area of coverage of line is directed toward unmanned plane.
4. method according to claim 1-3, which is characterized in that described according to signal quality value calibration day
The strong area of coverage of line is directed toward the alignment accuracy of unmanned plane, makes step of the tower station cloud platform rotation angu-lar deviation within allowable range
Suddenly include:
A two-dimensional network is constructed around the angle that tower station holder needs to rotate, detection obtains tower station cloud platform rotation to often
Corresponding Grid Signal mass value when a grid line crosspoint；
The Grid Signal mass value is filtered interpolation processing, obtains the maximum value in the Grid Signal mass value；
Angle and the tower station holder needs when calculating corresponding to the maximum value grid line crosspoint of tower station cloud platform rotation
Deviation between the angle of rotation；
Judge the deviation whether within default allowable range；
When the deviation is within default allowable range, obtains the strong area of coverage of antenna and be directed toward the school that unmanned plane precisely aligns
Quasi- result.
5. a kind of UAV Communication quality control apparatus is applied to remote control terminal characterized by comprising
First judging unit, for judging whether the mobile communications network connection status between the cradle head control end of tower station is normal；
Parameter set unit, for being arranged when the mobile communications network connection status between the cradle head control end of tower station is normal
The network configuration parameters at tower station cradle head control end and initial digit layout parameter；
GPS data acquiring unit, for the GPS data of unmanned plane to be obtained from unmanned aerial vehicle onboard end using mobile communications network, from
The GPS data of tower station cradle head control end acquisition tower station holder；
Angle solving unit, for carrying out angle resolving according to the GPS data of the unmanned plane and the GPS data of tower station holder,
Obtain the angle that tower station holder needs to rotate when the strong area of coverage of antenna is directed toward unmanned plane；
Angle adjustment instruction transmission unit, for will include that the angle adjustment instruction information of the angle is sent to the holder control of tower station
End processed, for control tower station holder according to the angular turn；
Signal quality value acquiring unit, for obtaining the information comprising signal quality value for sending back and from unmanned aerial vehicle onboard end；
Alignment accuracy calibration unit, for being directed toward the alignment of unmanned plane according to the strong area of coverage of the signal quality value calibration antenna
Accuracy makes tower station cloud platform rotation angu-lar deviation within default allowable range.
6. device according to claim 5, which is characterized in that the parameter set unit includes:
Tower station cradle head control network establishes unit, for according to preset group's configuration parameter, by with each tower station holder control
Tower station cradle head control network is established in the independent discovery at end processed；
Getting Network Topology Information unit, for obtaining newest network topological information from tower station cradle head control end；
Initial digit layout parameter obtaining unit, for being navigated according to the network topological information and preset unmanned plane during flying operation
Line obtains the initial digit layout parameter of each tower station holder；
Initial digit layout parameter transmission unit, for will include that the information of the initial digit layout parameter is sent to corresponding tower station
Cradle head control end carries out initial bit configuration for control tower station holder.
7. device according to claim 5 or 6, which is characterized in that the angle solving unit includes:
Filter processing unit obtains the first data for the GPS data of current unmanned plane to be filtered；
GPS data predicting unit obtains second for predicting the GPS data of unmanned plane after T time according to first data
Data, wherein the time required to T is tower station cloud platform rotation to the angle for needing to rotate；
First Date Conversion Unit obtains third data for second data to be transformed into geocentric rectangular coordinate system；
Second Date Conversion Unit obtains for the GPS data of tower station holder to be transformed into geocentric rectangular coordinate system
Four data；
First computing unit, for calculating tower station holder and being directed toward nothing after prediction T time according to the third data and the 4th data
The direction vector of man-machine position；
Second computing unit, for calculated separately in geocentric rectangular coordinate system direction vector straight up and it is horizontal north to
Vector and the angle in place being directed toward between vector；
Third computing unit, for calculating acquisition tower station cloud platform rotation and being needed to the angle in place according to the angle in place
The angle of rotation obtains the strong area of coverage of antenna and is directed toward unmanned plane.
8. according to the described in any item devices of claim 5-7, which is characterized in that the alignment accuracy calibration unit includes:
Two-dimensional network construction unit, for constructing a two-dimensional network, inspection around the angle that tower station holder needs to rotate
Survey corresponding Grid Signal mass value when obtaining tower station cloud platform rotation to each grid line crosspoint；
Filter coefficients processing unit obtains the grid letter for the Grid Signal mass value to be filtered interpolation processing
Maximum value in number mass value；
Deviation computing unit, for calculating angle when corresponding to the maximum value grid line crosspoint of tower station cloud platform rotation
The deviation between angle for needing to rotate with tower station holder；
Second judgment unit, for judging the deviation whether within default allowable range；
Calibration result obtaining unit, for obtaining the strong area of coverage of antenna when the deviation is within default allowable range
It is directed toward the calibration result that unmanned plane precisely aligns.
9. a kind of UAV Communication quality control system characterized by comprising
Unmanned aerial vehicle onboard end is connect by mobile communications network with remote control terminal, for the GPS data of unmanned plane to be sent to
Remote control terminal, and the information comprising signal quality value is sent to remote control terminal；
Tower station cradle head control end is connect, under the control of remote control terminal with remote control terminal by mobile communications network
Network configuration parameters and initial digit layout parameter are set, the GPS data of tower station holder is sent to remote control terminal, is received long-range
Angle described in the angle adjustment instruction information comprising angle and control tower station cloud platform rotation that control terminal is sent；And
Remote control terminal, including such as the described in any item UAV Communication quality control apparatus of claim 5-8.
10. system according to claim 9, which is characterized in that unmanned aerial vehicle onboard end by 2.6G cordless communication network and
Public network is connect with remote control terminal, and tower station cradle head control end is connect by 4G wireless routing with remote control terminal.
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