CN109444809A - A kind of UAV TT & C's method based on smart antenna - Google Patents
A kind of UAV TT & C's method based on smart antenna Download PDFInfo
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- CN109444809A CN109444809A CN201811275383.8A CN201811275383A CN109444809A CN 109444809 A CN109444809 A CN 109444809A CN 201811275383 A CN201811275383 A CN 201811275383A CN 109444809 A CN109444809 A CN 109444809A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
Abstract
The invention belongs to wireless test and control fields of communication technology, and in particular to a kind of UAV TT & C's method based on smart antenna.This method is according to observing and controlling base station known location and airborne POS data, real-time resolving goes out attitude of the unmanned plane with respect to observing and controlling base station, replace the computational problem of smart antenna angle-of- arrival estimation, further adjust array element weight, antenna radiation pattern main beam is made to be directed toward observing and controlling base station direction.The present invention is able to ascend UAV TT & C's distance, for load data acquisition and the processing of passback in real time provides higher-quality link condition, it can effectively avoid instantaneous measurement and control signal caused by blocking because of aircraft steering to lose, vehicle-mounted detection and control terminal can be solved simultaneously, more base station relay TT&C problems, extend application scenarios.
Description
Technical field
The invention belongs to wireless test and control fields of communication technology, and in particular to a kind of UAV TT & C side based on smart antenna
Method.
Background technique
Smart antenna be it is a kind of can by certain parameters or algorithm, be adaptively adjusted Transceiver Features to realize increasing
The array antenna of strong antenna performance, also referred to as digital beamforming antenna battle array.The feature of smart antenna maximum is due to its wave
The active directive property of beam can realize space division multiple access, and such communication feature can be improved power system capacity, reduce for road interference, reduction
Multipath effect influences, and can also realize sentencing for desired signal direction of arrival without reference to signal and training sequence
Not, it in mobile communication field relative maturity and plays an important role at present.
As the civilian unmanned plane application field of lightweight is more and more wider, market is fast-developing.How to be provided more for unmanned plane
Reliably, stablize, the telemetry communication link of high quality, while it is low also to take into account power consumption of communication module, cost, complexity, becomes and grinds
Study carefully hot spot.The unmanned plane scale of construction is small, and it is weak to carry ability, airborne equipment integrated level is required it is high, currently used airborne antenna still with
Based on omnidirectional antenna.Part research institution and manufacturer attempted by intelligent antenna technology be applied to antenna for base station, contradiction point be as
What realizes the quick resolving of Mutual coupling with low complex design, further reaches wave beam dynamic alignment.
The locating and tracking of unmanned plane and aerial survey are required to meet, need to obtain the information such as aircraft space position, attitude angle,
Unmanned plane equipped with GPS, IMU, barometer, can automatically generate airborne POS data, this just provides base to realization of the invention
Notebook data condition.
Summary of the invention
(1) technical problems to be solved
The present invention proposes a kind of UAV TT & C's method based on smart antenna, is based on solving how to realize to unmanned plane
The directive property observing and controlling of algorithm reduces system power dissipation, promotes observing and controlling distance and communication bandwidth, inhibits channel disturbance and multi-path jamming,
For unmanned plane long distance work, data acquire and return the technical issues of providing high-quality, stable link condition in real time.
(2) technical solution
In order to solve the above-mentioned technical problem, the present invention proposes a kind of UAV TT & C's method based on smart antenna, the nothing
Man-machine investigating method includes the following steps:
S1, antenna array beam direction resolve, and solve antenna surface with respect to the space pitching angle theta of ground observing and controlling base station and azimuth
φ
Projection is done to antenna surface according to Euler coordinate transfer principle to calculate, and acquires space converting vectorθ1、
φ1Antenna surface is respectively indicated with the trim and gun parallax between perspective plane, perspective plane is parallel to geoid, is highly aircraft
Highly:
Wherein, ω1、ω2、ω3The respectively roll angle of aircraft, pitch angle, yaw angle；
Using unmanned plane as origin, it is known that unmanned plane and base station two o'clock longitude and latitude acquire projection on the basis of geoid
Unmanned plane is the same as base station horizontal azimuth φ afterwards2With horizontal distance d, unmanned plane perspective plane is further acquired to base station pitching angle theta2:
NoteIndicate antenna floor projection to the position vector of base station, when using antenna surface as level surface, day
Linear array beam direction is the sum of two parts vector
AcquireWherein
S2, antenna array weight w (k) is calculated
Antenna array weight uses Kai Ze-Bezier weight:
wmn=am·bn
Wherein, am、bnIndicate the row, column weight of equidistant planar array antenna；
S3, array factor is solved
Wherein, AFx、AFyIndicate row, column array factor, βxAnd βyThe phase delay of x-axis and y-axis is respectively indicated, k indicates angle wave
Number, dxIndicate x-axis array element spacing, dyIndicate y-axis array element spacing, i is the row, column number of equidistant planar array antenna.
(3) beneficial effect
UAV TT & C's method proposed by the present invention based on smart antenna, according to observing and controlling base station known location and airborne
POS data, real-time resolving go out attitude of the unmanned plane with respect to observing and controlling base station, replace the calculating of smart antenna angle-of- arrival estimation
Problem further adjusts array element weight, and antenna radiation pattern main beam is made to be directed toward observing and controlling base station direction.The present invention is able to ascend nobody
Machine observing and controlling distance, for load data acquisition and the processing of passback in real time provides higher-quality link condition, can effectively avoid because flying
Machine steering instantaneous measurement and control signal caused by blocking is lost, while can solve vehicle-mounted detection and control terminal, and more base station relay TT&C problems expand
Application scenarios are opened up.
Detailed description of the invention
Fig. 1 is UAV TT & C of embodiment of the present invention method operating mode schematic diagram；
Fig. 2 is the Wave beam forming analogous diagram of the embodiment of the present invention.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to tool of the invention
Body embodiment is described in further detail.
The present embodiment proposes a kind of UAV TT & C's method based on smart antenna.
Smart antenna is broadly divided into two kinds of wave beam Control Coolings: fixed beam switches antenna and Adaptive beamformer day
Line.The realization that fixed beam switches antenna is more simple, but beam resolution is limited by antenna structure, and flexibility ratio is inadequate.Cause
This, the present embodiment final choice Adaptive beamformer antenna.In array antenna, antenna array far-field pattern is array element direction
Figure is with array factor directional diagram product, and wherein array element directional diagram is determined by the arrangement of array element geometry, therefore key to the issue is in unmanned plane
Hold dynamic solution antenna array factor.
UAV TT & C's method of the present embodiment, specifically comprises the following steps:
S1, antenna array beam direction resolve, and solve antenna surface with respect to the space pitching angle theta of ground observing and controlling base station and azimuth
φ
It is flat using rectangle to reduce influence of the structure to flying power as far as possible in view of antenna is mounted on unmanned plane
Planar array (analogue simulation uses 8*8 array element), antenna is mounted on aircraft lower abdomen, even if antenna position is the same as attitude angle datum point
It is overlapped, in order to calculate.
Know that airborne POS data is as follows:
Ground observing and controlling latitude and longitude of base station Z (xz,yz)。
It is designed by front it is found that carriage angle is the attitude angle of airborne antenna.
If airborne end, using antenna surface as level surface, problem becomes solving pitching angle theta of the antenna surface with respect to ground observing and controlling base station
With azimuth φ problem, it is calculated as
Known aircraft space attitude parameter does projection to antenna surface according to Euler coordinate transfer principle and calculates, acquires space
Converting vectorθ1、φ1Antenna surface is respectively indicated with trim and gun parallax between perspective plane, perspective plane is parallel to
Geoid is highly aircraft altitude.
Using unmanned plane as origin, it is known that unmanned plane and base station two o'clock longitude and latitude can acquire throwing on the basis of geoid
Movie queen's unmanned plane is the same as base station horizontal azimuth φ2With horizontal distance d, further unmanned plane perspective plane can be asked to base station pitching angle theta2:
Ordinary circumstance is because of d > > h, it is believed that θ2=0, temporarily retain herein,
NoteIndicate antenna floor projection to the position vector of base station.When using antenna surface as level surface, day
Linear array beam direction is the sum of two parts vector
AcquireWherein
S2, antenna array weight w (k) is calculated
The equidistant planar array antenna of 8*8 can be considered 8 line arrays of 8 array elements,
wmn=am·bn, (am、bnIndicate row, column weight)
Antenna array weight preferentially uses Kai Ze-Bezier weight, and reason is that the wave beam as uniform weight can be kept wide
While spending, antenna array sidelobe level is minimum.Binomial weight or Gauss weight can also be used.
S3, array factor is solved
The array antenna arranged in the form of two-way array, directional diagram meet ranks product principle.
Therefore, array factor AF meets:
Wherein AFx、AFyIndicate row, column array factor, βxAnd βyIndicate the phase delay of x-axis and y-axis, k indicates angular wave number, dx
Indicate x-axis array element spacing, dyIndicate y-axis array element spacing.
S4, analog simulation: antenna array dx=dy=0.5 λ, θ0=30 °, φ=45 °, λ is the electromagnetic wave wave of Antenna Operation
Long, antenna array weight takes Kai Ze-Bezier weight, by Fig. 2 analogous diagram it is found that drafting directional aerial gain significantly and without obvious
Secondary lobe.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of UAV TT & C's method based on smart antenna, which is characterized in that UAV TT & C's method includes as follows
Step:
S1, antenna array beam direction resolve, and solve space pitching angle theta and azimuth φ of the antenna surface with respect to ground observing and controlling base station
Projection is done to antenna surface according to Euler coordinate transfer principle to calculate, and acquires space converting vectorθ1、φ1
Antenna surface is respectively indicated with the trim and gun parallax between perspective plane, perspective plane is parallel to geoid, is highly aircraft height
Degree:
Wherein, ω1、ω2、ω3The respectively roll angle of aircraft, pitch angle, yaw angle；
Using unmanned plane as origin, it is known that unmanned plane and base station two o'clock longitude and latitude acquire nothing after projection on the basis of geoid
Man-machine same base station horizontal azimuth φ2With horizontal distance d, unmanned plane perspective plane is further acquired to base station pitching angle theta2:
NoteIndicate antenna floor projection to the position vector of base station, when using antenna surface as level surface, antenna array
Beam direction is the sum of two parts vector
AcquireWherein
S2, antenna array weight w (k) is calculated
Antenna array weight uses Kai Ze-Bezier weight:
wmn=am·bn
Wherein, am、bnIndicate the row, column weight of equidistant planar array antenna；
S3, array factor is solved
Wherein, AFx、AFyIndicate row, column array factor, βxAnd βyThe phase delay of x-axis and y-axis is respectively indicated, k indicates angular wave number, dx
Indicate x-axis array element spacing, dyIndicate y-axis array element spacing, i is the row, column number of equidistant planar array antenna.
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| CN110635830A (en) * | 2019-09-30 | 2019-12-31 | 北京信成未来科技有限公司 | Unmanned aerial vehicle measurement and control cellular communication method based on TS-ALOHA |
| CN110635831A (en) * | 2019-09-30 | 2019-12-31 | 北京信成未来科技有限公司 | FDMA-based unmanned aerial vehicle measurement and control cellular communication method |
| CN110677917A (en) * | 2019-09-30 | 2020-01-10 | 北京信成未来科技有限公司 | Unmanned aerial vehicle measurement and control cellular communication method based on CS-ALOHA |
| CN111342875A (en) * | 2020-03-04 | 2020-06-26 | 电子科技大学 | Unmanned aerial vehicle communication robust beam forming method based on DoA estimation |
| CN111624414A (en) * | 2020-05-09 | 2020-09-04 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Method for assisting in testing antenna directional diagram in large-maneuvering flight state by unmanned aerial vehicle |
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| CN111342875A (en) * | 2020-03-04 | 2020-06-26 | 电子科技大学 | Unmanned aerial vehicle communication robust beam forming method based on DoA estimation |
| CN111342875B (en) * | 2020-03-04 | 2021-01-26 | 电子科技大学 | Unmanned aerial vehicle communication robust beam forming method based on DoA estimation |
| CN111624414A (en) * | 2020-05-09 | 2020-09-04 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Method for assisting in testing antenna directional diagram in large-maneuvering flight state by unmanned aerial vehicle |
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