CN111343609B - Unmanned aerial vehicle measurement and control chain power and rate combined control method - Google Patents
Unmanned aerial vehicle measurement and control chain power and rate combined control method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/06—TPC algorithms
- H04W52/08—Closed loop power control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/06—TPC algorithms
- H04W52/10—Open loop power control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/06—TPC algorithms
- H04W52/14—Separate analysis of uplink or downlink
- H04W52/143—Downlink power control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/06—TPC algorithms
- H04W52/14—Separate analysis of uplink or downlink
- H04W52/146—Uplink power control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/38—TPC being performed in particular situations
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- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a power and rate combined control method for an unmanned aerial vehicle measurement and control chain, and aims to provide a power and rate combined control method which is fast and accurate in control, high in data transmission reliability and stability and strong in self-adaptive capacity. The invention is realized by the following technical scheme: the power and rate combined control module firstly acquires the position and posture information of the measurement and control party and calculates the communication distance, the azimuth angle and the pitch angle, and the quick coarse adjustment is carried out by an open-loop control mechanism; then, estimating the received signal power of an uplink by an external closed-loop control mechanism, judging the receiving effect of the airborne terminal, estimating the received signal power of a downlink by the internal closed-loop control mechanism, issuing a feedback command, and performing accurate fine adjustment; and comparing the received signal power with a decision threshold by combining three control mechanisms of an open loop, an outer closed loop and an inner closed loop to complete the joint control of the transmitting power and the communication rate of the unmanned aerial vehicle measurement and control chain.
Description
Technical Field
The invention relates to a joint control method for power and rate of an unmanned aerial vehicle measurement and control chain, which is used for achieving the purpose of interference resistance of the unmanned aerial vehicle measurement and control chain.
Background
Unmanned Aerial Vehicle (UAV) is one of current high-tech equipment, and is widely applied to fields such as scientific research, mobile communication, environmental monitoring, search and rescue, express delivery service and the like. The unmanned aerial vehicle measurement and control chain is an intermediary for linking the unmanned aerial vehicle with the control platform, the unmanned aerial vehicle with the unmanned aerial vehicle and the ground measurement and control station, and is a bridge for realizing information chain type movement. The unmanned aerial vehicle measurement and control chain generally comprises airborne equipment, ground fixed equipment and ground backup mobile equipment. The airborne equipment consists of modules such as an omnidirectional antenna, data recording and interface extension, a link end machine and the like. The ground fixing equipment consists of modules such as an omnidirectional antenna, a servo tracking mechanism, an interface expansion module, a ground link terminal and the like. The ground backup mobile equipment consists of an omnidirectional antenna, a measurement and control terminal machine, a data acquisition and editing device and a matched cable. The unmanned aerial vehicle observes and controls the chain and plays the important effect of control unmanned aerial vehicle flight and transmission telemetering measurement data. However, in recent years, the electromagnetic environment and the natural geographic environment in which the unmanned aerial vehicle performs tasks are increasingly severe, and the unmanned aerial vehicle has time-varying characteristics, and various direct, reflected and scattered path signals cause severe multipath fading. The error rate of the unmanned aerial vehicle measurement and control chain is increased, and the communication quality is obviously reduced. Therefore, an anti-interference method capable of flexibly adapting to a complex environment is required to ensure the quality of a communication link. Power control and rate control are important methods to combat interference. The power control is the minimum power radiation meeting the quality of the communication link, and is an important means for avoiding interference of the unmanned aerial vehicle measurement and control chain. The method for carrying out information transmission by selecting the rate with high reliability through rate control is also a method for avoiding interference, ensuring smooth communication and improving the utilization rate of a frequency spectrum.
Along with the continuous emergence and the wide application of various novel unmanned aerial vehicles, the continuous perfection and the increase of airborne task equipment, the data exchange volume between the unmanned aerial vehicle and the ground measurement and control station is also gradually improved, and new higher requirements are provided for the unmanned aerial vehicle measurement and control chain technology. The capability and performance of the power control of the unmanned aerial vehicle measurement and control chain depends on the precision of power measurement and the processing time delay of power control command generation and transmission to a great extent. When the motion speed of the unmanned aerial vehicle is fast, the power control system cannot compensate the signal power change caused by fast fading, and the power control technology fails. The rate control is often used in cooperation with the power control, however, the rate control and the power control are often separated processes, the time delay is large, and the algorithm is complex. In order to meet the requirement of large data volume information transmission of multiple service functions of an unmanned aerial vehicle measurement and control chain, the communication rate and the transmitting power need to be jointly controlled. The existing power and speed combined control method is mostly applied to a wireless communication network, mobile communication, a CDMA system, a WCDMA system, a cognitive radio network and an inter-machine data chain, and the used methods include game theory, particle swarm, genetic algorithm and the like, but are not applied to an unmanned aerial vehicle measurement and control chain. Compared with wireless communication and an inter-aircraft data link and the like, the unmanned aerial vehicle measurement and control chain is more and more complex in natural geographic environment, the unmanned aerial vehicle is higher and higher in maneuverability, the measurement and control chain is large in coverage area, the electromagnetic environment is complex, the unmanned aerial vehicle works at a low elevation angle, the unmanned aerial vehicle measurement and control chain belongs to a typical rapid time-varying multipath channel, the adaptability of a traditional single power and rate control algorithm is poor, rapid and accurate response cannot be made to the working environment change of the unmanned aerial vehicle measurement and control chain, the operation complexity of the implementation method is high, and the time delay for calculating the optimal transmitting power and the communication rate is large. When the time delay is longer than the time of channel fluctuation, it may cause the communication quality to be seriously degraded. Therefore, the comprehensive method of the open-loop mechanism, the outer closed-loop mechanism and the inner closed-loop mechanism can effectively balance the requirements of response time and control precision, and in the application of the unmanned aerial vehicle measurement and control chain, the position of the ground measurement and control station can be predicted in advance, networking interaction is not needed in advance, and joint control of power and speed can be realized in the full task stage of the use of the measurement and control chain.
Disclosure of Invention
The invention aims to solve the problem of interference resistance of a measurement and control chain of an unmanned aerial vehicle, and provides a power and rate combined control method which is fast and accurate in control, high in data transmission reliability and stability and strong in self-adaptive capacity.
The above purpose of the invention can be realized by the following technical scheme, and the unmanned aerial vehicle measurement and control chain power and rate combined control method has the following technical characteristics: the power and rate combined control module firstly obtains the position and posture information of both sides of the measurement and control by an open-loop control mechanism, calculates the communication distance, the azimuth angle and the pitch angle, and calculates the received signal power of a downlink by combining an installed antenna directional diagram to carry out quick coarse adjustment; then, estimating the received signal power of an uplink by an external closed-loop control mechanism, judging the receiving effect of the airborne terminal, estimating the received signal power of a downlink by a ground measurement and control station by the internal closed-loop control mechanism, issuing a feedback command, and performing accurate fine adjustment; combining three control mechanisms of an open loop, an outer closed loop and an inner closed loop, comparing the received signal power with a decision threshold, if the received signal power of a downlink is very strong and is higher than an upper threshold, firstly increasing the communication rate, and then reducing the transmitting power; otherwise, if the received signal power of the downlink is very weak and is lower than the lower threshold, the transmitting power is increased first, and then the communication rate is reduced; and finishing the joint control of the transmitting power and the communication rate of the unmanned aerial vehicle measurement and control chain.
Compared with the prior art, the invention has the following beneficial effects:
1. the control is fast and accurate. The invention completes the rapid and accurate control of the transmitting power and the communication speed through an open-loop control mechanism, an outer closed-loop control mechanism and an inner closed-loop control mechanism. The method comprises the steps of firstly carrying out open-loop control, not needing to carry out received signal power estimation when a ground measurement and control station reaches an unmanned aerial vehicle, not needing to receive a received signal power estimation value when the ground measurement and control station reaches the ground measurement and control station through an uplink, carrying out quick response, then carrying out outer closed-loop control, carrying out further accurate correction based on good symmetry of the uplink and a downlink, finally carrying out inner closed-loop control, and carrying out quick interaction on information such as received signal power of the measurement and control station and the received signal power of the both sides, so as to realize accurate control of power and speed.
2. And the data transmission reliability and stability are high. The invention adopts the power and rate combined control module to combine the communication rate with the communication distance, and can effectively improve the utilization rate of the frequency spectrum, thereby improving the reliability of data transmission and achieving the networking stability in a shorter time while reducing the transmitting power of the measurement and control chain.
3. The self-adaptive capacity is strong. The invention can adapt to different flight phases and different link propagation environments of the unmanned aerial vehicle. The measurement and control chain can radiate with optimal transmitting power on the premise of meeting the communication speed. In the take-off and landing near field area, the communication speed is reduced in a self-adaptive manner; in the cruising and detecting stages, the power and the speed are adjusted in a self-adaptive mode according to information such as communication distance, received signal power and the like; in an interference environment, the transmission power is increased adaptively. And the power and the speed of an open loop mechanism are automatically adopted to jointly control in the fast time-varying multipath channel. And automatically acquiring the power and rate joint control of an outer closed loop mechanism and an inner closed loop mechanism in the slow fading channel.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic diagram of joint control of power and rate of a measurement and control chain of an unmanned aerial vehicle.
Fig. 2 is an information interaction diagram of fig. 1.
Detailed Description
See fig. 1. The power and rate combined control module controls the transmitting power and the communication rate of the unmanned aerial vehicle measurement and control chain through an open-loop control mechanism, an outer closed-loop control mechanism and an inner closed-loop control mechanism. The power and speed combined control module firstly performs open-loop control to achieve quick response, compensates path loss and large-scale fading, and then is further corrected by the control of the outer closed loop and the inner closed loop to achieve accurate control.
1. Open loop control mechanism
In the open-loop control mechanism, the power and rate combined control module directly calculates the received signal power of the downlink according to the pre-loaded information of the ground measurement and control station, and adjusts the power and the rate. The specific process is as follows: the power and rate combined control module controls the power and rate combined control module to perform the power and rate combined control according to the pre-loaded information of the ground measurement and control station and through a downlink transmission formula,
calculating to obtain the received signal power P of the unmanned aerial vehicle reaching the ground measurement and control station A-r Then adjust power and rate, where P A-t The transmitting power of the measurement and control chain of the unmanned aerial vehicle,
for the transmission gain of the unmanned aerial vehicle in the direction of the ground measurement and control station, L A-B (R,f A ) Free space loss for the downlink, L weather loss,
for the receiving gain of the ground measurement and control station in the direction of the unmanned aerial vehicle,
and theta A Respectively an azimuth angle and a pitch angle of the ground measurement and control station relative to the unmanned aerial vehicle,
and theta B The azimuth angle and the pitch angle of the unmanned aerial vehicle relative to the ground measurement and control station are respectively shown, A is an unmanned aerial vehicle end, B is a ground measurement and control station end, t is transmitting, and r is receiving.
2. Outer closed loop control mechanism
In the outer closed-loop control mechanism, a power and rate combined control module estimates the received signal power of an uplink, judges the receiving effect of the airborne terminal and then adjusts the power and the rate.
3. Inner closed loop control mechanism
In the inner closed-loop control mechanism, the ground measurement and control station directly estimates the received signal power of the downlink and feeds the received signal power back to the unmanned aerial vehicle. And the power and rate combined control module obtains the received signal power of the downlink fed back by the ground measurement and control station and then adjusts the power and the rate.
4. Power and rate joint control
Both the open-loop control mechanism, the outer closed-loop control mechanism and the inner closed-loop control mechanism need to compare the received signal power with a decision threshold to perform the joint control of the power and the rate. In order to prevent frequent switching back and forth caused by link fluctuation, the decision threshold comprises an upper threshold and a lower threshold, and
P u ＝10log 10 (k)+10log 10 (T)+E b /N 0 +10log 10 (V)+P s /2
P d ＝10log 10 (k)+10log 10 (T)+E b /N 0 +10log 10 (V)-P s /2
wherein u is an upper threshold, d is a lower threshold, k is the Boltzmann constant, T is the absolute temperature, E b /N 0 For demodulation threshold, V is communication rate, P s Step power control.
1) In the power and rate joint control, if the received signal power is smaller than the lower threshold, the power and rate joint control module increases the transmitting power gradually until the received signal power is between the upper and lower thresholds or the maximum power is reached. If the received signal power is still less than the lower threshold, the rate is gradually decreased by one level until the received signal power is between the upper and lower thresholds or the rate is adjusted to the lowest.
2) In the power and rate joint control, if the power of the received signal is greater than the upper threshold, the power and rate joint control module gradually increases the rate by one level until the power of the received signal is between the upper threshold and the lower threshold or the highest rate is reached. If the power of the received signal is still larger than the upper threshold, the transmitting power is reduced gradually until the power of the received signal is between the upper threshold and the lower threshold or the power is adjusted to be minimum.
See fig. 2. The power and rate combined control module divides information interaction of unmanned aerial vehicle measurement and control chain power and rate combined control into 3 steps of open-loop power and rate combined control, outer closed-loop power and rate combined control and inner closed-loop power and rate combined control according to a networking protocol, and the steps are as follows:
step 1: in a first communication period of open-loop power and rate combined control, a power and rate combined control module calculates and obtains a communication distance R and an azimuth angle of a ground measurement and control station relative to an unmanned aerial vehicle through the warp, weft and high position information of the ground measurement and control station loaded in advance and the warp, weft, high position and attitude information of the unmanned aerial vehicle
Pitch angle theta A . The power and speed joint control module utilizes the communication distance R and the azimuth angle
Pitch angle theta A And a transmission frequency f A Calculating the free space loss L from the unmanned plane to the ground measurement and control station A-B (R,f A ) And looking up a table to obtain the unmanned aerial vehicle by combining a measurement and control antenna directional pattern after installationTransmitter gain of machine in direction of ground measurement and control station
Substituting the downlink transmission formula to calculate the received signal power P of the unmanned aerial vehicle reaching the ground measurement and control station A-r A 1 is to P A-r And upper and lower threshold values P u 、P d Comparing, and performing power and rate combined control under an open loop mechanism;
step 2: in the second communication period of the outer closed loop power and rate combined control, the power and rate combined control module firstly estimates the power of a received signal from the ground measurement and control station to the unmanned aerial vehicle on the basis of carrying out open loop control by using the communication distance R to obtain an uplink propagation formula P from the ground measurement and control station to the unmanned aerial vehicle B-r
A 1 is to P A-r And upper and lower threshold values P u 、P d And comparing, and performing power and rate combined control under the outer closed loop.
Wherein, P B-t The power is transmitted by a ground measurement and control station,
for the transmission gain of the ground measurement and control station in the direction of the unmanned aerial vehicle, L B-A (R,f B ) Free space loss for the uplink, L weather loss,
gain the receiving of the unmanned aerial vehicle in the direction of the ground measurement and control station;
and step 3: in a third communication period of the inner closed loop power and rate combined control, the ground measurement and control station estimates the power of a received signal from the unmanned aerial vehicle to the ground measurement and control station to obtain P A-r And feeds back to the drone through the uplink. The power and rate joint control module combines P A-r And upper and lower threshold values P u 、P d And comparing, and performing power and rate joint control under the inner closed loop.
After three communication cycles, the power and rate combined control module completes the power and rate combined control of the measurement and control chain from fast to slow and from the open loop of coarse to fine, the outer closed loop and the inner closed loop.
The foregoing is directed to the preferred embodiment of the present invention and it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (9)
1. An unmanned aerial vehicle measurement and control chain power and rate combined control method has the following technical characteristics: the power and rate combined control module firstly obtains the position and posture information of both sides of the measurement and control by an open-loop control mechanism, calculates the communication distance, the azimuth angle and the pitch angle, and calculates the received signal power of a downlink by combining an installed antenna directional diagram to carry out quick coarse adjustment; then, estimating the received signal power of an uplink by an external closed-loop control mechanism, judging the receiving effect of the airborne terminal, estimating the received signal power of a downlink by a ground measurement and control station by the internal closed-loop control mechanism, issuing a feedback command, and carrying out accurate fine adjustment; combining three control mechanisms of open loop, outer closed loop and inner closed loop, comparing the received signal power with the decision threshold, if the received signal power of the down link is very strong, it is higher than the upper oneIf the threshold is reached, the communication rate is firstly increased, and then the transmitting power is reduced; on the contrary, if the received signal power of the downlink is very weak and is lower than the lower threshold, the transmitting power is firstly increased, and then the communication rate is reduced; finishing the joint control of the transmitting power and the communication rate of the unmanned aerial vehicle measurement and control chain; the power and rate combined control module divides information interaction of unmanned aerial vehicle measurement and control chain power and rate combined control into 3 steps of open-loop power and rate combined control, outer closed-loop power and rate combined control and inner closed-loop power and rate combined control according to a networking protocol; in a first communication period of open-loop power and rate combined control, a power and rate combined control module calculates and obtains a communication distance R and an azimuth angle of a ground measurement and control station relative to an unmanned aerial vehicle through the warp, weft and high position information of the ground measurement and control station loaded in advance and the warp, weft, high position and attitude information of the unmanned aerial vehicle
Pitch angle theta A ；
The power and speed joint control module utilizes the communication distance R and the azimuth angle
Pitch angle theta A And a transmission frequency f A And calculating the free space loss L from the unmanned aerial vehicle to the ground measurement and control station A-B (R,f A ) And combining the installed measurement and control antenna directional diagram, looking up the table to obtain the transmission gain of the unmanned aerial vehicle in the direction of the ground measurement and control station
Substituting the downlink transmission formula to calculate the received signal power P of the unmanned aerial vehicle reaching the ground measurement and control station A-r A 1 is to P A-r And upper and lower threshold values P u 、P d Comparing, and performing power and rate combined control under an open loop mechanism;
in the second communication period of the outer closed loop power and speed combined control, the power and speed combined control module firstly estimates the power of a received signal from the ground measurement and control station to the unmanned aerial vehicle on the basis of carrying out open loop control by using the communication distance R to obtain an uplink transmission formula from the ground measurement and control station to the unmanned aerial vehicle
Weather loss is obtained after item shifting
Then substituting L into a downlink transmission formula by using the symmetry of the measurement and control uplink and the downlink to offset the weather loss L to obtain
Will P A-r And upper and lower threshold values P u 、P d Comparing, and performing power and rate combined control under the outer closed loop; in the third communication period of the inner closed loop power and rate combined control, the ground measurement and control station estimates the power of the received signal of the unmanned aerial vehicle reaching the ground measurement and control station to obtain P A-r And feeds back the P to the unmanned aerial vehicle through an uplink, and a power and rate combined control module feeds the P back to the unmanned aerial vehicle A-r And upper and lower threshold values P u 、P d Comparing, and performing power and rate combined control under the inner closed loop;
wherein, P B-t The transmitting power of the ground measurement and control station is measured,
for the transmission gain of the ground measurement and control station in the direction of the unmanned aerial vehicle, L B-A (R,f B ) Free space loss for the uplink, L weather loss,
and the receiving gain of the unmanned aerial vehicle in the direction of the ground measurement and control station is increased.
2. The joint control method for power and rate of measurement and control chain of unmanned aerial vehicle as claimed in claim 1, wherein: in the open-loop control mechanism, the power and rate combined control module directly calculates the received signal power of the downlink according to the pre-loaded information of the ground measurement and control station, and adjusts the power and the rate.
3. The joint control method for power and rate of the measurement and control chain of the unmanned aerial vehicle as claimed in claim 2, wherein: the power and rate combined control module transmits a formula through a downlink according to the pre-loaded information of the ground measurement and control station
4. The joint control method for power and rate of the measurement and control chain of the unmanned aerial vehicle as claimed in claim 3, wherein: in the outer closed-loop control mechanism, a power and rate combined control module estimates the received signal power of an uplink, judges the receiving effect of an airborne terminal and then adjusts the power and the rate.
5. The joint control method for power and rate of measurement and control chain of unmanned aerial vehicle according to claim 4, characterized in that: in the inner closed-loop control mechanism, the ground measurement and control station directly estimates the received signal power of the downlink and feeds the power back to the unmanned aerial vehicle, and the power and rate combined control module obtains the received signal power of the downlink fed back by the ground measurement and control station and then adjusts the power and the rate.
6. The joint control method for power and rate of measurement and control chains of unmanned aerial vehicles according to claim 5, characterized in that: the open-loop control mechanism, the outer closed-loop control mechanism and the inner closed-loop control mechanism compare the power of the received signal with a decision threshold to carry out joint control of the power and the rate.
7. The joint control method for power and rate of measurement and control chains of unmanned aerial vehicles according to claim 6, characterized in that: the decision threshold comprises an upper threshold P u And a lower threshold P d Wherein, in the step (A),
P u ＝10log 10 (k)+10log 10 (T)+E b /N 0 +10log 10 (V)+P s /2
P d ＝10log 10 (k)+10log 10 (T)+E b /N 0 +10log 10 (V)-P s /2
wherein u is an upper threshold, d is a lower threshold, k is the Boltzmann constant, T is the absolute temperature, E b /N 0 For demodulation threshold, V is communication rate, P s Step the power control.
8. The joint control method for power and rate of measurement and control chains of an unmanned aerial vehicle as claimed in claim 7, wherein: in the power and rate joint control, if the received signal power is less than the lower threshold, the power and rate joint control module increases the transmission power gradually until the received signal power is between the upper and lower thresholds or the maximum power is reached, and if the received signal power is still less than the lower threshold, the rate is reduced by one level gradually until the received signal power is between the upper and lower thresholds or the rate is adjusted to be the lowest.
9. The joint control method for power and rate of measurement and control chains of an unmanned aerial vehicle according to claim 8, characterized in that: in the power and rate joint control, if the power of the received signal is greater than the upper threshold, the power and rate joint control module gradually increases the rate by one level until the power of the received signal is between the upper threshold and the lower threshold or the highest rate is reached, and if the power of the received signal is still greater than the upper threshold, the transmission power is gradually reduced until the power of the received signal is between the upper threshold and the lower threshold or the power is adjusted to be the minimum.
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