CN110176955A - UAV Communication base station, communication system and communication system construction method - Google Patents
UAV Communication base station, communication system and communication system construction method Download PDFInfo
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- CN110176955A CN110176955A CN201910583444.5A CN201910583444A CN110176955A CN 110176955 A CN110176955 A CN 110176955A CN 201910583444 A CN201910583444 A CN 201910583444A CN 110176955 A CN110176955 A CN 110176955A
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- base station
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- communication base
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- unmanned aerial
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Abstract
The present invention provides the construction method of a kind of UAV Communication base station, communication system and communication system, UAV Communication base station, including multi-rotor unmanned aerial vehicle, base station equipment, antenna for base station and main control unit, base station equipment and antenna for base station are connected with each other and are arranged in multi-rotor unmanned aerial vehicle；Main control unit is all connected with each driving motor, base station equipment and antenna for base station；Wherein, by antenna for base station, communication base station emits radiofrequency signal to establish communication connection with ground communication base station to base station equipment to the ground, and main control unit is used to control the state of flight of multi-rotor unmanned aerial vehicle and the communication process of base station equipment and ground communication base station.It can satisfy the load requirement of communication base station, communication network is smaller by external action, communication quality is higher and mobility and adaptability are all relatively strong.Solve the problems, such as that the carrier platform that high altitude communication base station in the prior art uses is difficult to adapt to high-altitude wireless communication to be of limited application.
Description
Technical field
The present invention relates to a kind of UAV Communication base stations, the construction method of communication system and communication system.
Background technique
Communication base station refers to by carrying out the wireless of information transmitting between mobile switching center and mobile telephone terminal
Electricity transmitting-receiving letter radio station, has the communication and management function completed between mobile radio communication and mobile communication subscriber, is composition movement
The basic unit of communication network.
However when natural disaster or accident etc. or artificially sudden emergency occurs, current fixed communication base station
Destruction be will cause so as to cause communication disruption.In order to cope with emergency situations, guarantees emergency communication, generally use high altitude communication at present
Base station is as emergency communication equipment.
Existing high altitude communication base station carrier common are that be tethered at unmanned plane, fixed-wing power unmanned plane and fire balloon etc. floating
Pocket.
Unmanned plane is tethered at by external cable power supply, is tethered at that unmanned plane figure is smaller, while needing to undertake the weight of tether cable
Amount, load is very limited, is difficult to adapt to the load requirement of communication base station；In addition, high aerial air-flow environment is more complicated, it is tethered at cable
Rope can also generate interference to unmanned plane, therefore the wicking height of captive unmanned plane has certain limitation, and low latitude electromagnetic environment
Noise is higher, is affected to base station performance, and the landform such as the building in city or hills, which can also have communication signal, significantly blocks,
Which has limited the application ranges of captive unmanned plane；
Fixed-wing power unmanned plane during flying speed is fast, and voyage is remote, and endurance is long, but landing limited by place it is relatively more.Meanwhile
Fixed-wing unmanned plane cruising speed is very fast, influences the quality of the transmission of wireless communication；And complicated operation.
Fire balloon is bulky, lifting is difficult, and inflation prepares and recovery time is long, and mobility and adaptability are all poor, together
There is also security risks for the mode of Shi Caiyong hydrogen or fuel heating air.
Summary of the invention
The main purpose of the present invention is to provide the establishments of a kind of UAV Communication base station, communication system and communication system
Method, at least to solve the carrier platform that high altitude communication base station in the prior art uses.Be difficult to adapt to high-altitude wireless communication from
And the problem of being of limited application.
To achieve the goals above, according to the first aspect of invention, a kind of UAV Communication base station is provided, including more
Rotor wing unmanned aerial vehicle, base station equipment, antenna for base station and main control unit, multi-rotor unmanned aerial vehicle have multiple driving motors, each drive
Rotor is provided on the output shaft of dynamic motor；Base station equipment and antenna for base station are connected with each other and are arranged in multi-rotor unmanned aerial vehicle；
Main control unit is all connected with each driving motor, base station equipment and antenna for base station；Wherein, base station equipment by antenna for base station to
Ground communication Base Transmitter radiofrequency signal with ground communication base station establish communicate to connect, main control unit for control more rotors without
The communication process of man-machine state of flight and base station equipment and ground communication base station.
Further, UAV Communication base station further include: power battery pack is arranged in multi-rotor unmanned aerial vehicle, power electric
Pond group is for storing electric energy；Power Management Unit is arranged in multi-rotor unmanned aerial vehicle, Power Management Unit and power battery pack,
Each driving motor, base station equipment, antenna for base station and main control unit are all connected with；Wherein, power battery pack passes through power management
Unit is powered to each driving motor, base station equipment, antenna for base station and main control unit, and main control unit is also used to power management
The course of work of unit is controlled.
Further, UAV Communication base station further include: wireless charging receiver is arranged in multi-rotor unmanned aerial vehicle simultaneously
It is connect with power battery pack, wireless charging receiver is for passing through ground when multi-rotor unmanned aerial vehicle drops to ground predetermined position
Face wireless charging device is power battery pack charging；Photovoltaic charging unit, be arranged in multi-rotor unmanned aerial vehicle and with it is dynamic
The connection of power battery pack, photovoltaic charging unit is for converting solar energy into electrical energy as power battery pack charging；Wherein,
Main control unit and wireless charging receiver and photovoltaic charging unit are all connected with to wireless charging receiver and too
The course of work of the positive photovoltaic charged device of energy is controlled.
Further, UAV Communication base station further include: GPS positioning unit, be arranged in multi-rotor unmanned aerial vehicle and with master
Control unit connection；Wherein, GPS positioning unit is used to obtain the longitude, latitude and airspeed information of multi-rotor unmanned aerial vehicle, and
Longitude, latitude and the airspeed information that will acquire are sent to main control unit, and main control unit is used for according to multi-rotor unmanned aerial vehicle
Longitude, latitude and airspeed information control multi-rotor unmanned aerial vehicle state of flight and flight path.
Further, UAV Communication base station further include: sensor unit, be arranged in multi-rotor unmanned aerial vehicle and and master control
Unit connection；Wherein, sensor unit is used to obtain the specific force acceleration value of three axial directions of multi-rotor unmanned aerial vehicle, three axial directions
Magnitude of angular velocity, the field strength values of three axial directions and height value and the specific force acceleration value for three axial directions that will acquire, three
Axial magnitude of angular velocity, three axial directions field strength values and height value is sent to main control unit so that main control unit determination is more
The flight attitude and flight path of rotor wing unmanned aerial vehicle simultaneously adjust the flight attitude of multi-rotor unmanned aerial vehicle.
Further, UAV Communication base station further include: video record unit and audio recording unit, video record unit
It is arranged in multi-rotor unmanned aerial vehicle with audio recording unit and is connect with main control unit；Wherein, video record unit is used for
Ground video data is shot in multi-rotor unmanned aerial vehicle flight course；Audio recording unit is used in multi-rotor unmanned aerial vehicle flight course
Middle recording audio data；Main control unit is also used to control the course of work of video record unit and audio recording unit.
According to the second aspect of invention, a kind of communication system is provided, comprising: UAV Communication base station, unmanned plane are logical
Believe that base station is the UAV Communication base station of above content, UAV Communication base station is for flying to preset height to form aerial shifting
Dynamic base station platform；Ground communication base station, ground communication base station is by Wired communication pathways and/or wireless communication and/or defends
Star communication channel and core network, which are established, to be communicated to connect；Ground maneuvers unit is connect with ground communication base station；Wherein, unmanned plane
Communication base station is for the transmitting radiofrequency signal of communication base station to the ground to establish communication link by ground communication base station and core network
It connects and/or is directly established by satellite communication channel and core network and communicated to connect；Ground maneuvers unit is used for logical by ground
Believe that the main control unit of base station and each UAV Communication base station establishes communication connection to dispatch and manage each UAV Communication base
State of flight, flight path track and the flight attitude stood.
Further, UAV Communication base station includes power battery pack and Power Management Unit, and power battery pack passes through electricity
Source control unit is powered to the driving motor of UAV Communication base station, base station equipment and antenna for base station；UAV Communication system
Further include: ground charging platform is connect with ground maneuvers unit；Wherein, ground charging platform is used in UAV Communication base station
It charges when dropping on the charging platform of ground to the power battery pack of UAV Communication base station；Ground maneuvers unit is also used to dispatch
And manage UAV Communication base station charging process.
Further, UAV Communication system further include: mobile vehicle communication, ground communication base station, ground maneuvers unit with
And ground charging platform is arranged on mobile vehicle communication.
In terms of according to the third of invention, a kind of construction method of communication system is provided, the construction method is for setting up
Above-mentioned communication system, construction method include: that multiple UAV Communication base stations are transported near target networking place；According to group
It flies to target networking place top and rises to pre- in the UAV Communication base station of the bandwidth demand scheduling respective numbers of establishing network
If height；UAV Communication base station emits radiofrequency signal by communication base station to the ground to pass through ground communication base station and backbone network
Network establishes communication connection and/or directly establishes communication connection and/or multiple unmanned planes by satellite communication channel and core network
Communication base station is by mutually transmitting radiofrequency signal to set up independent communication networks.
Using the UAV Communication base station of technical solution of the present invention, including multi-rotor unmanned aerial vehicle, base station equipment, antenna for base station
And main control unit, multi-rotor unmanned aerial vehicle have multiple driving motors, are provided with rotor on the output shaft of each driving motor；Base
Station equipment and antenna for base station are connected with each other and are arranged in multi-rotor unmanned aerial vehicle；Main control unit is set with each driving motor, base station
Standby and antenna for base station is all connected with；Wherein, base station equipment by antenna for base station to the ground communication base station emit radiofrequency signal with
Ground communication base station establish communication connection, main control unit be used for control multi-rotor unmanned aerial vehicle state of flight and base station equipment with
The communication process of ground communication base station.Load requirement, the communication network that can satisfy communication base station be smaller by external action, communication
Quality is higher and mobility and adaptability are all relatively strong.It is difficult to solve the carrier platform that high altitude communication base station in the prior art uses
To adapt to the problem of high-altitude wireless communication is to be of limited application.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is optional a kind of structural block diagram of UAV Communication base station according to embodiments of the present invention；
Fig. 2 is the knot of multi-rotor unmanned aerial vehicle used by optionally a kind of UAV Communication base station according to embodiments of the present invention
Structure schematic diagram；
Fig. 3 is optional a kind of structural block diagram of communication system according to embodiments of the present invention；
Fig. 4 is positioning principle signal when a kind of optional UAV Communication base station is charged according to embodiments of the present invention
Figure.
Wherein, the above drawings include the following reference numerals:
10, multi-rotor unmanned aerial vehicle；11, driving motor；12, rotor；20, base station equipment；30, antenna for base station；40, master control list
Member；50, power battery pack；60, Power Management Unit；70, wireless charging receiver；71, wireless charging receiving antenna；72,
Rectification transformating circuit；80, photovoltaic charging unit；81, solar battery group；82, DC transfer circuit；90, GPS positioning
Unit；100, sensor unit；110, video record unit；120, audio recording unit；130, UAV Communication base station；140,
Ground communication base station；150, ground maneuvers unit；170, ground charging platform；171, power supply；172, inverter circuit；173,
Wireless charging transmitting antenna；174, charging control unit；180, supersonic generator；190, ultrasonic receiver.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
UAV Communication base station according to an embodiment of the present invention, as depicted in figs. 1 and 2, including multi-rotor unmanned aerial vehicle 10, base
Station equipment 20, antenna for base station 30 and main control unit 40, multi-rotor unmanned aerial vehicle 10 have multiple driving motors 11, each driving electricity
Rotor 12 is provided on the output shaft of machine 11；Base station equipment 20 and antenna for base station 30 are connected with each other and multi-rotor unmanned aerial vehicle are arranged in
On 10；Main control unit 40 is all connected with each driving motor 11, base station equipment 20 and antenna for base station 30；Wherein, base station equipment
20 pass through antenna for base station 30, and communication base station emits radiofrequency signal to establish communication connection, master control list with ground communication base station to the ground
Member 40 is for controlling the state of flight of multi-rotor unmanned aerial vehicle 10 and the communication process of base station equipment 20 and ground communication base station.Energy
Enough meet the load requirement of communication base station, communication network is smaller by external action, communication quality is higher and mobility and adaptability
It is all relatively strong.It solves the carrier platform that high altitude communication base station in the prior art uses and is difficult to adapt to high-altitude wireless communication to answer
The problem of with being limited in scope.
When it is implemented, UAV Communication base station further includes power battery pack 50 and Power Management Unit 60, power battery
Group 50 and Power Management Unit 60 are arranged in multi-rotor unmanned aerial vehicle 10, and power battery pack 50 is for storing electric energy, power supply pipe
Reason unit 60 connects with power battery pack 50, each driving motor 11, base station equipment 20, antenna for base station 30 and main control unit 40
It connects；Wherein, power battery pack 50 passes through Power Management Unit 60 to each driving motor 11, base station equipment 20, antenna for base station 30
And main control unit 40 is powered, main control unit 40 by Power Management Unit 60 to the powered operation process of power battery pack 50 into
Row control.
In order to guarantee that multi-rotor unmanned aerial vehicle 10 can be long lasting for work, to guarantee the stable operation of communication network.
UAV Communication base station further includes wireless charging receiver 70 and photovoltaic charging unit 80, wireless charging receiver
70 and photovoltaic charging unit 80 be arranged in multi-rotor unmanned aerial vehicle 10 and connect with power battery pack 50, wireless charging
Reception device 70 is used to when multi-rotor unmanned aerial vehicle 10 drops to ground predetermined position be power by terrestrial wireless charging equipment
Battery pack 50 charges；Photovoltaic charging unit 80 is for converting solar energy into electrical energy as the charging of power battery pack 50；
Main control unit 40 and wireless charging receiver 70 and photovoltaic charging unit 80 are all connected with to receive and fill to wireless charging
Set 70 and photovoltaic charging unit 80 control.
In order to which state of flight, flight path and the flight attitude to multi-rotor unmanned aerial vehicle 10 are adjusted, unmanned plane is logical
Believe that base station further includes GPS positioning unit 90 and sensor unit 100, GPS positioning unit 90 and sensor unit 100 are arranged at
It is connect in multi-rotor unmanned aerial vehicle 10 and with main control unit 40；GPS positioning unit 90 be used for obtain multi-rotor unmanned aerial vehicle 10 longitude,
Latitude and airspeed information, and longitude, latitude and the airspeed information that will acquire are sent to main control unit 40, master control
Unit 40 is used to control flying for multi-rotor unmanned aerial vehicle 10 according to the longitude, latitude and airspeed information of multi-rotor unmanned aerial vehicle 10
Row state and flight path；Sensor unit 100 is used to obtain the specific force acceleration value of 10 3 axial directions of multi-rotor unmanned aerial vehicle, three
The specific force acceleration of a axial magnitude of angular velocity, the field strength values of three axial directions and height value and three axial directions that will acquire
Value, the magnitude of angular velocity of three axial directions, three axial directions field strength values and height value is sent to main control unit 40 so that master control
The flight attitude and flight path of the determining multi-rotor unmanned aerial vehicle 10 of unit 40 simultaneously adjust the flight attitude of multi-rotor unmanned aerial vehicle 10.
UAV Communication base station further includes video record unit 110 and audio recording unit 120, video record unit 110
It is arranged in multi-rotor unmanned aerial vehicle 10 with audio recording unit 120 and is connect with main control unit 40；Video record unit 110 is used
In the shooting ground video data in 10 flight course of multi-rotor unmanned aerial vehicle；Audio recording unit 120 be used for more rotors nobody
Recording audio data in 10 flight course of machine；Main control unit 40 is also used to control video record unit 110 and audio recording unit
120 course of work.
According to the second of invention embodiment, a kind of communication system is provided, as shown in figures 1 and 3, including unmanned plane is logical
Believe base station 130, ground communication base station 140 and ground maneuvers unit 150, UAV Communication base station 130 is above-described embodiment
UAV Communication base station, UAV Communication base station 130 can be one or more, one or more UAV Communication base stations 130
For flying to preset height to form aerial mobile base station platform；Ground communication base station 140 by Wired communication pathways and/or
Wireless communication and/or satellite communication channel and core network, which are established, to be communicated to connect；UAV Communication base station 130 is used for ground
Face communication base station 140 emits radiofrequency signal by ground communication base station 140 and core network foundation communication connection and/or directly
It is established and is communicated to connect by satellite communication channel and core network, UAV Communication base station 130 is in the case where multiple, Ge Gewu
Man-machine communication base station 130 is also used to by emitting radiofrequency signal mutually to set up independent communication networks；Ground maneuvers unit 150 with
Ground communication base station 140 connects；Ground maneuvers unit 150 is used for through ground communication base station 140 and each UAV Communication base
Stand 130 main control unit 40 establish communication connection with dispatch and manage each UAV Communication base station 130 state of flight, flight
Route track and flight attitude.So as to establish stable telecommunication network, emergency situations are coped with, guarantee emergency communication.
In order to guarantee each persistently continuation of the journey of multi-rotor unmanned aerial vehicle 10, to guarantee the stable operation of communication network, unmanned plane
Communication system further includes ground charging platform 170, and ground charging platform 170 is connect with ground maneuvers unit 150；Ground chargin level
Platform 170 is for the moving to UAV Communication base station 130 when UAV Communication base station 130 drops on ground charging platform 170
Power battery pack 50 charges；Ground maneuvers unit 150 is also used to dispatch and manage multiple 130 charging processes of UAV Communication base station.
In order to adapt to the mobility demand of communication network, further, UAV Communication system further includes movement
Communication truck, mobile vehicle communication are one or more, are provided with a set of ground communication base station 140, ground on each mobile vehicle communication
Scheduling unit 150 and ground charging platform 170, one or more UAV Communication base stations 130 pass through a corresponding movement
Ground communication base station 140 and core network on communication truck, which are established, to be communicated to connect；Ground on a corresponding mobile vehicle communication
Scheduling unit 150 is used to dispatch and manage state of flight, the flight path of corresponding one or more UAV Communications base station 130
Track and flight attitude.Ground charging platform 170 on each mobile vehicle communication be responsible for it is corresponding it is one or more nobody
Machine communication base station 130 charges.Ground communication base station in the case where multiple mobile vehicle communications, on each mobile vehicle communication
140 can also establish communication connection between each other.
According to the third embodiment of invention, a kind of construction method of communication system is provided, which is used for group
The communication system of above-described embodiment is built, which includes:
S102: multiple UAV Communication base stations 130 are transported near target networking place；
S104: it is flown according to the UAV Communication base station 130 that the bandwidth demand of building network dispatches respective numbers to target
Above networking place and rise to preset height；
S106: UAV Communication base station 130 emits radiofrequency signal by communication base station 140 to the ground to pass through ground communication
Base station 140 and core network are established communication connection and/or are directly established by satellite communication channel and core network and communicated to connect
And/or multiple UAV Communication base stations 130 are by emitting radiofrequency signal mutually to set up independent communication networks.So as to answer
Fast module Emergency Communications Network in anxious situation guarantees emergency communication
In practical applications, communication base station of multiple 130 a part of UAV Communication base station as networking, a part of conduct
Spare communication base station.Base station equipment 20 on UAV Communication base station 130 is made of base band and radio-frequency module etc..Power battery pack
50 can be made of rechargeable lithium battary etc..
The charging input end mouth and wireless charging receiver 70 and photovoltaic charging unit 80 of power battery pack 50
Connection, the output port of power battery pack 50 connect with Power Management Unit 60, Power Management Unit 60 boost including multiple or
DC/DC conversion circuit, voltage regulator circuit, output equalizing circuit and the output switching circuit composition of decompression, export by main control unit
40 controls.The output of power battery pack 50 is connected to each driving motor 11 after the conversion of Power Management Unit 60, base station is set
Standby 20, other equipment loads, GPS positioning unit 90, sensor unit 100 and main control unit 40, power for above equipment.Driving
Motor 11 is connect with each rotor 12 of multi-rotor unmanned aerial vehicle 10, and driving motor 11 drives corresponding rotor rotational when rotating.Master control
The control input/output terminal of unit 40 is connect with wireless charging receiver 70 and photovoltaic charging unit 80, and with driving
Motor 11, rotor 12, base station equipment 20, other equipment loads, GPS positioning unit 90, sensor unit 100 connect, above-mentioned to set
By the control for arriving main control unit 40.The load that multi-rotor unmanned aerial vehicle 10 is carried also is recorded equipped with video in addition to base station equipment 20
Other equipment loads such as unit 110 and audio recording unit processed more preferably to meet the needs of communication system foundation, or undertake simultaneously
Other functional tasks.
Ground installation corresponding with UAV Communication base station 130 is generally mainly by one or more carrying ground communication base
It stands the mobile vehicle communication composition of 140, ground maneuvers unit 150 and ground charging platform 170.Ground communication base station 140 passes through
Wired communication pathways, wireless communication or satellite communication channel are communicated with core network.The group of UAV Communication base station 130
Net mode includes the independence networking or passback ground communication base station 140 connection core network between each UAV Communication base station 130
Two ways.It is a variety of that base station equipment 20 can be ad hoc network radio station, cluster femto cell, LTE femto cell, the base station NB-loT etc.
Communication payload, base station equipment 20 are connect with antenna for base station 30, antenna for base station 30 according to the requirement of base station equipment 20 and constructing communication network,
The forms such as ceiling mount antenna, omnidirectional antenna or directional aerial may be selected.When needing to establish Emergency Communications Network, one or more is taken
Mobile vehicle communication with UAV Communication base station 130 enters target location or near zone, and a frame or multiple UAVs communicate base
Stand 130 after the instruction for receiving ground maneuvers unit 150 lift-off flight and rise to object height to target location, unmanned plane
Communication base station 130 carries out data exchange as mobile base station and ground communication base station 140 or telecommunication satellite, and then is connected to trunk
Network, foundation restore communication network.
The flight of multi-rotor unmanned aerial vehicle 10 autonomous flight under the control of ground maneuvers unit 150, multi-rotor unmanned aerial vehicle 10
Can an intelligent key take off, automatic cruising and landing.Flight path track and flying height are direct by ground maneuvers unit 150
It sets and plans on map, multi-rotor unmanned aerial vehicle 10 can make orbit in target area pitch of the laps, can also hover automatically
In target area overhead, and the movement of some target such as mobile vehicle communication is followed automatically and changes air position.
In entire flight course, the main control unit 40 of multi-rotor unmanned aerial vehicle 10 by acquisition GPS positioning unit 90 and is passed
The normal flight of the entire unmanned plane of the information realization of sensor cell 100.GPS is mainly used for obtaining the current longitude of unmanned plane, latitude
The information such as degree, flying speed, and believed the flight path of unmanned plane and change in location by the communication between ground and unmanned plane
Breath is transmitted to ground maneuvers management system.GPS positioning unit 90 generally comprises three axis accelerometer, three-axis gyroscope, three axis magnetic
Power meter and barometer can also configure other required sensors such as temperature sensor and humidity sensor.Main control unit 40 is logical
The specific force acceleration value of 10 3 axial directions of multi-rotor unmanned aerial vehicle can be measured by crossing three axis accelerometer, can be with by three-axis gyroscope
The magnitude of angular velocity for measuring three axial directions can measure the magnetic field strength of 10 3 axial directions of multi-rotor unmanned aerial vehicle by three axle magnetometer
Value, the height value of multi-rotor unmanned aerial vehicle 10 can be calculated by barometrical measurement data.The master control of multi-rotor unmanned aerial vehicle 10
Unit 40 is the nucleus module for controlling autonomous flight, and main control unit 40 determines multi-rotor unmanned aerial vehicle 10 by acquiring above- mentioned information
State of flight, flight path track and flight attitude control turn of each driving motor 11 and rotor 12 further according to winged control algorithm
It is dynamic, so as to adjust the flight attitude and flight path of multi-rotor unmanned aerial vehicle 10.
The part design installation photovoltaic that surface can be shined upon in 10 flight course of multi-rotor unmanned aerial vehicle fills
Electric installation 80, photovoltaic charging unit 80 include solar battery group 81 and corresponding DC transfer circuit 82, solar energy
Battery pack can be by polycrystal silicon cell, monocrystalline silicon battery, hetero-junction solar cell, hull cell, perovskite battery, dye sensitization electricity
One or more of compositions of the solar batteries such as pond, gallium arsenide cells, solar battery group are specified according to power battery pack 50
Charging voltage at a battery pack, shines upon the sun in 10 flight course of multi-rotor unmanned aerial vehicle by series connection and parallel combination
DC current can be generated in battery pack, be input to charging port by DC transfer circuit as the charging of power battery pack 50.
Multi-rotor unmanned aerial vehicle 10 is in flight course, and spare one or more groups of multi-rotor unmanned aerial vehicles 10 are in ground chargin level
On platform 170 charging await orders, when the electricity of the power battery pack 50 of multi-rotor unmanned aerial vehicle 10 in-flight drop to secure threshold with
When lower, ground maneuvers unit 150 issues instruction, and the spare multi-rotor unmanned aerial vehicle 10 of deck alert, which is taken off, takes over more rotations of low battery
Wing unmanned plane 10 continues to complete communication task, and aerial low battery multi-rotor unmanned aerial vehicle 10 is maked a return voyage, and drops to ground charging automatically
It charges on platform 170.
The wireless charging receiving antenna 71 of wireless charging receiver 70 is mounted on the bottom of 10 load of multi-rotor unmanned aerial vehicle,
It is connect by the carrier structure that a nonmetallic materials make with 10 ontology of multi-rotor unmanned aerial vehicle.Ground charging platform 170 is general
It is mounted in move vehicle, the power supply 171 of ground charging platform 170 can vehicle power supply, backup battery by move vehicle
Group, earthbound solar energy electricity generation system or other backup power supply forms are inputted from supply port, are designed as direct current supply.
In 10 flight course of multi-rotor unmanned aerial vehicle, the power electric of the meeting real-time monitoring multi-rotor unmanned aerial vehicle 10 of main control unit 40
The remaining capacity of pond group 50 and the real-time coordinates information of multi-rotor unmanned aerial vehicle 10 calculate and return to nearest ground charging platform 170
Flight time and required battery capacity, when the remaining capacity and solar battery group of power battery pack 50 currently can stablize offer
The sum of the electricity electricity close to needed for returning to nearest ground charging platform 170 when, main control unit 40 and ground charging platform
170 charging control unit 174, which is established wireless communication and connected, simultaneously to be started to make a return voyage, multi-rotor unmanned aerial vehicle 10 by positioning device and
The wireless charging transmitting antenna of self-position and ground charging platform 170 is determined with the communication connection of charging control unit 174
173 position, and guide multi-rotor unmanned aerial vehicle 10 back to ground charging platform 170, and by wireless charging receiving antenna 71
Land after the coil of the wireless charging transmitting antenna 173 of coil alignment ground charging platform 170.
Positioning device is provided in multi-rotor unmanned aerial vehicle 10, positioning device includes being mounted in multi-rotor unmanned aerial vehicle 10
GPS positioning unit 90, sensor unit 100 and supersonic generator 180 and the ultrasound being arranged on ground charging platform 170
Wave receiver 190, ultrasonic receiver 190 are configured with corresponding A/D conversion circuit and filter circuit.
When multi-rotor unmanned aerial vehicle 10, which is maked a return voyage, to be needed to charge, the charge control of main control unit 40 and ground charging platform 170
Unit 174 establishes wireless communication connection by communication network, is led using the combination of GPS positioning unit 90 and sensor unit 100
Boat realizes Primary Location, wherein high-precision differential GPS positioning unit can be used in GPS positioning unit 90, and precision can achieve
Centimeter Level, but the pinpoint needs of wireless charging can't be fully met.When multi-rotor unmanned aerial vehicle 10 passes through GPS positioning unit
90 and 100 integrated positioning of sensor unit fly to 170 overhead of ground charging platform, and according to 90 He of GPS positioning unit
Sensor unit 100 combines achieved precision and completes after positioning in the air, and multi-rotor unmanned aerial vehicle 10 starts with ultrasonic wave hair
Raw device 180 and ultrasonic receiver 190 enter high-precision fixed bit pattern.Wherein, supersonic generator 180 is mounted on wireless charging
On the hub of a spool point or central point axially-extending line of receiving antenna 71；Ultrasonic receiver 190 be it is multiple, in the present embodiment
In, ultrasonic receiver 190 is three, and three ultrasonic receivers 190 are installed point-blank, as shown in figure 4, such as three
A ultrasonic receiver 190 is respectively receiver A, receiver B and receiver C, and receiver B is mounted on intermediate and and wireless charging
The central point of the coil of transmitting antenna 173 is overlapped, receiver A and receiver C points of column both ends, between receiver B and receiver A
Distance is equal with the distance between receiver B and receiver C.
The revolving speed of each driving motor of adjustment multi-rotor unmanned aerial vehicle 10 makes multi-rotor unmanned aerial vehicle 10 outstanding when positioning is implemented
It is parked at aerial G point, is a apart from ground level, wherein the height of multi-rotor unmanned aerial vehicle 10 can pass through sensor unit 100
In barometrical measurement data be calculated.Multi-rotor unmanned aerial vehicle 10 is launched in positioning using supersonic generator 180
Ultrasonic signal, and constantly searched for centered on receiver B around receiver B, finally make the equal energy of each ultrasonic receiver 190
The ultrasonic signal for receiving the sending of supersonic generator 180, after the ultrasonic signal that ultrasonic receiver 190 receives by
The analog input of the charging control unit 174 of ground ground charging platform 170 is sent to after filter circuit and the conversion of A/D conversion circuit
Interface.Due to the limitation of 100 positioning accuracy range of GPS positioning unit 90 and sensor unit, multi-rotor unmanned aerial vehicle 10 may stop
It stays on some position for deviateing receiver B certain distance.The ultrasonic signal received with each ultrasonic receiver 190
The time difference that time and supersonic generator 180 emit ultrasonic wave is calculated as T, can (C is the aerial biography of ultrasonic wave by d=CT
Broadcast speed) calculate the distance between supersonic generator 180 and each ultrasonic receiver 190 r1, r2 and r3, more rotors without
Man-machine 10 continue while keeping height adjust position, when multi-rotor unmanned aerial vehicle 10 is closer to receiver B, r1, r2 and
The length of r3 can constantly shorten, and be more rotations when supersonic generator 180 and receiver B distance r2=a, and when r1=r3
Wing unmanned plane 10 rests on receiver B, the hub of a spool of wireless charging transmitting antenna 173 and wireless charging receiving antenna 71
Point face can start slowly to reduce flying height, when detecting height at this point, multi-rotor unmanned aerial vehicle 10 can enter landing mode
When degree can shut down the threshold value of landing less than unmanned plane, the driving motor of multi-rotor unmanned aerial vehicle 10 stops operating, multi-rotor unmanned aerial vehicle
10 vertically land on ground charging platform 170 and make wireless charging receiving antenna 71 and wireless charging transmitting antenna 173 mutual
Alignment, so as to complete the accurate positioning between antenna.
The ultrasonic wave that supersonic generator 180 is sent has certain field angle, so that each ultrasonic receiver 190 is fixed
Ultrasonic signal can be received when position.When multi-rotor unmanned aerial vehicle 10 is resting on height a and 180 central point of supersonic generator just
When to receiver B, the field angle for the ultrasonic wave that supersonic generator 180 emits be should be greater than when designing with supersonic generator 180
Central point G is the angle ∠ AGC on vertex.
For multi-rotor unmanned aerial vehicle 10 when carrying out wireless charging, the direct current that power supply 171 exports passes through inverter circuit 172
It is converted into high-frequency alternating current load and generates alternating electromagnetic field, multi-rotor unmanned aerial vehicle on the coil of wireless charging transmitting antenna 173
10 wireless charging receiving antenna 71 is coupled to the alternating current of generation some strength after alternating magnetic field, and alternating current is through over commutation
Translation circuit 72 is converted to the power battery pack 50 that direct current is input to multi-rotor unmanned aerial vehicle 10 from charging port, thus for more rotations
10 automatic charging of wing unmanned plane.In entire charging process, main control unit 40 can continue to monitor the electricity of power battery pack 50, when
After power battery pack 50 is fully charged, main control unit 40 is sent by communication stops charge command filling to ground charging platform 170
Electric control unit 174 terminates charging process.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of UAV Communication base station characterized by comprising
Multi-rotor unmanned aerial vehicle (10), the multi-rotor unmanned aerial vehicle (10) have multiple driving motors (11), each driving electricity
Rotor (12) are provided on the output shaft of machine (11)；
Base station equipment (20) is arranged on the multi-rotor unmanned aerial vehicle (10)；
Antenna for base station (30) is arranged on the multi-rotor unmanned aerial vehicle (10) and connect with the base station equipment；
Main control unit (40), with each driving motor (11), the base station equipment (20) and the antenna for base station (30)
It is all connected with；
Wherein, the base station equipment (20) by the antenna for base station (30) to the ground communication base station emit radiofrequency signal with ground
Face communication base station establishes communication connection, and the main control unit (40) is used to control the state of flight of the multi-rotor unmanned aerial vehicle (10)
And the communication process of the base station equipment (20) and the ground communication base station.
2. UAV Communication base station according to claim 1, which is characterized in that the UAV Communication base station further include:
Power battery pack (50) is arranged on the multi-rotor unmanned aerial vehicle (10), and the power battery pack (50) is for storing electricity
Energy；
Power Management Unit (60), be arranged on the multi-rotor unmanned aerial vehicle (10), the Power Management Unit (60) with it is described
Power battery pack (50), each driving motor (11), the base station equipment (20), the antenna for base station (30) and described
Main control unit (40) is all connected with；
Wherein, the power battery pack (50) is by the Power Management Unit (60) to each driving motor (11), institute
Base station equipment (20), the antenna for base station (30) and the main control unit (40) power supply, the main control unit (40) is stated also to use
It is controlled in the course of work to the Power Management Unit (60).
3. UAV Communication base station according to claim 2, which is characterized in that the UAV Communication base station further include:
Wireless charging receiver (70) is arranged on the multi-rotor unmanned aerial vehicle (10) and connects with the power battery pack (50)
It connects, the wireless charging receiver (70) when the multi-rotor unmanned aerial vehicle (10) drops to ground predetermined position for passing through
Terrestrial wireless charging equipment is the power battery pack (50) charging；
Photovoltaic charging unit (80), be arranged on the multi-rotor unmanned aerial vehicle (10) and with the power battery pack (50)
Connection, the photovoltaic charging unit (80) is for converting solar energy into electrical energy to fill for the power battery pack (50)
Electricity；
Wherein, the main control unit (40) and the wireless charging receiver (70) and the photovoltaic charging unit
(80) it is all connected with the course of work to the wireless charging receiver (70) and the photovoltaic charging unit (80)
It is controlled.
4. UAV Communication base station according to claim 1, which is characterized in that the UAV Communication base station further include:
GPS positioning unit (90) is arranged on the multi-rotor unmanned aerial vehicle (10) and connect with the main control unit (40)；
Wherein, the GPS positioning unit (90) is used to obtain the longitude, latitude and flight speed of the multi-rotor unmanned aerial vehicle (10)
Information is spent, and longitude, latitude and the airspeed information that will acquire are sent to the main control unit (40), the main control unit
(40) for according to the longitude, latitude and airspeed information of the multi-rotor unmanned aerial vehicle (10) control more rotors nobody
The state of flight and flight path of machine (10).
5. UAV Communication base station according to claim 1, which is characterized in that the UAV Communication base station further include:
Sensor unit (100) is arranged on the multi-rotor unmanned aerial vehicle (10) and connect with the main control unit (40)；
Wherein, the sensor unit (100) is used to obtain the specific force acceleration of (10) three axial directions of multi-rotor unmanned aerial vehicle
Value, the magnitude of angular velocity of three axial directions, the field strength values of three axial directions and height value and three axial directions that will acquire specific force
Acceleration value, the magnitude of angular velocity of three axial directions, the field strength values of three axial directions and height value are sent to the main control unit
(40) so that the main control unit (40) determines the flight attitude and flight path and to described of the multi-rotor unmanned aerial vehicle (10)
The flight attitude of multi-rotor unmanned aerial vehicle (10) adjusts.
6. UAV Communication base station according to claim 1, which is characterized in that the UAV Communication base station further include:
Video record unit (110) and audio recording unit (120), the video record unit (110) and the audio recording
Unit (120) is arranged on the multi-rotor unmanned aerial vehicle (10) and connect with the main control unit (40)；
Wherein, the video record unit (110) is used to shoot ground view in the multi-rotor unmanned aerial vehicle (10) flight course
Frequency data；The audio recording unit (120) is used for the recording audio data in the multi-rotor unmanned aerial vehicle (10) flight course；
The main control unit (40) is also used to control the video record unit (110) and the audio recording unit (120)
The course of work.
7. a kind of communication system characterized by comprising
UAV Communication base station (130), the UAV Communication base station (130) are nothing described in any one of claims 1 to 6
Man-machine communication base station, the UAV Communication base station (130) is for flying to preset height to form aerial mobile base station platform；
Ground communication base station (140), the ground communication base station (140) pass through Wired communication pathways and/or wireless communication
And/or satellite communication channel and core network are established and are communicated to connect；
Ground maneuvers unit (150) is connect with the ground communication base station (140)；
Wherein, the UAV Communication base station (130) is used for the ground communication base station (140) transmitting radiofrequency signal to pass through
The ground communication base station (140) and the core network establish communication connection and/or directly pass through satellite communication channel and institute
It states core network and establishes communication connection；
The ground maneuvers unit (150) is used for through the ground communication base station (140) and the UAV Communication base station
(130) main control unit (40) establish communication connection with dispatch and manage the state of flight of the UAV Communication base station (130),
Flight path track and flight attitude.
8. communication system according to claim 7, which is characterized in that the UAV Communication base station (130) includes power
Battery pack (50) and Power Management Unit (60), the power battery pack (50) pass through the Power Management Unit (60) Xiang Suoshu
Driving motor (11), base station equipment (20) and antenna for base station (30) power supply of UAV Communication base station (130)；The unmanned plane
Communication system further include:
Ground charging platform (170) is connect with the ground maneuvers unit (150)；
Wherein, the ground charging platform (170) is used to drop to the ground in the UAV Communication base station (130) and charge
It charges when on platform (170) to the power battery pack (50) of the UAV Communication base station (130)；The ground maneuvers list
First (150) are also used to dispatch and manage UAV Communication base station (130) charging process.
9. communication system according to claim 8, which is characterized in that the UAV Communication system further include:
Mobile vehicle communication, the ground communication base station (140), the ground maneuvers unit (150) and the ground chargin level
Platform (170) is arranged on the mobile vehicle communication.
10. a kind of construction method of communication system, which is characterized in that the construction method is any for setting up claim 7 to 9
The item communication system, the construction method include:
Multiple UAV Communication base stations (130) are transported near target networking place；
It is flown according to the UAV Communication base station (130) that the bandwidth demand of building network dispatches respective numbers to the target
Above networking place and rise to preset height；
The UAV Communication base station (130) is described to pass through by emitting radiofrequency signal to the ground communication base station (140)
Ground communication base station (140) and the core network establish communication connection and/or directly by satellite communication channel and the masters
Dry network establishes communication connection and/or multiple UAV Communication base stations (130) by mutually transmitting radiofrequency signal to set up
Independent communication networks.
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