CN109412776A - A kind of target type unmanned plane single carrier frequency band full duplex telemetry communication method - Google Patents
A kind of target type unmanned plane single carrier frequency band full duplex telemetry communication method Download PDFInfo
- Publication number
- CN109412776A CN109412776A CN201811214705.8A CN201811214705A CN109412776A CN 109412776 A CN109412776 A CN 109412776A CN 201811214705 A CN201811214705 A CN 201811214705A CN 109412776 A CN109412776 A CN 109412776A
- Authority
- CN
- China
- Prior art keywords
- code
- frame
- burst
- synchronization
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
- H04L5/1469—Two-way operation using the same type of signal, i.e. duplex using time-sharing
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention discloses a kind of target type unmanned plane single carrier frequency band full duplex telemetry communication method, includes the following steps: that 1) ground control station and airborne detection and control terminal are initialized and be in and receive state；2) data radio single in data radio single in ground control station and airborne detection and control terminal establishes communication link between ground control station and airborne detection and control terminal with TDD agreement by communications；Communications TDD agreement includes that TDD agreement frame structure, TDD agreement frame synchronization and TDD protocol communication are realized.The present invention is by TDD mode, so that communicating pair is alternately configured to receive state or sends state to complete duplex communication, when wireless communication only needs to occupy single carrier wave frequency band, is a kind of low cost, unitized single carrier frequency band full duplex telemetry communication method.
Description
Technical field
The present invention relates to UAV TT & C's fields of communication technology, and in particular to a kind of target is complete with type unmanned plane single carrier frequency band
Duplexing telemetry communication method.
Background technique
Target type unmanned plane (abbreviation target drone) has man-machine and cruise missile and nothing mainly for fighter plane and bomber etc.
Man-machine equal aviation aircrafts, simulate the flying qualitys such as its height, speed and motor-driven and radar reflection feature and infra-red radiation
The external behaviors such as feature, for airborne and ground air defense detection system and ack-ack, air to air or ground-to-air missile etc. is anti-
Functional performance test, tactical and technical norms examination or training and exercises of army of empty weapon system etc..
TT&C system occupies extremely important position in UAV system, is mainly made of remote control and telemetering two parts,
Wherein remote control part is mainly completed to transmit control unmanned plane during flying and the work of various airborne equipments from ground control station to unmanned plane
The telecommand of state, telemetry portion is mainly realized passes unmanned plane during flying state and airborne equipment working condition back ground in real time
It stands, realizes display, record and the playback of unmanned plane during flying track and telemetry parameter, provided for flight test process and accident analysis
Data safeguard.Due to remote control and telemetry portion, function opposite independent operation and bidirectional high speed communication, therefore Telemetry System of UAV
It need to realize full-duplex mode.
Target drone should minimize cost on the basis of guaranteeing reliability as a kind of consumable resource, TT&C system,
Meet low cost, unitized requirement.Dedicated TT&C system is developed if it is target drone, expensive and versatility is limited
System.Using technical grade commercialization data radio station to design universal TT&C system for hardcore can be effectively reduced cost, adapt to target
Machine TT&C system demand.Meanwhile data radio station also has the advantage that technology maturation, purchase channel are unobstructed, efficiency-cost ratio is higher, opens
Degree of raising difficult questions is relatively small.
Communications mode can be divided into one-way transmission and transmitted in both directions, and transmitted in both directions is divided into either simplex, half-duplex and Quan Shuan again
Three kinds of working methods of work.Full-duplex communication refers to that communicating pair can carry out the working method of information transmission simultaneously.Wirelessly passing
In defeated, full-duplex communication can will be sent and received by frequency or time to be separated, i.e. frequency division duplex (Frequency
Division Duplex, FDD) and time division duplex (Time Division Duplex, TDD) both of which.
Traditional Telemetry System of UAV generally uses FDD mode to realize full-duplex communication, i.e., using two loads of separation
Wave frequency band carries out the communication of transmitting-receiving both direction, retains certain band separation between two carrier frequency bands, mutually dry to reduce
It disturbs.Currently, technical grade commercialization data radio station in the market only supports either simplex or half-duplex operation, transmitting-receiving is located at same carrier wave
On frequency band.Target drone TT&C system will realize FDD mode, it is necessary to all be equipped with two sets of carrier waves in the airborne detection and control terminal of target drone and earth station
The different data radio station of frequency band, and need to realize that the isolation of transceiver channel increases design, this does not obviously meet target drone observing and controlling
System low cost, unitized requirement.
TDD mode is only to need using a carrier frequency band, and communicating pair is alternately configured to receive state or hair in time
State is sent, i.e., when two equipment are communicated, when can guarantee that a side sends data, another party must receive data；Communication
The continuous alternate transport direction of both sides just as playing table tennis, therefore is otherwise known as " ping-pong procedure ".
The advantages of FDD mode realizes full-duplex communication has: message transmission rate is higher, any multi-access mode can be used etc..
But compared with TDD mode, also there are many disadvantages for FDD mode:
(1) FDD system equipment cost is higher, higher than TDD system by 20%~50%.Transceiver channel is required to respective hardware
It supports, number of devices increases, and cost is consequently increased；Transceiver channel, which needs to realize, is isolated, and additionally increases equipment cost；
(2) versatility of FDD system is poor, generally requires the support of private communication facility, and TDD system can be used general logical
Believe equipment, is realized such as data radio station；
(3) FDD mode is needed using pairs of frequency, and frequency efficiency is low, and TDD mode can use various frequencies to provide
Source；
(4) FDD mode is to the supportive poor of asymmetric data transmission.In FDD system, uplink and downlink
Between service resources ratio determined by uplink with frequency band relative size used in downlink (usual size is identical),
This ratio is often fixed.In a tdd system, the service resources ratio between uplink and downlink is by uplink
The ratio between required time determines when sending with downlink, can be adjusted according to actual needs.
Summary of the invention
The purpose of the present invention is to provide a kind of target type unmanned plane single carrier frequency band full duplex telemetry communication methods, provide
A kind of inexpensive, unitized single carrier frequency band full duplex telemetry communication method.
To achieve the above object, the invention provides the following technical scheme: a kind of target is entirely double with type unmanned plane single carrier frequency band
Work telemetry communication method, includes the following steps:
1) ground control station and airborne detection and control terminal, which are initialized and be in, receives state；
2) data radio single in ground control station communicates biography with data radio single in airborne detection and control terminal
It is defeated to establish communication link between ground control station and airborne detection and control terminal with TDD agreement；
Communications TDD agreement includes that TDD agreement frame structure, TDD agreement frame synchronization and TDD protocol communication are real
It is existing.
Further, the TDD agreement frame structure includes capture burst frame, idle burst frame and data frame.
Further, the capture burst frame is successively made of pre- code, synchronous code, synchronous code；The idle burst frame according to
It is secondary to be made of pre- code, synchronous code, status code；The data frame is successively by pre- code, synchronous code, command code, data information, stop code
Composition.
Further, the pre- code is 1 byte, is used for bit synchronization；The synchronous code is 1 byte, synchronous for block
And indicate the beginning of a frame data；The status code be 1 byte, high 4 be sender, low 4 be recipient, be used for
Mark data transmission direction；The command code is 1 byte, is used to indicate behavior, the process or state that communication terminal is occurred；
Last 1 byte of the data information is data check code；The stop code be 2 bytes, for data before into
Row protection, while also indicating the end of data information.
Further, the TDD protocol frame, which synchronizes, includes the following steps:
1) recipient stores currently received byte and previous received word using two 8 shift registers respectively
Section, often receives a new position, just carries out cyclic shift；
2) byte being currently received is made comparisons with pre- code, if matching with pre- code, illustrates that bit synchronization is completed；
3) next byte is continued to, if next reception byte matches with synchronous code, illustrated block, which synchronizes, to be completed, frame
It synchronizes and has built up；Otherwise, step (4) are transferred to；
4) if next byte and synchronous code mismatch, the time of 2 bytes is waited, if not receiving also in this period
Synchronous code then illustrates it is pseudo- synchronization, it is necessary to restart to carry out frame synchronization judgement；
5) recipient establishes the digit of carried out shifting function using frame synchronization under a counter records, in next frame number
When according to arriving, directly carrying out required displacement and directly reading follow-up data information.
Further, after frame synchronization foundation, the realization of TDD protocol communication is carried out；The TDD protocol communication realizes to include prominent
Hair is synchronous to be established；The burst synchronization foundation includes the following steps:
1) initialize: ground control station and airborne detection and control terminal are waited for all in state is received in an identical carrier frequency
It takes；
2) host first switchs to send state, sends a capture burst frame to slave；
3) after slave detects the capture burst frame that host is sent, switch to send state to one certification capture of host transmission
Burst frame；
4) after the certification that Host Detection to slave is sent captures burst frame, switch to send state to slave one free time of transmission
Burst frame；
5) sender and recipient's matching when slave detects the idle burst frame that host is sent, and in status code at
Function then switchs to send state to host one certification idle burst frame of transmission, and starts the burst synchronization timer of slave；
6) after host receives the certification idle burst frame of slave, also start the burst synchronization timer of host；At this point, communication
Both sides have completed burst synchronization, and communication link has built up；
7) host and slave are converted under the control of burst synchronization timer in the case where sending and receiving two states, alternately
Send and receive data；
8) when communicating pair sign off, burst synchronization timer is closed.
Further, the TDD protocol communication realization further includes time division data transmission；
The time division data transmission includes several Burst Periods；Each Burst Period includes a remote control time slot and one
Or several telemetering time slots, and when being respectively equipped with a protection between adjacent remote control time slot and telemetering time slot, between adjacent telemetering time slot
Gap.
Further, the TDD protocol communication realization further includes burst synchronization protection；When communicating step-out, the burst
Synchronous protection is for re-establishing synchronization in time, in order to avoid lose data.
Further, the burst synchronization protection includes the following steps:
1) when airborne detection and control terminal detects communication mistake or time-out, then in next telemetering time slot transmission specific command code announcement
Know earth station, and enters desynchronizing state, and enter step (2)；Or；If ground control station detects communication mistake or time-out,
Specific command code then is sent in next remote control time slot and informs earth station, and enters desynchronizing state, and enter step (3)；
2) after ground control station receives the corresponding command code, also enter desynchronizing state, and start to re-execute burst together
Walk establishment process；
3) after airborne detection and control terminal receives the corresponding command code, also enter desynchronizing state, both sides re-execute burst synchronization
Establishment process.
Compared with prior art, the beneficial effects of the present invention are:
1) in existing TTC&T Technology, in order to reduce cost, target drone TT&C system is using half-duplex data radio station as core
Hard-hearted part, and airborne detection and control terminal and ground control station are only equipped with a set of data radio station, it may be assumed that only single carrier wave frequency band, nothing
The full duplex telemetry communication of method realization FDD mode；The present invention is by TDD mode, so that communicating pair alternately is configured to connect
It receives state or sends state to complete duplex communication, when wireless communication only needs to occupy single carrier wave frequency band, is a kind of low cost, generalization
Single carrier frequency band full duplex telemetry communication method；
2) currently, the design and producing of target drone and its TT&C system of the invention are completed, and tens sorties are completed
It flies for target, creates huge economic benefit for China's air defense detection and air defence weapon system test mission；By long-term
It tests and takes a flight test examination, the present invention is that science is feasible；
3) invention is also applied to the full self-determination type interference unmanned plane that general assembly project verification South Airways develops, and is its scientific research and fixed
Type, which is taken a flight test, provides observing and controlling guarantee, and is applied to its training and exercises for being hinged with army, has saved a large amount of funds；
4) have the advantages that at low cost, versatility is good, frequency efficiency is high using the target drone TT&C system that the invention designs,
Have higher application and promotional value；The invention can also be applied to other unmanned planes using half-duplex hardware device and survey
Control system and wireless communication system.
Detailed description of the invention
Fig. 1 is TDD agreement frame synchronizing process schematic diagram；
Fig. 2 is TDD agreement burst synchronization flow chart；
Fig. 3 is the TDD protocol data transmission timing diagram of single telemetering time slot；
Fig. 4 is the TDD protocol data transmission timing diagram of multiple telemetering time slots；
Fig. 5 is target drone TT&C system operation schematic diagram；
Fig. 6 is that target drone TT&C system forms interface schema.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment 1: please referring to Fig. 1-6, and the present invention provides a kind of technical solution: a kind of target type unmanned plane single carrier frequency band
Full duplex telemetry communication method, including a ground control station and an airborne detection and control terminal；
Further include following steps:
(1) ground control station and airborne detection and control terminal, which are initialized and be in, receives state；
(2) data radio in ground control station and the data radio in airborne detection and control terminal pass through communications TDD
Agreement establishes communication link between ground control station and airborne detection and control terminal.
Wherein, the ground control station includes remote control/telemetry vehicle, telecommand keyboard, industrial control computer, serial ports letter
Number distributor, 2 MDS2710C data radio stations (one for communicating, one is used for data backup), ground-plane antenna and AC/DC electricity
Source；
Remote control/the telemetry vehicle include Dongfeng Automobile manufactory EQ1108G off-road truck chassis, standardization shelter,
EDA5000 (E) the type oil machine of YAMAHA, the UH11 type UPS emergency power supply of Ai Mosheng, cygnet the military air-conditioning of FKBB-25 type
And printer.The shelter is installed on off-road truck chassis, and 1 communication cabinet, 2 observing and controlling cabinets, 1 are installed inside shelter
A communication and command seat (seat of commander) and 2 flight operation seats (seat of major and minor instruction person).The serial ports letter
Number distributor, data radio station, AC/DC power supply, UPS emergency power supply, air-conditioning and printer are installed in communication cabinet.The remote control
Instruction keyboard and industrial control computer are installed in observing and controlling cabinet.High 10 meters of the ground-plane antenna is (including being installed on integrated 2
Rice antenna and 8 meters of collapsible antenna bars), it is installed on shelter rear wall and telescopic height can be adjusted by mechanical rocking bar.
The airborne detection and control terminal includes flight-control computer, data acquiring and recording management computer, airborne power supply, number
Conduct electricity platform and airborne antenna；The flight-control computer, data acquiring and recording management computer, airborne power supply and data radio station
It is installed in target drone nose-ring, airborne antenna flush type is installed in target drone vertical tail.
Wherein, communications TDD agreement includes that TDD agreement frame structure, TDD agreement frame synchronization and TDD agreement are logical
It is reliable existing；The TDD protocol communication realizes to include that burst synchronization is established, time division data transmission and burst synchronization are protected, specifically such as
Under:
TDD agreement frame structure:
The TDD agreement frame structure includes capture burst frame, idle burst frame and data frame；The capture burst frame is 3
The short frame structure of the high speed of a byte, is made of pre- code, synchronous code, synchronous code；The idle burst frame is that the high speed of 3 bytes is short
Frame structure is made of pre- code, synchronous code, status code；The data frame is by pre- code, synchronous code, command code, data information, termination
Code composition；Specific structure are as follows:
Capture burst frame:
| Pre- code | Synchronous code | Synchronous code |
Idle burst frame:
| Pre- code | Synchronous code | Status code |
Data frame:
| Pre- code | Synchronous code | Command code | Data information | Stop code |
1) pre- code: 1 byte, value 0xAA are used for bit synchronization；
2) synchronous code: 1 byte, one group of coded combination is synchronous for block, indicates the beginning of a frame data；
3) status code: 1 byte, high 4 are sender (source address), and low 4 are recipient (destination address), identify number
According to transmission direction；
4) command code: 1 byte is used to indicate behavior, process or state that communication terminal is occurred；Command code 0xFF generation
Table communicates step-out；If sender is ground control station i.e. remote state, command code is remote control command code；If sender is airborne survey
Equipment, that is, telemetering state is controlled, command code is the subframe number of telemetry；
5) data information: arranging format according to actual needs, and insert corresponding contents, and last 1 byte is data school
Test code；
6) stop code: 2 bytes, value 0x0A0D for protecting to data before, while also indicating number
It is believed that the end of breath.
TDD agreement frame synchronization:
Data radio station step-by-step (bit) sends and receives data, and the data length unit in frame structure is byte (byte),
The frame synchronization of TDD agreement bottom need to be realized when therefore communicating.Pre- code and synchronous code in TDD agreement frame structure, each 1 byte,
It is made of two 8 synchronization blocks, specific step is as follows for TDD agreement frame synchronization:
1) recipient stores currently received byte and previous received word using two 8 shift registers respectively
Section, often receives a new position, just carries out cyclic shift；
2) byte being currently received is made comparisons with pre- code, if matching with pre- code, illustrates that bit synchronization is completed；
3) next byte is continued to, if next reception byte matches with synchronous code, illustrated block, which synchronizes, to be completed, frame
It synchronizes and has built up；Otherwise, step (4) are transferred to；
4) if next byte and synchronous code mismatch, the time of 2 bytes is waited, if not receiving also in this period
Synchronous code then illustrates it is pseudo- synchronization, it is necessary to restart to carry out frame synchronization judgement；
5) recipient establishes the digit of carried out shifting function using frame synchronization under a counter records, in next frame number
When according to arriving, directly carrying out required displacement and directly reading follow-up data information.
TDD protocol communication is realized:
1) burst synchronization is established:
Communications are the alternately receptions and transmission of information from the time with the communicating pair of TDD agreement, therefore first
The time synchronization of communicating pair must be first realized, to guarantee the reliability of communication.
A, initialize: ground control station and airborne detection and control terminal are waited for all in state is received in an identical carrier frequency
It takes；
B, host first switchs to send state, sends a capture burst frame to slave；
C, after slave detects the capture burst frame that host is sent, switch to send state to one certification capture of host transmission
Burst frame；
D, after the certification that Host Detection to slave is sent captures burst frame, switch to send state to slave one free time of transmission
Burst frame；
E, it sender's (source address) when slave detects the idle burst frame that host is sent, and in status code and receives
Side's (destination address) successful match then switchs to send state to host one certification idle burst frame of transmission, and starts the prominent of slave
Send out synchro timer；
F, after host receives the certification idle burst frame of slave, also start the burst synchronization timer of host；At this point, communication
Both sides have completed burst synchronization, and communication link has built up.
G, host and slave are converted under the control of burst synchronization timer in the case where sending and receiving two states, alternately
Send and receive data；
H, when communicating pair sign off, burst synchronization timer is closed；
Wherein, the referred to as host (i.e. ground control station) when a side has transmission to request, it is (i.e. airborne that another party is known as slave
Detection and control terminal).
2) time division data transmits:
After burst synchronization is established, the communicating pair of communications TDD agreement is handed under the control of burst synchronization timer
That replaces is configured to receive state or transmission state to complete duplex communication.
In target drone TT&C system, 1 Burst Period successively includes remote control time slot, protection time slot, telemetering time slot and protection
Time slot.In remote control time slot, ground control station sends remote-control data frame, and airborne detection and control terminal receives remote-control data frame；In telemetering
In time slot, airborne detection and control terminal sends telemetry frame, and ground control station receives telemetry frame.
According to the message transmission rate of remote-control data frame length, telemetry frame length and data radio station, can determine
It is remotely controlled time slot TkWith telemetering time slot Tc.1 protection time slot T is set between remote control time slot and telemetering time slotb.Consider data radio station
There is a fixed transmitting-receiving conversion time (generally in 5-20ms) when receiving state and sending and convert between state, therefore protects time slot
Conversion time should be received and dispatched at least more than data radio station.One Burst Period T=Tk+Tc+2×Tb, thus also determine TT&C system
The refresh rate f=1/T of remote control and telemetry, referring specifically to attached drawing 3.
In practical application, target drone TT&C system belongs to asymmetric data transmission system, telemetry refresh rate fcRequirement
Often it is higher than remote-control data refresh rate fkRequirement, therefore n telemetering time slot T can be set in 1 Burst Periodc, i.e. T=
Tk+n×Tc+(n+1)×Tb.The remote control refresh cycle is fixed, refresh rate fk=f=1/T；The telemetering refresh cycle is not fixed, every
One Burst Period begins with Tk+TbDelay, average telemetering refresh rate fc=n × f=n/T, referring specifically to attached drawing 4.
3) burst synchronization is protected:
In time division data transmission process, communicating pair relies on burst synchronization timer to divide time slot, alternately in each work
Make to send and receive data in time slot.There are timing errors for timer itself, for unmanned plane application environment, with height
The influence of the factors such as degree, temperature and vibration, timing error can also further increase；Timing error can also produce as time increases
Raw build-up effect, it is lasting to increase.As the timing error summation T of communicating pair burst synchronization timerwIn addition the receipts of data radio station
Send out conversion time ThGreater than protection time slot Tb(i.e. Tw+Th>Tb) when, blocking, burst synchronization failure, i.e. communication step-out occur for communication.
Other such as electromagnetic interference factors may also cause communication step-out.Therefore, the guarantor of burst synchronization must be taken into consideration in TDD protocol communication
Shield, once communication step-out, can re-establish synchronization in time, in order to avoid lose data.
Burst synchronization protection specifically: in the continuous 3 receptions time slot of communicating pair either side, received data frame check
It does not receive not by (communication mistake) or valid data frame (communication timeout), then restarts a new burst synchronization and build
Vertical process.State migration procedure is realized using the command code in TDD agreement frame structure.If airborne detection and control terminal detects logical
Letter mistake or time-out then send specific command code (0xFF) in next telemetering time slot and inform ground control station, and enter step-out shape
State；After ground control station receives the corresponding command code, also enter desynchronizing state, and starts to re-execute burst synchronization and establish
Journey.If ground control station detects communication mistake or time-out, airborne detection and control terminal is informed also by specific command code (0xFF),
And enter desynchronizing state；After airborne detection and control terminal receives the corresponding command code, also enter desynchronizing state, both sides re-execute burst
Synchronous establishment process.
By application example, demand analysis and performance configuration are carried out:
1) demand analysis
The message transmission rate of MDS2710C data radio station selected by target drone TT&C system is 19200bps；When transmitting-receiving conversion
Between be 7ms；Hardware interface is RS-232 serial ports, parameter setting are as follows: baud rate 19200bps, 1 start bit, and 8 data bit,
No parity check position, 1 stop position.
Target drone TT&C system remote-control data length is 10 bytes, and refresh rate requires to be not less than 5Hz；Telemetry length is 32
Byte, refresh rate will be averaging not less than 20Hz, and data frame structure is as follows.
Remote-control data frame structure:
Remote control command code redundant transmission takes 3 to sentence 2 error correction methods, it may be assumed that has 2 or more phases in 3 instruction codes received
Together, then same instructions code corresponds to effective telecommand.If corresponding telecommand carries remote regulating data, sentenced according to check code
The validity of disconnected remote regulating data.Check code is equal to command code, and into data information, byte presses byte summing value before check code.
Telemetry frame structure:
Telemetry is transmitted respectively by major and minor frame.Prime frame data send 1 in each telemetry refresh cycle
Secondary, mainly period of change is fast, refresh rate requirement is high, the higher data of different degree, such as pitch angle, roll angle, three shaft angles speed
Rate, each rudder face angle, longitude, latitude, instruction return and flight time etc..Subframe data press the corresponding different data group of subframe number
It closes, and is sent in turn by particular order, mainly sensing data and airborne equipment status data, the refresh rate of secondary intraframe data
For 1/5 (totally 5 groups of subframes) of telemetering refresh rate.Check code is equal to command code, and into data information, byte presses byte before check code
Summing value.
2) performance configuration
According to interface parameters setting it is found that the data of 1 byte are 10 corresponding, needed for transmission time be 10/
19.2ms, then Tk=10 × 10/19.2 ≈ 5ms, Tc=32 × 10/19.2 ≈ 17ms.F=fk=5Hz, fc=n × f, T=Tk+
n×Tc+(n+1)×Tb, TbMinimum value TbminThe minimum value T of=7ms, Tmin=5+17 × n+7 × (n+1), total time are abundant
Spend Ty=200-Tmin, each TbOn average time nargin Tyb=Ty/ (n+1), Tb=7+Tyb.The value of n is to telemetry communication
The influence of energy is as shown in table 1:
Influence of the value of 1 n of table to telemetry communication performance
User can choose different n values according to factors such as the reliability requirement of TT&C system and precision of timer；Time
Nargin is in TbOn distribution generally using integer distribute by the way of.
After comprehensively considering, target drone TT&C system chooses n=4, the T after being remotely controlled time slotb=27ms, the T after 4 telemetering time slotsb
=25ms.
Target drone TT&C system mainly completes following functions:
1) remote control and parameter bind function: industrial control computer by extension discrete template on the input port DIn with
The connection of telecommand keyboard, the variation of timing acquiring key generate corresponding telecommand according to the key pressed, are sent to serial ports
Signal distributor, then be forwarded to data radio station and send.Airborne data radio station sends it to number after receiving telecommand
Computer is managed according to acquisition and recording, flight-control computer is forwarded to after secondary coding, realizes distant control function.
2) telemetering and data display function: data acquiring and recording manages computer and receives completely from flight-control computer
Target drone Flight Condition Data, and the data for needing telemetering to pass down are therefrom picked, it is sent after secondary coding by airborne data radio station
It goes out.Ground data radio station receives telemetry, and is forwarded to industrial control computer by rs 232 serial interface signal distributor, and data are picked up
It is shown in telemetry interface after taking.
3) data record and playback function: on-board data acquisition and recording management computer will be sent from flight-control computer
The complete unmanned plane during flying status data come is recorded on the Compact Flash of extension；Ground control station industrial control computer will
Received telemetry is recorded as file；Both it can be called and play back.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understand without departing from the principles and spirit of the present invention, can to these embodiments carry out it is a variety of variation, modification, replacement and
Modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of target type unmanned plane single carrier frequency band full duplex telemetry communication method, which comprises the steps of:
1) ground control station and airborne detection and control terminal, which are initialized and be in, receives state；
2) data radio single in ground control station passes through communications with data radio single in airborne detection and control terminal and uses
TDD agreement establishes communication link between ground control station and airborne detection and control terminal；
Communications TDD agreement includes that TDD agreement frame structure, TDD agreement frame synchronization and TDD protocol communication are realized.
2. target according to claim 1 type unmanned plane single carrier frequency band full duplex telemetry communication method, it is characterised in that:
The TDD agreement frame structure includes capture burst frame, idle burst frame and data frame.
3. target according to claim 2 type unmanned plane single carrier frequency band full duplex telemetry communication method, it is characterised in that:
The capture burst frame is successively made of pre- code, synchronous code, synchronous code；The idle burst frame is successively by pre- code, synchronous code, shape
State code composition；The data frame is successively made of pre- code, synchronous code, command code, data information, stop code.
4. target according to claim 3 type unmanned plane single carrier frequency band full duplex telemetry communication method, it is characterised in that:
The pre- code is 1 byte, is used for bit synchronization；The synchronous code is 1 byte, for block synchronization and indicates a frame data
Start；The status code is 1 byte, high 4 be sender, low 4 be recipient, for mark data transmission direction；
The command code is 1 byte, is used to indicate behavior, the process or state that communication terminal is occurred；The data information is most
1 byte is data check code afterwards；The stop code is 2 bytes, for protecting to data before, while also being indicated
The end of data information.
5. target according to claim 4 type unmanned plane single carrier frequency band full duplex telemetry communication method, it is characterised in that:
The TDD protocol frame, which synchronizes, to be included the following steps:
1) recipient stores currently received byte and previous received byte using two 8 shift registers respectively,
A new position is often received, cyclic shift is just carried out；
2) byte being currently received is made comparisons with pre- code, if matching with pre- code, illustrates that bit synchronization is completed；
3) next byte is continued to, if next reception byte matches with synchronous code, illustrated block, which synchronizes, to be completed, frame synchronization
It has built up；Otherwise, step (4) are transferred to；
4) if next byte and synchronous code mismatch, the time of 2 bytes is waited, if not receiving synchronization in this period also
Then explanation is pseudo- synchronization to code, it is necessary to restart to carry out frame synchronization judgement；
5) recipient establishes the digit of carried out shifting function using frame synchronization under a counter records, arrives in next frame data
When coming, directly carries out required displacement and directly read follow-up data information.
6. target according to claim 5 type unmanned plane single carrier frequency band full duplex telemetry communication method, it is characterised in that:
After frame synchronization foundation, the realization of TDD protocol communication is carried out；The TDD protocol communication realizes to include that burst synchronization is established；It is described prominent
Synchronous establish of hair includes the following steps:
1) initialize: ground control station and airborne detection and control terminal are waited on an identical carrier frequency band all in state is received；
2) host first switchs to send state, sends a capture burst frame to slave；
3) after slave detects the capture burst frame that host is sent, switch to send state to one certification capture burst of host transmission
Frame；
4) after the certification that Host Detection to slave is sent captures burst frame, switch to send state to slave one idle burst of transmission
Frame；
5) when slave detects the idle burst frame that host is sent, and sender and recipient's successful match in status code,
Then switch to send state to host one certification idle burst frame of transmission, and starts the burst synchronization timer of slave；
6) after host receives the certification idle burst frame of slave, also start the burst synchronization timer of host；At this point, communicating pair
Burst synchronization is completed, communication link has built up；
7) host and slave are converted under the control of burst synchronization timer in the case where sending and receiving two states, alternate to send out
Send and receive data；
8) when communicating pair sign off, burst synchronization timer is closed.
7. target according to claim 6 type unmanned plane single carrier frequency band full duplex telemetry communication method, it is characterised in that:
The TDD protocol communication realization further includes time division data transmission；
The time division data transmission includes several Burst Periods；If each Burst Period include a remote control time slot and one or
Dry telemetering time slot, and a protection time slot is respectively equipped between adjacent remote control time slot and telemetering time slot, between adjacent telemetering time slot.
8. target according to claim 7 type unmanned plane single carrier frequency band full duplex telemetry communication method, it is characterised in that:
The TDD protocol communication realization further includes burst synchronization protection；When communicating step-out, the burst synchronization protection is for weight in time
New establish synchronizes, in order to avoid lose data.
9. target according to claim 8 type unmanned plane single carrier frequency band full duplex telemetry communication method, it is characterised in that:
The burst synchronization protection includes the following steps:
1) when airborne detection and control terminal detects communication mistake or time-out, then on next telemetering time slot transmission specific command code informing ground
Face station, and enter desynchronizing state, and enter step (2)；Or；If ground control station detects communication mistake or time-out,
Next remote control time slot sends specific command code and informs earth station, and enters desynchronizing state, and enter step (3)；
2) after ground control station receives the corresponding command code, also enter desynchronizing state, and start to re-execute burst synchronization and build
Vertical process；
3) after airborne detection and control terminal receives the corresponding command code, also enter desynchronizing state, both sides re-execute burst synchronization foundation
Process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811214705.8A CN109412776A (en) | 2018-10-18 | 2018-10-18 | A kind of target type unmanned plane single carrier frequency band full duplex telemetry communication method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811214705.8A CN109412776A (en) | 2018-10-18 | 2018-10-18 | A kind of target type unmanned plane single carrier frequency band full duplex telemetry communication method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109412776A true CN109412776A (en) | 2019-03-01 |
Family
ID=65468397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811214705.8A Pending CN109412776A (en) | 2018-10-18 | 2018-10-18 | A kind of target type unmanned plane single carrier frequency band full duplex telemetry communication method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109412776A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278273A (en) * | 2019-07-26 | 2021-01-29 | 罗嘉伟 | Multipurpose target drone of anti-unmanned aerial vehicle system and working method thereof |
| CN115441926A (en) * | 2022-08-02 | 2022-12-06 | 西安电子科技大学 | One-station multi-machine sub-control system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015020403A1 (en) * | 2013-08-09 | 2015-02-12 | Samsung Electronics Co., Ltd. | Hybrid duplex communication method, bs and terminal |
| CN105099585A (en) * | 2015-08-03 | 2015-11-25 | 陈昊 | Unmanned aerial vehicle signal processing device and signal processing method |
| CN107071923A (en) * | 2017-04-24 | 2017-08-18 | 南京邮电大学 | The detection of full-duplex communication and contention solution in a kind of band |
| CN207124622U (en) * | 2017-08-08 | 2018-03-20 | 歌尔股份有限公司 | Radio frequency transmission, reception device, receive-transmit system and unmanned plane, UAS |
-
2018
- 2018-10-18 CN CN201811214705.8A patent/CN109412776A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015020403A1 (en) * | 2013-08-09 | 2015-02-12 | Samsung Electronics Co., Ltd. | Hybrid duplex communication method, bs and terminal |
| CN105099585A (en) * | 2015-08-03 | 2015-11-25 | 陈昊 | Unmanned aerial vehicle signal processing device and signal processing method |
| CN107071923A (en) * | 2017-04-24 | 2017-08-18 | 南京邮电大学 | The detection of full-duplex communication and contention solution in a kind of band |
| CN207124622U (en) * | 2017-08-08 | 2018-03-20 | 歌尔股份有限公司 | Radio frequency transmission, reception device, receive-transmit system and unmanned plane, UAS |
Non-Patent Citations (1)
| Title |
|---|
| 杨柳庆，肖前贵: "一站多机式无人机测控系统", 《电光与控制》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278273A (en) * | 2019-07-26 | 2021-01-29 | 罗嘉伟 | Multipurpose target drone of anti-unmanned aerial vehicle system and working method thereof |
| CN115441926A (en) * | 2022-08-02 | 2022-12-06 | 西安电子科技大学 | One-station multi-machine sub-control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109212561A (en) | A kind of target one station multimachine telemetry communication method of type unmanned plane time division multiple acess | |
| CN112333739B (en) | Communication system and method | |
| US20220239440A1 (en) | Method for transmitting and receiving uplink signal in wireless communication system, and device therefor | |
| CN103490842B (en) | Data transmission system and method | |
| CN110401471A (en) | Communication means and device | |
| CN102868714A (en) | Wireless broadband communication system for large aircraft | |
| CN109412776A (en) | A kind of target type unmanned plane single carrier frequency band full duplex telemetry communication method | |
| CN101819711A (en) | 3G/4G communication technology-based remotely piloted system | |
| CN109803445A (en) | Communication means and device | |
| CN103501424A (en) | TDMA+TDD model high-speed image transmitting system, communication control method and working method | |
| CN203101647U (en) | Portable ADS-B (Automatic Dependent Surveillance-Broadcast) surveillance device based on 1090ES data link | |
| Bassoli et al. | CubeSat-based 5G cloud radio access networks: A novel paradigm for on-demand anytime/anywhere connectivity | |
| CN204376892U (en) | Transceiver, airborne data terminal, tracking telemetry and command station data terminal and Data-Link | |
| CN111130622A (en) | Novel cluster communication system based on multi-satellite link and communication method thereof | |
| CN116097847A (en) | Apparatus and method for wireless communication | |
| CN103702441A (en) | Space networking system based on satellite group | |
| CN106598037A (en) | UAV identity recognition system based on electronic information UAV control | |
| US20220158798A1 (en) | Method for reporting channel state information in wireless communication system, and apparatus therefor | |
| CN103856273A (en) | Method and device for correcting intermediate radio frequency channel between internal correcting RRUs | |
| CN105045241A (en) | UHF-based microsatellite group measurement and control system | |
| CN203466920U (en) | TDMA+TDD system-based high-speed image transmission communication system | |
| CN106686546B (en) | Ad hoc network intelligent wireless firepower control system | |
| Chen et al. | The design of data link for multi-UAVs | |
| CN102122472A (en) | Advertising machine system with remote timing function | |
| CN204392587U (en) | RFDC integrated terminal device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190301 |
|
| WD01 | Invention patent application deemed withdrawn after publication |