CN110649939B - Unmanned aerial vehicle measurement and control cellular communication method based on MF-CDMA - Google Patents
Unmanned aerial vehicle measurement and control cellular communication method based on MF-CDMA Download PDFInfo
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- CN110649939B CN110649939B CN201910940551.9A CN201910940551A CN110649939B CN 110649939 B CN110649939 B CN 110649939B CN 201910940551 A CN201910940551 A CN 201910940551A CN 110649939 B CN110649939 B CN 110649939B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
- H04B1/7097—Interference-related aspects
- H04B1/711—Interference-related aspects the interference being multi-path interference
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/0413—MIMO systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J13/00—Code division multiplex systems
- H04J13/0007—Code type
- H04J13/004—Orthogonal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/21—Server components or server architectures
- H04N21/218—Source of audio or video content, e.g. local disk arrays
- H04N21/2187—Live feed
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention discloses an unmanned aerial vehicle measurement and control cellular communication method based on MF-CDMA, which comprises the following steps: building a hybrid base station; building a cellular communication network; allocating an orthogonal spreading code to each unmanned aerial vehicle; the hybrid base station acquires a spread spectrum code of the unmanned aerial vehicle; the unmanned aerial vehicle sends a downlink routing frame by using respective spreading codes, and selects an active base station of the unmanned aerial vehicle from the hybrid base station; the active base station sends notification information to the unmanned aerial vehicle by using the spreading code of the unmanned aerial vehicle, so that the direction of an antenna unit of the unmanned aerial vehicle is matched with the direction of an antenna unit of the base station; the unmanned aerial vehicle uses a spread spectrum code to encode, spread spectrum and modulate a telemetry frame, and broadcasts a telemetry frame signal; the active base station receives the telemetering frame signal, demodulates and despreads the telemetering frame signal, decodes the telemetering frame signal, analyzes the frame format to obtain a telemetering frame, and sends the telemetering frame signal to the main control console. According to the invention, different unmanned aerial vehicles are distinguished by using orthogonal spread spectrum codes through a CDMA technology, so that the interference of unmanned aerial vehicle signals is avoided, and the problem of multiple access of an unmanned aerial vehicle measurement and control system is solved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle communication, and particularly relates to an unmanned aerial vehicle measurement and control cellular communication method based on MF-CDMA.
Background
Along with the development of unmanned aerial vehicle technology, unmanned aerial vehicle no longer simply is applied to aspects such as movie & TV shooting, miniature autodyne, all has the application in fields such as agriculture, commodity circulation, disaster relief, observation wild animal, control infectious disease, survey and drawing, news report, electric power patrol inspection, and the measurement and control problem of medium and long distance unmanned aerial vehicle also gets more and more attentions.
The unmanned aerial vehicle measurement and control system comprises unmanned aerial vehicle remote measurement, video downlink and unmanned aerial vehicle remote control. Unmanned aerial vehicle measurement and control are important means for tracking and positioning the unmanned aerial vehicle, monitoring the working state of the unmanned aerial vehicle, acquiring video data and remotely controlling the unmanned aerial vehicle. Through unmanned aerial vehicle telemetering measurement and video down, obtain unmanned aerial vehicle equipment state information, the sensor data that unmanned aerial vehicle carried on and the real-time video that unmanned aerial vehicle shot to through live broadcast video stream, afterwards analytical equipment state and sensor data, patrol and examine for unmanned aerial vehicle and provide indispensable effect with unmanned aerial vehicle's normal operating. Through unmanned aerial vehicle remote control, can control unmanned aerial vehicle and accomplish appointed action and task.
The existing unmanned aerial vehicle mostly adopts a radio station communication mode, the unmanned aerial vehicle is connected with a control console through a radio station, the communication distance of the unmanned aerial vehicle is limited, generally does not exceed 50 kilometers, and the unmanned aerial vehicle cannot meet medium and long distance measurement and control. A small part of remote flying unmanned aerial vehicles adopt satellite channels, and the unmanned aerial vehicles are required to carry satellite terminals, so that the cost is high; most satellite terminals are large in size and weight and need to occupy the limited load capacity of the unmanned aerial vehicle. Although the volume of a small number of satellite terminals is small, the code rate is low, and the requirement of image transmission cannot be met.
In addition, the existing unmanned aerial vehicle measurement and control systems mostly adopt point-to-point communication on a communication system, namely one measurement and control station only communicates with one unmanned aerial vehicle at the same time; although a small number of unmanned aerial vehicle measurement and control systems adopt the frequency division multiple access technology and can accommodate a plurality of unmanned aerial vehicles, the number of the measurement and control ground stations is only one, and the number of the measurement and control ground stations is small, and the frequency band bandwidth available for communication of the unmanned aerial vehicles is limited, so that the number of the accommodated unmanned aerial vehicles is small. At present, no unit or person adopts hybrid base station cellular communication for the unmanned aerial vehicle, and a corresponding mode for carrying out unmanned aerial vehicle physical layer communication based on MF-CDMA (multi-frequency code division multiple access) technology does not appear.
Disclosure of Invention
In order to solve the above problems in the prior art, the invention aims to provide an unmanned aerial vehicle measurement and control cellular communication method based on MF-CDMA, which distinguishes different unmanned aerial vehicles by using orthogonal spreading codes through a CDMA technology, avoids interference between signals of each unmanned aerial vehicle, and solves the problem of multiple access of an unmanned aerial vehicle measurement and control system.
The technical scheme adopted by the invention is as follows: an unmanned aerial vehicle measurement and control cellular communication method based on MF-CDMA comprises the following steps:
building hybrid base stations, wherein each hybrid base station is provided with a base station antenna unit, and each unmanned aerial vehicle is provided with an unmanned aerial vehicle antenna unit;
building a cellular communication network using the hybrid base station;
allocating a telemetering frequency band, a remote control frequency band and a video downlink frequency band for a cellular communication network;
allocating a spread spectrum code for each unmanned aerial vehicle, wherein the spread spectrum codes are orthogonal to each other;
each hybrid base station acquires the spreading code of each unmanned aerial vehicle and stores the spreading code of each unmanned aerial vehicle in an unmanned aerial vehicle information table of each hybrid base station;
selecting a hybrid base station for dominating the unmanned aerial vehicle from the hybrid base stations as a movable base station of the unmanned aerial vehicle in each time slice delta t, and then adjusting the direction of an antenna unit of the movable base station per se;
the movable base station sends notification information to the unmanned aerial vehicles administered by the movable base station, so that each unmanned aerial vehicle adjusts the direction of the antenna unit of the unmanned aerial vehicle and is matched with the direction of the antenna unit of the base station of the movable base station administered by the unmanned aerial vehicle;
each unmanned aerial vehicle transmits video stream data by using an unmanned aerial vehicle antenna unit, and each unmanned aerial vehicle uses a respective spreading code to encode, spread and modulate a telemetry frame of the unmanned aerial vehicle and broadcasts a telemetry frame signal in a telemetry frequency band;
the active base station receives telemetry frame signals in the telemetry frequency band and receives video stream data by using a base station antenna unit;
the active base station forwards video stream data to a master control station; the active base station receives the telemetry frame signals, demodulates and despreads the telemetry frame signals, selects a demodulation and despreading channel of the unmanned aerial vehicle managed by the active base station from each path of demodulation and despreading channel, and decodes the telemetry frame signals of the demodulation and despreading channel of the unmanned aerial vehicle managed by the active base station and analyzes the frame format to obtain a telemetry frame;
the active base station sends the telemetry frame to a master console;
the main control console sends a remote control instruction frame to be executed by the unmanned aerial vehicle to a movable base station of the unmanned aerial vehicle to be remotely controlled;
the active base station uses the spread spectrum code of the unmanned aerial vehicle to be remotely controlled to encode, spread spectrum and modulate a remote control instruction frame of the unmanned aerial vehicle, and broadcasts a remote control instruction frame signal in a remote control frequency band;
the remote control method comprises the steps that a remote control command frame signal of a remote control frequency band is received by the unmanned aerial vehicle to be remotely controlled, the remote control command frame signal is demodulated, a spread spectrum code of the remote control command frame signal is used for despreading, and a remote control command frame is obtained through decoding and frame format analysis;
and the unmanned aerial vehicle to be remotely controlled executes the remote control instruction of the remote control instruction frame.
Preferably, in each time slice Δ t, selecting a hybrid base station for policing the drone from the hybrid base stations as an active base station of the drone, and then the active base station adjusting the direction of its own base station antenna unit includes the following steps:
in each time slice delta t, each unmanned aerial vehicle uses the own spread code to encode, spread and modulate a downlink routing frame, and broadcasts a downlink routing frame signal in a telemetry frequency band, wherein the downlink routing frame comprises longitude Lng of the unmanned aerial vehiclevLatitude LatvHeight hvAnd a timestamp t;
each hybrid base station receives downlink routing frame signals in the telemetry frequency band;
each hybrid base station processes the received downlink routing frame signals by adopting a parallel demodulation and de-spreading method, and each hybrid base station de-spreads the downlink routing frame signals of each demodulation and de-spreading channel by adopting a spreading code in an unmanned aerial vehicle information table;
each hybrid base station decodes each path of demodulated and despread downlink route frame signals and analyzes the frame format to obtain the position information of the unmanned aerial vehicle, and then stores the position information of the unmanned aerial vehicle in an unmanned aerial vehicle position table of the hybrid base station;
each hybrid base station calculates the distance information between the hybrid base station and all unmanned aerial vehicles according to the position information of the unmanned aerial vehicles, and sends the distance information to a main control station, the main control station selects the hybrid base station closest to the unmanned aerial vehicles as the active base station of the unmanned aerial vehicles according to the distance information sent by each hybrid base station, and then the main control station writes the information of each active base station into an active base station information table of the main control station;
and each movable base station inquires the position information of the unmanned aerial vehicle governed by the movable base station from the unmanned aerial vehicle position table, and adjusts the direction of the antenna unit of the movable base station by combining the position information of the movable base station.
As a preferred mode, calculating the distance information between the unmanned aerial vehicle and the hybrid base station specifically includes: establishing a three-dimensional rectangular coordinate system by taking the geocentric as an origin, and then using the longitude Lng of the unmanned aerial vehiclevLatitude LatvHeight hvAnd longitude Lng of hybrid base stationBLatitude LatBAnd height hBRespectively converting the coordinates into coordinates under a three-dimensional rectangular coordinate system to obtain a coordinate point A (X) of the unmanned aerial vehiclev,Yv,Zv) And coordinate point B (X) of the hybrid base stationB,YB,ZB) Then, a coordinate point A (X) is calculatedv,Yv,Zv) And coordinate point B (X)B,YB,ZB) The distance between the unmanned aerial vehicle and the hybrid base station is the distance between the unmanned aerial vehicle and the hybrid base station
As a preferred mode, the method for enabling each unmanned aerial vehicle to adjust the direction of the antenna unit of the unmanned aerial vehicle and match the direction of the antenna unit of the base station governing the unmanned aerial vehicle comprises the following steps:
the active base station uses the spread codes of the unmanned aerial vehicles in the respective jurisdiction to code, spread and modulate an uplink routing frame, and broadcasts an uplink routing frame signal in a remote control frequency band, wherein the uplink routing frame comprises longitude Lng of the active base stationBLatitude LatBAnd height hB；
Each unmanned aerial vehicle receives an uplink routing frame signal of a remote control frequency band, demodulates the uplink routing frame signal, despreads the uplink routing frame signal by using a spreading code of the unmanned aerial vehicle, and obtains position information of a mobile base station administered by the unmanned aerial vehicle through decoding and frame format analysis;
and each unmanned aerial vehicle adjusts the direction of the antenna unit of the unmanned aerial vehicle according to the position information of the movable base station and by combining the position information of the unmanned aerial vehicle, so that the direction of the antenna unit of the unmanned aerial vehicle is matched with the direction of the antenna unit of the base station which governs the movable base station.
Preferably, the base station antenna unit and the drone antenna unit both include an omni-directional antenna and a MIMO antenna.
Preferably, each drone transmits video stream data in a video downlink frequency band by using a MIMO antenna.
As a preferred mode, the telemetry frequency band, the remote control frequency band and the video downlink frequency band of all the hybrid base stations are the same, and the telemetry frequency band, the remote control frequency band and the video downlink frequency band are different from each other.
As a preferred mode, the master console firstly queries the mobile base station of the unmanned aerial vehicle to be remotely controlled in the mobile base station information table, and then sends a remote control instruction frame to be executed by the unmanned aerial vehicle to the mobile base station of the unmanned aerial vehicle to be remotely controlled.
The invention has the beneficial effects that:
1. according to the invention, through hybrid base station cellular communication, the problem that the measurement and control range of the unmanned aerial vehicle is too small in a radio station communication mode is solved, the problem that the cost of a satellite terminal is high in a satellite communication mode is solved, and the available load capacity of the unmanned aerial vehicle is relatively increased because the satellite terminal does not need to be carried.
2. The invention distinguishes different unmanned aerial vehicles by using orthogonal spread spectrum codes through a CDMA (code division multiple access) technology, avoids interference between signals of each unmanned aerial vehicle and solves the problem of multiple access of a measurement and control system of the unmanned aerial vehicle; and the invention can also make the system accommodate a large number of drones by increasing the code length of the spreading code.
3. The invention separates the telemetering frequency band and the remote control frequency band of the unmanned aerial vehicle by the frequency division duplex technology, avoids the interference between the telemetering link and the remote control link of the unmanned aerial vehicle, and solves the duplex communication problem of the measuring and controlling system of the unmanned aerial vehicle.
4. The invention utilizes MIMO antenna to transmit the video stream data of the unmanned aerial vehicle by MIMO (multiple input multiple output) technology, and allocates independent video downlink frequency band for the video downlink, the channel quality is good, the capacity is large, and the high bandwidth requirement of the video transmission of the unmanned aerial vehicle is satisfied.
Drawings
FIG. 1 is a cellular communication topology diagram of a hybrid base station in an unmanned aerial vehicle measurement and control cellular communication method based on MF-CDMA, according to the present invention;
FIG. 2 is a flow chart of the receiver operation of the hybrid base station in the MF-CDMA based unmanned aerial vehicle measurement and control cellular communication method provided by the invention;
fig. 3 is a flow chart of data transmission from a hybrid base station to a master console in an MF-CDMA based unmanned aerial vehicle measurement and control cellular communication method provided by the present invention;
fig. 4 is a flowchart of sending a remote control instruction to an unmanned aerial vehicle by a master console in the MF-CDMA based unmanned aerial vehicle measurement and control cellular communication method provided by the present invention.
Detailed Description
The embodiment provides an unmanned aerial vehicle measurement and control cellular communication method based on MF-CDMA, as shown in FIG. 3, including the following steps:
s1, building M mixed base stations B0、B1、B2、…、BM-1And every mixed basic station all sets up base station antenna unit, and every unmanned aerial vehicle all sets up unmanned aerial vehicle antenna unit, realizes the communication between mixed basic station and the unmanned aerial vehicle, can communicate through arbitrary link between mixed basic station and the master control platform, if utilize relay satellite, 3G 4G 5G network or optic fibre, and then solve the communication between unmanned aerial vehicle and the master control platform. The base station antenna unit and the unmanned aerial vehicle antenna unit both comprise omnidirectional antennas and MIMO antennas, the omnidirectional antennas are used for transmitting telemetering and remote control data, and the MIMO antennas are used for transmitting video stream data.
S2, constructing a cellular communication network by using the hybrid base station; as shown in fig. 1, a single hybrid base station in a cellular communication network can cover an area with a radius of 10-100 km, and a plurality of hybrid base stations can cover a larger area through reasonable layout, and in order to prevent some areas from being uncovered, coverage areas among the hybrid base stations are crossed. Longitude Lng of each hybrid base station once the cellular communication network is constructedBLatitude LatBAnd height hBIt can be written into the memory of the hybrid base station. The invention utilizes the hybrid base station cellular communication to solve the problem that the unmanned aerial vehicle measurement and control range is too small in the radio station communication mode and the problem that the satellite terminal cost is high in the satellite communication mode, and because the satellite terminal is not required to be carried,the available load capacity of the unmanned aerial vehicle is relatively increased.
S3, allocating a telemetering frequency band, a remote control frequency band and a video downlink frequency band for the cellular communication network; allocating a spread spectrum code for each unmanned aerial vehicle, wherein the spread spectrum codes are orthogonal to each other; assume a total of N drones V0、V1、V2、…、VN-1Then unmanned plane V0、V1、V2、…、VN-1Respectively C0、C1、C2、…、CN-1And good orthogonality is maintained between the spreading codes of the drones, i.e. C0、C1、C2、…、CN-1Are orthogonal to each other.
And S4, the master console sends the spreading codes of each unmanned aerial vehicle to each hybrid base station, and each hybrid base station stores the spreading codes of each unmanned aerial vehicle in the unmanned aerial vehicle information table of the hybrid base station after receiving the spreading codes of each unmanned aerial vehicle. The format and description of the drone information table are shown in tables 101 and 102, respectively.
Table 101 format of drone information table
| Unmanned aerial vehicle numbering | Spread spectrum code |
| UINT16 type, 2 bytes | Byte array, length can be set according to the number of unmanned aerial vehicles |
Table 102 description of drone information table
S5, in each time slice Δ t, selecting a hybrid base station used for policing the drone from the hybrid base stations as a moving base station of the drone, and then adjusting the direction of the antenna unit of the moving base station, specifically including the following steps:
s51, in each time slice delta t, each unmanned aerial vehicle acquires longitude Lng of the unmanned aerial vehicle from the positioning module (GPS/Beidou/GALILEO/GLONASS) in each time slice delta tvLatitude LatvHeight hvSumming time and forming a downstream routing frame RDAnd acquiring telemetering data from the telemetering equipment and forming a telemetering frame F, acquiring video data from the camera equipment and forming video stream data, wherein the telemetering frame F is empty when the telemetering data may not exist at some time. Each drone uses its own spreading code to pair downlink routing frames RDCoding, spreading and modulating, and broadcasting a downlink routing frame signal in a telemetry frequency band, the downlink routing frame RDLongitude Lng including dronevLatitude LatvHeight hvAnd a time stamp t. Wherein, the downlink route frame RDThe format of (a) and its description are shown in tables 103 and 104, respectively, and the format of telemetry frame F and its description are shown in tables 105 and 106, respectively.
Table 103 downstream routing frame format
Table 104 description of downstream routing frame format
Table 105 telemetry frame format
Table 106 description of telemetry frame format
And S52, each hybrid base station receives the downlink routing frame signals in the telemetry frequency band.
And S53, each mixed base station processes the received downlink route frame signal by adopting a parallel demodulation and de-spreading method, and each mixed base station de-spreads the downlink route frame signal of each demodulation and de-spreading channel by adopting a spreading code in an unmanned aerial vehicle information table. The receiver of each hybrid base station is provided with N paths of demodulation and de-spreading channels which respectively correspond to N unmanned aerial vehicles in total, and each path of demodulation and de-spreading channel adopts a corresponding unmanned aerial vehicle spreading code to de-spread. Because the spreading codes adopted by each unmanned aerial vehicle are mutually orthogonal, each path of demodulation and despreading channel can only despread the downlink routing frame signal of the corresponding unmanned aerial vehicle.
And S54, each hybrid base station decodes the downlink route frame signals after demodulation and despreading to obtain the position information of the unmanned aerial vehicle, and then stores the position information of the unmanned aerial vehicle in an unmanned aerial vehicle position table of the hybrid base station. Wherein the location information of the drone includes a longitude Lng of the dronevLatitude LatvHeight hvThe format of the drone location table and its description are shown in tables 107 and 108, respectively.
Table 107 format for drone location table
Table 108 description of drone position table
| Name (R) | Description of the invention |
| Unmanned aerial vehicle numbering | Assigning a unique number to a drone, UINT16 type, 2 bytes |
| Longitude (G) | Abscissa of unmanned plane in earth spherical coordinate system, FLOAT type, 4 bytes |
| Latitude | Ordinate of unmanned aerial vehicle in earth spherical coordinate system, FLOAT type, 4 bytes |
| Height | Altitude of unmanned aerial vehicle, FLOAT type, 4 bytes |
| Time stamp | Time information acquired by unmanned aerial vehicle to positioning module, namely datetime, 4 bytes |
S55, each hybrid base station calculates the distance information between itself and all unmanned aerial vehicles according to the position information of the unmanned aerial vehicles, and sends the distance information to the master control station, the master control station selects the hybrid base station closest to the unmanned aerial vehicles as the active base station of the unmanned aerial vehicles according to the distance information sent by each hybrid base station, the master control station informs the hybrid base stations to become the active base stations of the corresponding unmanned aerial vehicles, then the master control station writes the information of each active base station into the active base station information table of the master control station, and the formats and descriptions of the active base station information tables are respectively shown in tables 109 and 110. Wherein, it specifically is to calculate the distance information between unmanned aerial vehicle and the hybrid base station: establishing a three-dimensional rectangular coordinate system by taking the geocentric as an origin, and then using the longitude Lng of the unmanned aerial vehiclevLatitude LatvHigh, highDegree hvAnd longitude Lng of hybrid base stationBLatitude LatBAnd height hBRespectively converting the coordinates into coordinates under a three-dimensional rectangular coordinate system to obtain a coordinate point A (X) of the unmanned aerial vehiclev,Yv,Zv) And coordinate point B (X) of the hybrid base stationB,YB,ZB) Then, a coordinate point A (X) is calculatedv,Yv,Zv) And coordinate point B (X)B,YB,ZB) The distance between the unmanned aerial vehicle and the hybrid base station is the distance between the unmanned aerial vehicle and the hybrid base station
Table 109 format of active base station information table
| Unmanned aerial vehicle numbering | Active base station numbering |
| UINT16 type, 2 bytes | UINT16 type, 2 bytes |
Table 110 description of active base station information table
| Name (R) | Description of the invention |
| Unmanned aerial vehicle numbering | Assigning a unique number to a drone, UINT16 type, 2 bytes |
| Active base station numbering | Hybrid base station number, UINT16, 2 bytes for the drone to transmit telemetry signals |
And S56, each movable base station inquires the position information of the unmanned aerial vehicle governed by the movable base station from the unmanned aerial vehicle position table, and adjusts the direction of the MIMO antenna beam of the movable base station by combining the position information of the movable base station so as to well receive video stream data.
S6, the movable base station sends notification information to the unmanned aerial vehicle administered by the movable base station, and informs the unmanned aerial vehicle of which movable base station the unmanned aerial vehicle belongs to, so that the unmanned aerial vehicle adjusts the direction of the antenna unit of the unmanned aerial vehicle and matches with the direction of the antenna unit of the base station of the movable base station administered by the unmanned aerial vehicle, and the method specifically comprises the following steps:
s61, the active base station uses the unmanned aerial vehicle spread spectrum code managed by each to the uplink route frame RUCoding, spreading and modulating, and broadcasting an uplink routing frame signal in a telemetry frequency band, the uplink routing frame RULongitude Lng including active base stationBLatitude LatBAnd height hBEach active base station according to its own longitude LngBLatitude LatBAnd height hBForming an upstream routing frame RUUpstream routing frame RUThe format of (a) and its description are shown in tables 111 and 112, respectively.
Table 111 upstream routing frame format
Table 112 description of upstream routing frames
S62, each unmanned aerial vehicle receives the uplink routing frame signal of the remote control frequency band, and the pairDemodulating the uplink routing frame signal, despreading the uplink routing frame signal by using a spreading code of the uplink routing frame signal, and obtaining the position information of the mobile base station administered by the unmanned aerial vehicle after decoding and frame format analysis, wherein the position information comprises longitude Lng of the mobile base stationBLatitude LatBAnd height hB。
And S63, each unmanned aerial vehicle adjusts the direction of the MIMO antenna beam of the unmanned aerial vehicle according to the position information of the movable base station and by combining the position information of the unmanned aerial vehicle, so that the direction of the MIMO antenna of the unmanned aerial vehicle is matched with the direction of the MIMO antenna of the movable base station which governs the unmanned aerial vehicle, and the movable base station can be ensured to receive video stream data well.
S7, each unmanned aerial vehicle sends video stream data in a video downlink frequency band by using an MIMO antenna, each unmanned aerial vehicle uses a respective spread code to encode, spread and modulate a telemetry frame F of the unmanned aerial vehicle, and broadcasts a telemetry frame signal in the telemetry frequency band; if telemetry frame F is empty, the spread spectrum signal of telemetry frame F is not broadcast.
And S8, the active base station receives the telemetry frame signal in the telemetry frequency band and receives video stream data in the video downlink frequency band by using the MIMO antenna. The invention utilizes the MIMO antenna to transmit the video stream data of the unmanned aerial vehicle, and allocates an independent video downlink frequency band for the video downlink, so that the channel quality is good, the capacity is large, and the high bandwidth requirement of the video transmission of the unmanned aerial vehicle is met.
S9, the active base station forwards the video stream data to a master console; as shown in fig. 2, the mobile base station demodulates and despreads the telemetry frame signal, selects a demodulation and despreading channel of the drone in its own jurisdiction from the N demodulation and despreading channels, and decodes the telemetry frame signal of the demodulation and despreading channel of the drone in its jurisdiction and analyzes the frame format to obtain the telemetry frame. Because the spreading codes adopted by each unmanned aerial vehicle are mutually orthogonal, each path of demodulation and despreading channel can only despread the telemetry frame signal of the corresponding unmanned aerial vehicle.
S10, the active base station sends the telemetry frame to the console.
And entering the next time slice delta t, and repeating S5-S10.
If the master console sends a remote control command to the unmanned aerial vehicle, as shown in fig. 4, the following steps are required:
and S11, the master console inquires the movable base station of the unmanned aerial vehicle to be remotely controlled in the movable base station information table, and the master console sends a remote control instruction frame to be executed by the unmanned aerial vehicle to the movable base station of the unmanned aerial vehicle to be remotely controlled. The format of the remote control instruction frame and its description are shown in tables 113 and 114, respectively.
Table 113 remote control instruction frame format
Table 114 description of remote control instruction frame format
And S12, the movable base station uses the spread spectrum code of the unmanned aerial vehicle to be remotely controlled to encode, spread spectrum and modulate the remote control command frame of the unmanned aerial vehicle, and broadcasts the remote control command frame signal in the remote measuring frequency band.
And S13, the unmanned aerial vehicle to be remotely controlled receives the remote control instruction frame signal of the remote control frequency band, demodulates the remote control instruction frame signal, despreads the remote control instruction frame signal by using the own spread spectrum code, and obtains the remote control instruction frame by decoding and analyzing the frame format. Because the spreading codes of all the unmanned aerial vehicles are orthogonal to each other, each unmanned aerial vehicle can only despread the remote control command of the unmanned aerial vehicle.
And S14, executing the remote control instruction of the remote control instruction frame by the unmanned aerial vehicle to be remotely controlled.
In this embodiment, the telemetry frequency band, the remote frequency band, and the video downlink frequency band of all the hybrid base stations are the same, but the telemetry frequency band, the remote frequency band, and the video downlink frequency band are different from each other. The invention separates the telemetering frequency band and the remote control frequency band of the unmanned aerial vehicle by the frequency division duplex technology, avoids the interference between the telemetering link and the remote control link of the unmanned aerial vehicle, and solves the duplex communication problem of the measuring and controlling system of the unmanned aerial vehicle.
The invention distinguishes different unmanned aerial vehicles by using orthogonal spread spectrum codes through a CDMA (code division multiple access) technology, avoids interference between signals of each unmanned aerial vehicle, solves the problem of multiple access of a measurement and control system of the unmanned aerial vehicle, and can also enable the whole system to accommodate a large number of unmanned aerial vehicles by increasing the code length of the spread spectrum codes.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (8)
1. An unmanned aerial vehicle measurement and control cellular communication method based on MF-CDMA is characterized by comprising the following steps:
building hybrid base stations, wherein each hybrid base station is provided with a base station antenna unit, and each unmanned aerial vehicle is provided with an unmanned aerial vehicle antenna unit;
building a cellular communication network using the hybrid base station;
allocating a telemetering frequency band, a remote control frequency band and a video downlink frequency band for a cellular communication network;
allocating a spread spectrum code for each unmanned aerial vehicle, wherein the spread spectrum codes are orthogonal to each other;
each hybrid base station acquires the spreading code of each unmanned aerial vehicle and stores the spreading code of each unmanned aerial vehicle in an unmanned aerial vehicle information table of each hybrid base station;
selecting a hybrid base station for dominating the unmanned aerial vehicle from the hybrid base stations as a movable base station of the unmanned aerial vehicle in each time slice delta t, and then adjusting the direction of an antenna unit of the movable base station per se;
the movable base station sends notification information to the unmanned aerial vehicles administered by the movable base station, so that each unmanned aerial vehicle adjusts the direction of the antenna unit of the unmanned aerial vehicle and is matched with the direction of the antenna unit of the base station of the movable base station administered by the unmanned aerial vehicle;
each unmanned aerial vehicle transmits video stream data by using an unmanned aerial vehicle antenna unit, and each unmanned aerial vehicle uses a respective spreading code to encode, spread and modulate a telemetry frame of the unmanned aerial vehicle and broadcasts a telemetry frame signal in a telemetry frequency band;
the active base station receives telemetry frame signals in the telemetry frequency band and receives video stream data by using a base station antenna unit;
the active base station forwards video stream data to a master control station; the active base station receives the telemetry frame signals, demodulates and despreads the telemetry frame signals, selects a demodulation and despreading channel of the unmanned aerial vehicle managed by the active base station from each path of demodulation and despreading channel, and decodes the telemetry frame signals of the demodulation and despreading channel of the unmanned aerial vehicle managed by the active base station and analyzes the frame format to obtain a telemetry frame;
the active base station sends the telemetry frame to a master console;
the main control console sends a remote control instruction frame to be executed by the unmanned aerial vehicle to a movable base station of the unmanned aerial vehicle to be remotely controlled;
the active base station uses the spread spectrum code of the unmanned aerial vehicle to be remotely controlled to encode, spread spectrum and modulate a remote control instruction frame of the unmanned aerial vehicle, and broadcasts a remote control instruction frame signal in a remote control frequency band;
the remote control method comprises the steps that a remote control command frame signal of a remote control frequency band is received by the unmanned aerial vehicle to be remotely controlled, the remote control command frame signal is demodulated, a spread spectrum code of the remote control command frame signal is used for despreading, and a remote control command frame is obtained through decoding and frame format analysis;
and the unmanned aerial vehicle to be remotely controlled executes the remote control instruction of the remote control instruction frame.
2. An MF-CDMA based drone observing and controlling cellular communication method according to claim 1, wherein, in each time slice Δ t, a hybrid base station for policing the drone is selected from the hybrid base stations as an active base station of the drone, and then the active base station adjusts the direction of its own base station antenna unit includes the following steps:
in each time slice delta t, each unmanned aerial vehicle uses the own spread code to encode, spread and modulate a downlink routing frame, and broadcasts a downlink routing frame signal in a telemetry frequency band, wherein the downlink routing frame comprises longitude Lng of the unmanned aerial vehiclevLatitude LatvHeight hvAnd a timestamp t;
each hybrid base station receives downlink routing frame signals in the telemetry frequency band;
each hybrid base station processes the received downlink routing frame signals by adopting a parallel demodulation and de-spreading method, and each hybrid base station de-spreads the downlink routing frame signals of each demodulation and de-spreading channel by adopting a spreading code in an unmanned aerial vehicle information table;
each hybrid base station decodes each path of demodulated and despread downlink route frame signals and analyzes the frame format to obtain the position information of the unmanned aerial vehicle, and then stores the position information of the unmanned aerial vehicle in an unmanned aerial vehicle position table of the hybrid base station;
each hybrid base station calculates the distance information between the hybrid base station and all unmanned aerial vehicles according to the position information of the unmanned aerial vehicles, and sends the distance information to a main control station, the main control station selects the hybrid base station closest to the unmanned aerial vehicles as the active base station of the unmanned aerial vehicles according to the distance information sent by each hybrid base station, and then the main control station writes the information of each active base station into an active base station information table of the main control station;
and each movable base station inquires the position information of the unmanned aerial vehicle governed by the movable base station from the unmanned aerial vehicle position table, and adjusts the direction of the antenna unit of the movable base station by combining the position information of the movable base station.
3. The MF-CDMA based drone measurement and control cellular communication method according to claim 2, wherein calculating the distance information between the drone and the hybrid base station specifically is: establishing a three-dimensional rectangular coordinate system by taking the geocentric as an origin, and then using the longitude Lng of the unmanned aerial vehiclevLatitude LatvHeight hvAnd longitude Lng of hybrid base stationBLatitude LatBAnd height hBRespectively converting the coordinates into coordinates under a three-dimensional rectangular coordinate system to obtain a coordinate point A (X) of the unmanned aerial vehiclev,Yv,Zv) And coordinate point B (X) of the hybrid base stationB,YB,ZB) Then, a coordinate point A (X) is calculatedv,Yv,Zv) And coordinate point B (X)B,YB,ZB) The distance between the unmanned aerial vehicle and the hybrid base station is the distance between the unmanned aerial vehicle and the hybrid base station
4. The MF-CDMA based drone observing and controlling cellular communication method according to claim 1, wherein the active base station sends notification information to the drones that the drone manages itself, so that each drone adjusts the direction of its drone antenna unit and matches the direction of the base station antenna unit of the active base station that manages itself, comprising the steps of:
the active base station uses the spread codes of the unmanned aerial vehicles in the respective jurisdiction to code, spread and modulate an uplink routing frame, and broadcasts an uplink routing frame signal in a remote control frequency band, wherein the uplink routing frame comprises longitude Lng of the active base stationBLatitude LatBAnd height hB；
Each unmanned aerial vehicle receives an uplink routing frame signal of a remote control frequency band, demodulates the uplink routing frame signal, despreads the uplink routing frame signal by using a spreading code of the unmanned aerial vehicle, and obtains position information of a mobile base station administered by the unmanned aerial vehicle through decoding and frame format analysis;
and each unmanned aerial vehicle adjusts the direction of the antenna unit of the unmanned aerial vehicle according to the position information of the movable base station and by combining the position information of the unmanned aerial vehicle, so that the direction of the antenna unit of the unmanned aerial vehicle is matched with the direction of the antenna unit of the base station which governs the movable base station.
5. The MF-CDMA based drone observing and controlling cellular communication method of claim 1, wherein the base station antenna unit and the drone antenna unit each include an omni-directional antenna and a MIMO antenna.
6. The MF-CDMA based drone observing and controlling cellular communication method of claim 5, wherein each drone transmits video stream data in a video downlink band using MIMO antennas.
7. The MF-CDMA-based unmanned aerial vehicle measurement and control cellular communication method as claimed in claim 6, wherein the telemetry frequency band, the remote control frequency band and the video downlink frequency band of all the hybrid base stations are the same, and the telemetry frequency band, the remote control frequency band and the video downlink frequency band are different from each other.
8. The MF-CDMA based drone measurement and control cellular communication method according to claim 2, wherein the master station first queries the active base station of the drone to be remotely controlled in the active base station information table, and then the master station sends a remote control command frame to be executed by the drone to the active base station of the drone to be remotely controlled.
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