CN110649961A - Unmanned aerial vehicle measurement and control cellular communication method based on DA-TDMA - Google Patents
Unmanned aerial vehicle measurement and control cellular communication method based on DA-TDMA Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle measurement and control cellular communication method based on DA-TDMA, which comprises the following steps: building a hybrid base station; building a cellular communication network using the hybrid base station; allocating a narrow-band frequency band and a wide-band frequency band for the cellular communication network; allocating a downlink routing time slot and an uplink routing time slot for the unmanned aerial vehicle; the hybrid base station acquires a downlink routing time slot and an uplink routing time slot; in the downlink routing time slot stage, selecting an active base station for the unmanned aerial vehicle; in the uplink and downlink route protection time slot stage, dynamically allocating available time slices for the unmanned aerial vehicle; in the uplink routing time slot stage, the unmanned aerial vehicle adjusts the direction of the antenna unit of the unmanned aerial vehicle; in the telemetry time slice, the unmanned aerial vehicle broadcasts a telemetry frame signal; the active base station receives the telemetry frame and then forwards the telemetry frame to the master station. According to the invention, different unmanned aerial vehicles are distinguished by using different time slots and time slices through a time division multiple access technology, so that the interference between signals of each unmanned aerial vehicle is avoided, and the multiple access problem of the 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 DA-TDMA.
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. The unmanned aerial vehicle state information, sensor data carried by the unmanned aerial vehicle and real-time video shot by the unmanned aerial vehicle are obtained through unmanned aerial vehicle remote measurement and video downlink, and the essential effects are provided for unmanned aerial vehicle routing inspection and normal operation of the unmanned aerial vehicle through live broadcast video stream, equipment state analysis and sensor data afterwards; 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 accommodated unmanned aerial vehicles is small due to the small number of the measurement and control ground stations and the limited frequency band bandwidth available for communication of the unmanned aerial vehicles; the same cellular communication mode of unmanned planes as the present invention has not yet emerged. At present, no unit or person adopts hybrid base station cellular communication for the unmanned aerial vehicle, and a corresponding DA-TDMA (dynamic allocation-time division multiple access) based unmanned aerial vehicle physical layer communication mode and a corresponding custom link layer protocol do not appear.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method, which solves the problem that the measurement and control range of an unmanned aerial vehicle is too small in a radio station communication mode and the problem that a satellite terminal is high in cost in a satellite communication mode through hybrid base station cellular communication.
The technical scheme adopted by the invention is as follows: an unmanned aerial vehicle measurement and control cellular communication method based on DA-TDMA 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; each unmanned aerial vehicle and the hybrid base station are provided with a positioning and timing module, and the positioning and timing modules are arranged at intervals of a time length TsGenerating a pulse of one second as a trigger for the start of each time slot of the drone and the hybrid base station, each time slot transmitting a fixed transmission LUA byte;
building a cellular communication network using the hybrid base station;
allocating a narrow-band frequency band and a wide-band frequency band for the cellular communication network;
synchronizing all the hybrid base stations and the unmanned aerial vehicle by using a positioning and time service module;
allocating a fixed downlink routing time slot and an uplink routing time slot for each unmanned aerial vehicle;
time slices Δ T, Δ T ═ n × T, defining communicationssEach time slice fixed transmission LTRThe number of bytes is one,
the time slice is used for transmitting a telemetering frame or a remote control instruction frame of each unmanned aerial vehicle in a cellular communication network;
defining a time slice allocation period of communication, wherein one time slice allocation period sequentially comprises a downlink route time slot stage, an uplink route protection time slot stage, an uplink route time slot stage and NTA time slice;
allocating N in the time slice allocation period according to the address selection information of the hybrid base station cellular networkTEach time slice is divided intoRespectively distributing the signals to each mixed base station;
each hybrid base station acquires a downlink routing time slot and an uplink routing time slot of each unmanned aerial vehicle, and stores the downlink routing time slot and the uplink routing time slot of each unmanned aerial vehicle in an unmanned aerial vehicle information table of the hybrid base station;
selecting a hybrid base station for each unmanned aerial vehicle to manage as a movable base station of the unmanned aerial vehicle at a downlink routing time slot stage of each time slice allocation period, and then adjusting the direction of an antenna unit of the base station by the movable base station;
in the uplink and downlink route protection time slot stage of each time slot distribution period, each movable base station dynamically distributes available time slots for the unmanned aerial vehicle governed by the movable base station, wherein the available time slots comprise a telemetering time slot and a remote control time slot;
in the uplink routing time slot stage of each time slice allocation period, each movable base station sends notification information to the unmanned aerial vehicle 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;
in the telemetering time slice of each unmanned aerial vehicle, each unmanned aerial vehicle transmits video stream data in a broadband frequency band by using an unmanned aerial vehicle antenna unit, and each unmanned aerial vehicle encodes and modulates a telemetering frame of the unmanned aerial vehicle and then up-converts the telemetering frame into a narrowband frequency band broadcasting telemetering frame signal;
each active base station receives telemetry frame signals of the unmanned aerial vehicle administered by the active base station in each telemetry time slice, demodulates and decodes the telemetry frame signals and analyzes the format of the telemetry frame to obtain a telemetry frame, and then forwards the telemetry frame to a master control station; the active base station receives video stream data of the unmanned aerial vehicle managed by the active base station at a broadband frequency band by using the base station antenna unit and forwards the video stream data to a main control 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;
in a remote control time slice of the unmanned aerial vehicle to be remotely controlled, the movable base station encodes and modulates a remote control command frame of the unmanned aerial vehicle to be remotely controlled, and then up-converts the remote control command frame to a narrow-band frequency band to broadcast a remote control command frame signal;
receiving a remote control instruction frame signal in a narrow-band frequency band in a remote control time slice by the unmanned aerial vehicle to be remotely controlled, and demodulating and decoding the remote control instruction frame signal and analyzing the format of the remote control instruction frame signal to obtain a remote control instruction frame;
and the unmanned aerial vehicle to be remotely controlled executes the remote control instruction in the remote control instruction frame.
As a preferred mode, in the downlink routing timeslot stage of each time slice allocation period, a hybrid base station for policing itself is selected for each drone as an active base station of the drone, and then the active base station adjusts the direction of its own base station antenna unit, specifically including the following steps:
in the downlink routing time slot stage, each unmanned aerial vehicle encodes and modulates a downlink routing frame, and up-converts the modulated signal to a narrow-band frequency band to broadcast the downlink routing frame signal when the downlink routing time slot of the unmanned aerial vehicle arrives, wherein the downlink routing frame comprises longitude Lng of the unmanned aerial vehiclevLatitude LatvHeight hv；
Each hybrid base station receives downlink routing frame signals in a narrow-band frequency band, demodulates and decodes the downlink routing frame signals and analyzes the downlink routing frame format to obtain downlink routing frames, and then stores the position information of the unmanned aerial vehicle in the downlink routing frames 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 with the closest distance for each unmanned aerial vehicle according to the distance information sent by each hybrid base station as the active base station of the unmanned aerial vehicle, 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;
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, in the uplink and downlink route protection time slot stage of each time slice allocation period, each active base station dynamically allocates available time slices for the unmanned aerial vehicle governed by itself, where the available time slices include a telemetry time slice and a remote control time slice, and the method specifically includes the following steps:
each movable base station performs access control on the unmanned aerial vehicle managed by the movable base station;
each movable base station uniformly distributes the available time slices to the unmanned aerial vehicles allowed to be accessed, and the time slices distributed to each unmanned aerial vehicle are called the available time slices of the unmanned aerial vehicles;
the master control station appoints a time slice distribution identifier of each unmanned aerial vehicle, and the time slice distribution identifier appoints a telemetering time slice and a remote control time slice in available time slices of the unmanned aerial vehicles;
and the master control station sends the time slice distribution identification of each unmanned aerial vehicle to the movable base station which governs the unmanned aerial vehicle.
As a preferred mode, in the uplink routing timeslot stage of each time slice allocation period, each active base station sends notification information to the unmanned aerial vehicle under its jurisdiction, so that each unmanned aerial vehicle adjusts the direction of its own unmanned aerial vehicle antenna unit and matches the direction of the base station antenna unit of the active base station under its jurisdiction, specifically comprising the following steps:
in the uplink routing time slot stage, each active base station encodes the time slice allocation identification and the available time slice of each unmanned aerial vehicle administered by the active base station into an available time slice pattern of the unmanned aerial vehicle, and combines the longitude Lng of the active base station with the available time slice pattern of the unmanned aerial vehicleBLatitude LatBAnd height hBThe information packages the uplink routing frame of each unmanned aerial vehicle;
each active base station inquires the uplink routing time slot of the unmanned aerial vehicle managed by the active base station from the unmanned aerial vehicle information table, and the uplink routing frame is up-converted to a narrow-band frequency band broadcast uplink routing frame signal after being coded and modulated when the uplink routing time slot of the unmanned aerial vehicle managed by the active base station arrives;
each unmanned aerial vehicle receives an uplink routing frame signal in a narrow-band frequency band at an uplink routing time slot of the unmanned aerial vehicle, and the uplink routing frame signal is demodulated, decoded and analyzed in an uplink routing frame format to obtain an uplink routing frame;
the unmanned aerial vehicle obtains a remote measuring time slice and a remote control time slice of the unmanned aerial vehicle according to the available time slice pattern of the unmanned aerial vehicle in the uplink routing frame;
and each unmanned aerial vehicle governs the direction of the antenna unit of the unmanned aerial vehicle according to the position information of the own movable base station governed by the uplink routing frame and combines the position information of the unmanned aerial vehicle to adjust the direction of the antenna unit 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 governing the own movable base station.
As a preferred mode, the time length occupied by the uplink and downlink route protection time slot stage is Ts。
Preferably, the length of the downlink routing frame is L D7 bytes, the length of the uplink routing frame is
Each byte, the length of the telemetry frame and the length of the remote control command frame are both LTRA byte.
Preferably, the downlink routing frame, the uplink routing frame, the telemetry frame, and the remote control command frame are all provided with a checksum FCS field, and the checksum FCS field is used to determine whether a received frame is accurate.
Preferably, the base station antenna unit and the drone antenna unit both include an omnidirectional antenna and a MIMO antenna, and each drone transmits video stream data in a broadband frequency band using the MIMO antenna.
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.
As a preferred mode, after the remote control unmanned aerial vehicle executes the remote control instruction, the unmanned aerial vehicle broadcasts a remote control instruction receipt in a remote measurement time slice of the unmanned aerial vehicle, and if the movable base station receives the remote control instruction receipt, the movable base station forwards the remote control instruction receipt to the main control console; and if the movable base station does not successfully receive the remote control command receipt within the specified time, the movable base station returns the timeout of the receipt of the unmanned aerial vehicle to be remotely controlled to the main control console.
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. According to the invention, a time slice distribution period is customized through a TDMA (time division multiple access) technology, different unmanned aerial vehicles are distinguished by utilizing different time slots and time slices, and the interference between signals of each unmanned aerial vehicle is avoided, so that the system can accommodate a plurality of unmanned aerial vehicles, and the problem of multiple access of a measurement and control system of the unmanned aerial vehicles is solved.
3. The invention utilizes the characteristic that the wireless signal transmission is lost along with the distance through the time slice multiplexing technology, so that the hybrid base stations with longer distance multiplex the same time slice resources, and the total capacity of the communication system is relatively improved under the condition that the time slice resources are scarce.
4. The invention adopts a dynamic time slice allocation technology, each movable base station dynamically allocates time slice resources for the unmanned aerial vehicles managed by the movable base station according to the number of the unmanned aerial vehicles managed by the movable base station, and the transmittable data volume of the unmanned aerial vehicles can be maximized when the number of the unmanned aerial vehicles managed by the movable base station is small.
5. The invention defines the unmanned aerial vehicle measurement and control link layer protocol, establishes unmanned aerial vehicle topology for the base station through the downlink routing frame, and selects a movable base station for each unmanned aerial vehicle; establishing an active base station topology for the unmanned aerial vehicle through the uplink routing frame; transmitting telemetry data for the unmanned aerial vehicle through the telemetry frame; sending a remote control instruction to the unmanned aerial vehicle through a remote control instruction frame; whether the unmanned aerial vehicle executes the command or not is judged through the remote control command receipt, the reliability of remote control command transmission is guaranteed, the remote control command receipt is relatively short, and the burden on the whole communication system is small.
6. The invention transmits the video downlink data of the unmanned aerial vehicle by using the directional antenna through the MIMO (multiple input multiple output) technology, allocates an independent frequency band for the video downlink, has good channel quality and large capacity, and meets the high bandwidth requirement of the video transmission of the unmanned aerial vehicle.
Drawings
FIG. 1 is a cellular communication topological diagram of a hybrid base station in a DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method provided by the invention;
FIG. 2 is a schematic diagram of a time slice allocation period in the DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method provided by the invention;
FIG. 3 is a schematic diagram of a time slice multiplexing pattern in the UAV measurement and control cellular communication method based on DA-TDMA provided by the invention;
FIG. 4 is a work flow chart of the unmanned aerial vehicle measurement and control cellular communication method based on DA-TDMA provided by the invention.
Detailed Description
The embodiment provides an unmanned aerial vehicle measurement and control cellular communication method based on DA-TDMA (digital-analog-time division multiple Access), as shown in FIG. 4, comprising the following steps:
s101, building M hybrid 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. Each unmanned aerial vehicle and the hybrid base station are provided with a positioning and timing module (GPS/Beidou/GALILEO/GLONASS) which is arranged at intervals of a time length TSOne second pulse is generated as a trigger for the start of each slot of the drone and the hybrid base station. The invention transmits the video downlink data of the unmanned aerial vehicle by using the directional antenna through the MIMO (multiple input multiple output) technology, allocates an independent frequency band for the video downlink, has good channel quality and large capacity, and meets the high bandwidth requirement of the video transmission of the unmanned aerial vehicle.
S102, constructing a cellular communication network by using a 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. Once the cellular communication network is constructed, the longitude, latitude and altitude of each hybrid base station may be written into the memory of the hybrid base station. 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.
S103, a narrow-band frequency band and a wide-band frequency band are distributed for the cellular communication network, the narrow-band frequency band is jointly used by unmanned aerial vehicle routing, remote measurement and remote control, and the wide-band frequency band is used by video downlink. Defining a downlink routing frame, an uplink routing frame, a remote measurement frame and a remote control instruction frame of the unmanned aerial vehicle, wherein the length of the downlink routing frame is L D7 bytes, the length of the uplink routing frame is
Each byte, the length of the telemetry frame and the length of the remote control command frame are both LTRA byte. The format and the description of the downlink routing frame are shown in tables 101 and 102, the format and the description of the uplink routing frame are shown in tables 103 and 104, the format and the description of the telemetry frame are shown in tables 105 and 106, and the format and the description of the remote control command frame are shown in tables 107 and 108.
Table 101 downstream routing frame format
| Longitude (INT16, 2 bytes) | Latitude (INT16, 2 bytes) | Height (UINT16,2 bytes) | Checksum FCS (1 byte) |
Table 102 downstream routing frame format description
Table 103 upstream routing frame format
Table 104 upstream routing frame format description
Table 105 telemetry frame format
| Frame length (UINT16,2 bytes) | Telemetry content (L)TR-4 bytes) | Checksum FCS (UINT16,2 bytes) |
Table 106 telemetry frame format description
Table 107 remote control instruction frame format
Table 108 remote control instruction frame format description
And S104, synchronizing all the hybrid base stations and the unmanned aerial vehicle by using the positioning and timing module. All hybrid base stations and unmanned aerial vehicles in the cellular communication network are synchronized by utilizing the positioning and time service modules, the unmanned aerial vehicles and the hybrid base stations in the cellular communication network complete clock synchronization, and the time slot length of the unmanned aerial vehicle communication system is set to be TsFixed transmission per time slot L of a communication systemUByte, and positioning and time service module every TsThe duration generates a pulse of one second as a trigger for the start of each time slot of the drone and the hybrid base station. Since the drones and the hybrid base station have completed clock synchronization, the time at which each drone and the hybrid base station generate the pulse per second is also the same.
And S105, allocating a fixed downlink routing time slot and an uplink routing time slot for each unmanned aerial vehicle. Assume a total of N drones V0、V1、V2、…、VN-1Then unmanned plane V0、V1、V2、…、VN-1The downlink routing time slots are respectively TS0、TS1、TS2、...、TSN-1The uplink routing time slots are TS respectivelyN+1、TSN+2、TSN+3、...、TS2N(ii) a Time slot TS between last downlink route time slot and first uplink route time slotNProtecting time slots for uplink and downlink routes, wherein the occupation duration of the uplink and downlink route protection time slots is Ts。
S106, defining a time slice delta T of communication, wherein the delta T is n TsI.e. each n time slots is divided into a time slice, each time slice fixedly transmits LTRThe number of bytes is one,
the time slices are used to transmit telemetry frames or remote control command frames for each drone in the cellular communication network.
S107, defining a time slice distribution period T of communicationfOne time slice allocation period TfThe time slot stage of the downlink route, the time slot stage of the uplink route and the time slot stage of the downlink route protection, the time slot stage of the uplink route and N are arranged in sequenceTAnd (4) time slices. The downlink route time slot stage is composed of downlink route time slots of all unmanned aerial vehicles, the uplink and downlink route protection time slot stage is composed of uplink and downlink route protection time slots, and the uplink route time slot stage is composed of uplink route time slots of all unmanned aerial vehicles. The time length occupied by the uplink and downlink route protection time slot is TsThen the slot allocation period Tf＝(2N+1)Ts+NTA schematic of Δ t, time slice allocation period is shown in fig. 2.
S108, according to the address selection information of the hybrid base station cellular network, allocating the time slice to the period TfN in (1)TThe time slices are respectively allocated to the hybrid base stations. Due to the attenuation of wireless signals, the interference degree of signals of two distant hybrid base stations is little or no interference, so that the distant hybrid base stations can multiplex the same time slice, and the time slice allocated to each hybrid base station is the time slice multiplexing pattern of the hybrid base stations. In addition, in order to make each hybrid base station have an opportunity to transmit data at any time as much as possible, the time slices allocated to each hybrid base station should be uniformly distributed. Fig. 3 is a schematic diagram of a time slice reuse pattern for a hybrid base station, wherein the time slots allocated for each drone are indicated by dark squares, and base station B due to attenuation of the radio signalKAnd base station B0Multiplexing the same time slice, base station BK+1And base station B1Multiplexing the same time slice, base station BK+2And base station B2The same time slices are multiplexed.
The invention utilizes the characteristic that the wireless signal transmission is lost along with the distance through the time slice multiplexing technology, so that the hybrid base stations with longer distance multiplex the same time slice resources, and the total capacity of the communication system is relatively improved under the condition that the time slice resources are scarce.
S109, each hybrid base station acquires the downlink routing timeslot and the uplink routing timeslot of each drone, and stores the downlink routing timeslot number of the downlink routing timeslot and the uplink routing timeslot number of the uplink routing timeslot of each drone in the drone information table of the hybrid base station, where the drone information table and its description are shown in tables 109 and 110.
Table 109 unmanned aerial vehicle information table
| Unmanned aerial vehicle numbering | Downlink routing timeslot numbering | Uplink routing timeslot numbering |
| UINT16 type, 2 bytes | UINT16 type, 2 bytes | UINT16 type, 2 bytes |
Table 110 unmanned aerial vehicle information table description
| Name (R) | Description of the invention |
| Unmanned aerial vehicle numbering | Assigning a unique number to a drone, UINT16 type, 2 bytes |
| DownstreamRouting time slot numbering | The downlink routing time slot number of the unmanned aerial vehicle, UINT16 type, 2 bytes |
| Uplink routing timeslot numbering | Uplink routing time slot number of the unmanned aerial vehicle, UINT16 type, 2 bytes |
S110, allocating a period T in each time slicefThe downlink routing time slot stage of (2) selects a hybrid base station for each unmanned aerial vehicle to manage as a mobile base station of the unmanned aerial vehicle, and then the mobile base station adjusts the direction of an antenna unit of the base station, which specifically comprises the following steps:
s1101, in the downlink routing time slot stage, each unmanned aerial vehicle encodes and modulates a downlink routing frame, and up-converts the modulated signal to a narrow-band frequency band for broadcasting a downlink routing frame signal when the downlink routing time slot of the unmanned aerial vehicle arrives, wherein the downlink routing frame comprises longitude Lng of the unmanned aerial vehiclevLatitude LatvHeight hv。
S1102, each hybrid base station receives a downlink routing frame signal in a narrowband frequency band, demodulates and decodes the downlink routing frame signal and analyzes the downlink routing frame format to obtain a downlink routing frame, and the hybrid base station judges whether the downlink routing frame is accurate or not according to a check sum FCS field in the downlink routing frame, and discards the downlink routing frame if the downlink routing frame is not accurate; and if the position information is accurate, the hybrid base station stores the unmanned aerial vehicle position information obtained by analyzing the downlink routing frame into an unmanned aerial vehicle position table of the hybrid base station. The drone location table and its description are shown in tables 111 and 112, respectively.
Watch 111 unmanned plane position table
Table 112 drone location table description
| 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, INT16 type, 2 bytes |
| Latitude | Ordinate of unmanned plane in earth spherical coordinate system, INT16 type, 2 bytes |
| Height | Altitude of drone, UINT16 type, 2 bytes |
| Time stamp | The hybrid base station analyzes the time, DATETIME, of the uplink routing frame by 4 bytes |
And S1103, each hybrid base station calculates the distance information between each hybrid base station 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 with the closest distance for each unmanned aerial vehicle according to the distance information sent by each hybrid base station as the active base station of the unmanned aerial vehicle, and then the master control station writes the information of each active base station into an active base station information table of the master control station, wherein the format and the description of the active base station information table are respectively shown in tables 113 and 114. Calculating the distance information between the unmanned aerial vehicle and the hybrid base station specifically comprises the following steps: to groundEstablishing a three-dimensional rectangular coordinate system with the center 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
Table 113 active base station information table
| Unmanned aerial vehicle numbering | Active base station numbering |
| UINT16 type, 2 bytes | UINT16 type, 2 bytes |
Table 114 active base station information table description
| Name (R) | Description of the invention |
| Unmanned aerial vehicle numbering | Endowing unmanned aerial vehicle with uniquenessNumber of one, UINT16 type, 2 bytes |
| Active base station numbering | Hybrid base station number, UINT16,2 bytes for the drone to transmit telemetry signals |
And entering the next downlink routing time slot, and repeating the steps S1101-S1103 until the downlink routing time slot stage is finished.
And S1104, each active base station inquires the position information of the unmanned aerial vehicle managed by the active base station from the unmanned aerial vehicle position table, and adjusts the direction of the MIMO antenna beam of the active base station by combining the position information of the active base station so as to well receive video stream data.
S111, allocating a period T in each time slicefIn the uplink and downlink route protection time slot stage, each active base station dynamically allocates available time slices for the unmanned aerial vehicle governed by the active base station, wherein the available time slices comprise telemetering time slices and remote control time slices, and the method specifically comprises the following steps:
s1111, each movable base station performs access control on the unmanned aerial vehicles managed by the movable base station, and the access control ensures that the movable base stations only serve the unmanned aerial vehicles with the number within the service capability range when the same movable base station manages too many unmanned aerial vehicles.
S1112, each active base station uniformly allocates its available time slices to the drones allowed to access, where the time slice allocated to each drone is the available time slice of the drone. I.e. the time slots available for each active base station are each assigned with equal probability to each drone allowed to access, the time slot assigned to each drone being called the availability time slot of the drone.
S1113, the master console appoints the time slice distribution identification of each unmanned aerial vehicle, and the time slice distribution identification appoints a telemetering time slice and a remote control time slice in the available time slices of the unmanned aerial vehicles; the telemetry time slices and the telemetry time slices are used to indicate which time slices are used for telemetry and which time slices are used for telemetry, respectively.
S1114, the master console sends the time slice distribution identification of each unmanned aerial vehicle to the active base station which governs the unmanned aerial vehicle.
The invention adopts a dynamic time slice allocation technology, each movable base station dynamically allocates time slice resources for the unmanned aerial vehicles managed by the movable base station according to the number of the unmanned aerial vehicles managed by the movable base station, and the transmittable data volume of the unmanned aerial vehicles can be maximized when the number of the unmanned aerial vehicles managed by the movable base station is small.
S112, allocating a period T in each time slicefIn the uplink routing time slot stage, each mobile base station sends notification information to the unmanned aerial vehicle administered by itself, so that each unmanned aerial vehicle adjusts the direction of the antenna unit of the unmanned aerial vehicle and matches the direction of the antenna unit of the base station administering the mobile base station of itself, and the method specifically comprises the following steps:
s1121, in the uplink routing timeslot stage, each active base station encodes, for each drone governed by itself, the slot allocation id and the available slot of the drone into an available slot pattern of the drone (the encoding manner is described in "drone available slot pattern" in table 104), and combines with its longitude LngBLatitude LatBAnd height hBThe information packages the uplink routing frame of each unmanned aerial vehicle;
s1122, each active base station inquires the uplink routing time slot of the unmanned aerial vehicle managed by the active base station from the unmanned aerial vehicle information table, and when the uplink routing time slot of the unmanned aerial vehicle managed by the active base station arrives, the uplink routing frame is encoded and modulated and then is up-converted to a narrow-band frequency band to broadcast an uplink routing frame signal;
s1123, each unmanned aerial vehicle receives the uplink routing frame signal in the narrowband frequency band at the uplink routing time slot of the unmanned aerial vehicle, and demodulates and decodes the uplink routing frame signal and analyzes the uplink routing frame format to obtain an uplink routing frame; the unmanned aerial vehicle judges whether the uplink routing frame is accurate or not according to the check sum FCS field in the uplink routing frame, and if the uplink routing frame is not accurate, the uplink routing frame is discarded; if it is accurate, the process proceeds to S1124.
S1124, the unmanned aerial vehicle obtains the telemetering time slice and the remote control time slice of the unmanned aerial vehicle according to the available time slice pattern of the unmanned aerial vehicle in the uplink routing frame; the available time slice patterns have the time slice allocation identifications and the time slice allocation bitmap of the drone, so that which available time slices are telemetric time slices and which available time slices are remote control time slices are known.
And S1125, each unmanned aerial vehicle governs the position information of the own movable base station according to the uplink routing frame and adjusts the direction of the MIMO antenna beam 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 governed by the unmanned aerial vehicle, and the movable base station can be ensured to receive video stream data well.
And (4) entering the next uplink routing time slot, repeating the steps S1121-S1125 until the uplink routing time slot stage is finished.
S113, in the telemetering time slice of each unmanned aerial vehicle, each unmanned aerial vehicle utilizes an MIMO antenna to send video stream data in a broadband frequency band, and each unmanned aerial vehicle encodes and modulates a telemetering frame of the unmanned aerial vehicle and then up-converts the telemetering frame into a narrowband frequency band broadcast telemetering frame signal;
s114, each movable base station receives the telemetering frame signal of the unmanned aerial vehicle administered by the movable base station in each telemetering time slice, demodulates and decodes the telemetering frame signal and analyzes the format of the telemetering frame to obtain a telemetering frame, the movable base station judges whether the telemetering frame is accurate or not through a check sum FCS field in the telemetering frame, and if the telemetering frame is accurate, the telemetering frame is forwarded to a master control station; if not, the telemetry frame is discarded. The active base station receives video stream data of the unmanned aerial vehicle managed by the active base station at a broadband frequency band by using the MIMO antenna, and forwards the video stream data to the master control station.
The main control console sends a remote control instruction to the unmanned aerial vehicle, and the following steps are required:
s115, the main control console inquires the movable base station of the unmanned aerial vehicle to be remotely controlled in the movable base station information table, and the main control 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.
And S116, in the remote control time slice of the unmanned aerial vehicle to be remotely controlled, the movable base station encodes and modulates the remote control command frame of the unmanned aerial vehicle to be remotely controlled and then up-converts the remote control command frame signal to a narrow-band frequency band to broadcast the remote control command frame signal.
And S117, the unmanned aerial vehicle to be remotely controlled receives the remote control instruction frame signal in the narrow-band frequency band in the remote control time slice, and demodulates and decodes the remote control instruction frame signal and analyzes the format of the remote control instruction frame to obtain a remote control instruction frame. The unmanned aerial vehicle to be remotely controlled judges whether the remote control instruction frame is accurate or not through a check sum FCS field in the remote control instruction frame, and if the remote control instruction frame is not accurate, the remote control instruction frame is discarded; if it is accurate, the process proceeds to S118.
S118, the unmanned aerial vehicle to be remotely controlled executes the remote control instruction in the remote control instruction frame, and then the unmanned aerial vehicle broadcasts a remote control instruction receipt in a remote measurement time slice of the unmanned aerial vehicle, wherein the remote control instruction receipt is a special remote measurement frame, and the content of the remote control instruction receipt comprises a remote control instruction number and an instruction execution result; if the movable base station receives the remote control command receipt, the movable base station forwards the remote control command receipt to the main control console; and if the movable base station does not successfully receive the remote control command receipt within the specified time, the movable base station returns the timeout of the receipt of the unmanned aerial vehicle to be remotely controlled to the main control console.
And entering the next time distribution period, and repeating the steps S110 to S118.
According to the invention, a time slice distribution period is customized through a TDMA (time division multiple access) technology, different unmanned aerial vehicles are distinguished by utilizing different time slots and time slices, and the interference between signals of each unmanned aerial vehicle is avoided, so that the system can accommodate a plurality of unmanned aerial vehicles, and the problem of multiple access of a measurement and control system of the unmanned aerial vehicles is solved. The invention defines the unmanned aerial vehicle measurement and control link layer protocol, establishes unmanned aerial vehicle topology for the base station through the downlink routing frame, and selects a movable base station for each unmanned aerial vehicle; establishing an active base station topology for the unmanned aerial vehicle through the uplink routing frame; transmitting telemetry data for the unmanned aerial vehicle through the telemetry frame; sending a remote control instruction to the unmanned aerial vehicle through a remote control instruction frame; whether the unmanned aerial vehicle executes the instruction or not is judged through the remote control instruction receipt, and the reliability of remote control instruction transmission is guaranteed.
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 (10)
1. An unmanned aerial vehicle measurement and control cellular communication method based on DA-TDMA 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; each unmanned aerial vehicle and the hybrid base station are provided with a positioning and timing module, and the positioning and timing modules are arranged at intervals of a time length TsGenerating a pulse of one second as a trigger for the start of each time slot of the drone and the hybrid base station, each time slot transmitting a fixed transmission LUA byte;
building a cellular communication network using the hybrid base station;
allocating a narrow-band frequency band and a wide-band frequency band for the cellular communication network;
synchronizing all the hybrid base stations and the unmanned aerial vehicle by using a positioning and time service module;
allocating a fixed downlink routing time slot and an uplink routing time slot for each unmanned aerial vehicle;
time slices Δ T, Δ T ═ n × T, defining communicationssEach time slice fixed transmission LTRThe number of bytes is one,
the time slice is used for transmitting a telemetering frame or a remote control instruction frame of each unmanned aerial vehicle in a cellular communication network;
defining a time slice allocation period T for a communicationfOne time slice allocation period is sequentially a downlink route time slot stage, an uplink route protection time slot stage, an uplink route time slot stage and NTA time slice;
allocating N in the time slice allocation period according to the address selection information of the hybrid base station cellular networkTThe time slices are respectively distributed to each mixed base station;
each hybrid base station acquires a downlink routing time slot and an uplink routing time slot of each unmanned aerial vehicle, and stores the downlink routing time slot and the uplink routing time slot of each unmanned aerial vehicle in an unmanned aerial vehicle information table of the hybrid base station;
selecting a hybrid base station for each unmanned aerial vehicle to manage as a movable base station of the unmanned aerial vehicle at a downlink routing time slot stage of each time slice allocation period, and then adjusting the direction of an antenna unit of the base station by the movable base station;
in the uplink and downlink route protection time slot stage of each time slot distribution period, each movable base station dynamically distributes available time slots for the unmanned aerial vehicle governed by the movable base station, wherein the available time slots comprise a telemetering time slot and a remote control time slot;
in the uplink routing time slot stage of each time slice allocation period, each movable base station sends notification information to the unmanned aerial vehicle 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;
in the telemetering time slice of each unmanned aerial vehicle, each unmanned aerial vehicle transmits video stream data in a broadband frequency band by using an unmanned aerial vehicle antenna unit, and each unmanned aerial vehicle encodes and modulates a telemetering frame of the unmanned aerial vehicle and then up-converts the telemetering frame into a narrowband frequency band broadcasting telemetering frame signal;
each active base station receives telemetry frame signals of the unmanned aerial vehicle administered by the active base station in each telemetry time slice, demodulates and decodes the telemetry frame signals and analyzes the format of the telemetry frame to obtain a telemetry frame, and then forwards the telemetry frame to a master control station; the active base station receives video stream data of the unmanned aerial vehicle managed by the active base station at a broadband frequency band by using the base station antenna unit and forwards the video stream data to a main control 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;
in a remote control time slice of the unmanned aerial vehicle to be remotely controlled, the movable base station encodes and modulates a remote control command frame of the unmanned aerial vehicle to be remotely controlled, and then up-converts the remote control command frame to a narrow-band frequency band to broadcast a remote control command frame signal;
receiving a remote control instruction frame signal in a narrow-band frequency band in a remote control time slice by the unmanned aerial vehicle to be remotely controlled, and demodulating and decoding the remote control instruction frame signal and analyzing the format of the remote control instruction frame signal to obtain a remote control instruction frame;
and the unmanned aerial vehicle to be remotely controlled executes the remote control instruction in the remote control instruction frame.
2. The method according to claim 1, wherein in the downlink routing timeslot phase of each time slice allocation period, a hybrid base station for policing each drone is selected as an active base station of the drone, and then the active base station adjusts the direction of its own base station antenna unit, specifically comprising the steps of:
in the downlink routing time slot stage, each unmanned aerial vehicle encodes and modulates a downlink routing frame, and up-converts the modulated signal to a narrow-band frequency band to broadcast the downlink routing frame signal when the downlink routing time slot of the unmanned aerial vehicle arrives, wherein the downlink routing frame comprises longitude Lng of the unmanned aerial vehiclevLatitude LatvHeight hv；
Each hybrid base station receives downlink routing frame signals in a narrow-band frequency band, demodulates and decodes the downlink routing frame signals and analyzes the downlink routing frame format to obtain downlink routing frames, and then stores the position information of the unmanned aerial vehicle in the downlink routing frames 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 with the closest distance for each unmanned aerial vehicle according to the distance information sent by each hybrid base station as the active base station of the unmanned aerial vehicle, 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;
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 DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method according to claim 2, wherein in the uplink and downlink route protection timeslot phases of each time slice allocation period, each active base station dynamically allocates available time slices for the unmanned aerial vehicle under its jurisdiction, the available time slices including telemetry time slices and remote control time slices, comprising the steps of:
each movable base station performs access control on the unmanned aerial vehicle managed by the movable base station;
each movable base station uniformly distributes the available time slices to the unmanned aerial vehicles allowed to be accessed, and the time slices distributed to each unmanned aerial vehicle are called the available time slices of the unmanned aerial vehicles;
the master control station appoints a time slice distribution identifier of each unmanned aerial vehicle, and the time slice distribution identifier appoints a telemetering time slice and a remote control time slice in available time slices of the unmanned aerial vehicles;
and the master control station sends the time slice distribution identification of each unmanned aerial vehicle to the movable base station which governs the unmanned aerial vehicle.
4. The DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method as claimed in claim 3, wherein in the uplink routing timeslot phase of each time slice allocation period, each active base station sends notification information to the unmanned aerial vehicle under its jurisdiction, so that each unmanned aerial vehicle adjusts the direction of its own unmanned aerial vehicle antenna unit and matches the direction of the base station antenna unit of the active base station under its jurisdiction, specifically comprising the steps of:
in the uplink routing time slot stage, each active base station encodes the time slice allocation identification and the available time slice of each unmanned aerial vehicle administered by the active base station into an available time slice pattern of the unmanned aerial vehicle, and combines the longitude Lng of the active base station with the available time slice pattern of the unmanned aerial vehicleBLatitude LatBAnd height hBThe information packages the uplink routing frame of each unmanned aerial vehicle;
each active base station inquires the uplink routing time slot of the unmanned aerial vehicle managed by the active base station from the unmanned aerial vehicle information table, and the uplink routing frame is up-converted to a narrow-band frequency band broadcast uplink routing frame signal after being coded and modulated when the uplink routing time slot of the unmanned aerial vehicle managed by the active base station arrives;
each unmanned aerial vehicle receives an uplink routing frame signal in a narrow-band frequency band at an uplink routing time slot of the unmanned aerial vehicle, and the uplink routing frame signal is demodulated, decoded and analyzed in an uplink routing frame format to obtain an uplink routing frame;
the unmanned aerial vehicle obtains a remote measuring time slice and a remote control time slice of the unmanned aerial vehicle according to the available time slice pattern of the unmanned aerial vehicle in the uplink routing frame;
and each unmanned aerial vehicle governs the direction of the antenna unit of the unmanned aerial vehicle according to the position information of the own movable base station governed by the uplink routing frame and combines the position information of the unmanned aerial vehicle to adjust the direction of the antenna unit 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 governing the own movable base station.
5. The DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method according to claim 1, wherein said uplink and downlink route protection time slot phase occupancy duration is Ts。
6. The DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method according to claim 4, wherein said downlink routing frame has a length LD7 bytes, the length of the uplink routing frame is
Each byte, the length of the telemetry frame and the length of the remote control command frame are both LTRA byte.
7. The DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method according to claim 4, wherein said downlink routing frame, uplink routing frame, telemetry frame and remote control command frame are provided with a checksum FCS field, said checksum FCS field being used to determine whether a received frame is accurate.
8. The DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method according to claim 1, wherein said base station antenna unit and said unmanned aerial vehicle antenna unit each comprise an omni-directional antenna and a MIMO antenna, each unmanned aerial vehicle utilizing the MIMO antenna to transmit video stream data in a wideband frequency band.
9. The DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method as claimed in claim 2, wherein said master station first queries a moving base station of the unmanned aerial vehicle to be remotely controlled from a moving base station information table, and then the master station transmits a remote control command frame to be executed by the unmanned aerial vehicle to the moving base station of the unmanned aerial vehicle to be remotely controlled.
10. The DA-TDMA-based unmanned aerial vehicle measurement and control cellular communication method as claimed in claim 1, wherein after a remote control command is executed by a remote control unmanned aerial vehicle, the unmanned aerial vehicle broadcasts a remote control command receipt at its remote measurement time slice, and if the active base station receives the remote control command receipt, the active base station forwards the remote control command receipt to the master console; and if the movable base station does not successfully receive the remote control command receipt within the specified time, the movable base station returns the timeout of the receipt of the unmanned aerial vehicle to be remotely controlled to the main control console.
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