CN111628821A - Beyond-visual-range unmanned aerial vehicle signal relay system adopting mooring unmanned aerial vehicle - Google Patents
Beyond-visual-range unmanned aerial vehicle signal relay system adopting mooring unmanned aerial vehicle Download PDFInfo
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- H—ELECTRICITY
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
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- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
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Abstract
The invention discloses a beyond visual range unmanned aerial vehicle signal relay system adopting a tethered unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle equipment. The signal relay system of the beyond visual range unmanned aerial vehicle adopting the mooring unmanned aerial vehicle consists of 3 parts of an beyond visual range flight platform, a ground terminal and a mooring lift-off platform; the over-the-horizon flying platform is used for performing over-the-horizon low-altitude flying operation; the ground terminal is used for executing control operation on the over-the-horizon flying platform and the mooring and lifting platform on the ground; and the mooring lift-off platform is provided with a relay radio station and is lifted to a high position to relay and connect the ground terminal and the communication of the over-the-horizon flight platform.
Description
Technical Field
The invention discloses a beyond visual range unmanned aerial vehicle signal relay system adopting a tethered unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle equipment.
Background
The unmanned aerial vehicle system is widely applied to the fields of aerial photography, surveying and mapping, emergency rescue, environment inspection and the like. The unmanned aerial vehicle system is divided into an air part and a ground part, the air part is an aircraft carrying platform carrying a sensing terminal, the ground part is mainly a ground control terminal, and the ground control terminal realizes remote flight control and task execution of the aircraft through a wireless data link. Good communication between the ground terminal and the aerial carrier is a key guarantee in aerial photography and aerial survey tasks, and if communication is blocked in the process of executing the aerial survey tasks, the aerial carrier can be out of control, and even an aircraft explosion accident can be caused. Especially in the specific task environment with complex terrain such as karst regions, advanced low-altitude remote sensing technology is very needed to replace ground investigation work depending on manpower, but the unmanned aerial vehicle system in the prior art is influenced by mountain sheltering and the like, signal loss is easy to occur, the connection of the aerial vehicle is lost, and the popularization and application of the unmanned aerial vehicle technology are greatly influenced.
Generally, a data transmission radio station used for transmitting data in an unmanned aerial vehicle system adopts a broadcast communication mode, so that a signal path can bypass an obstacle by adopting a mode of arranging a relay communication radio station at a high altitude. The method can effectively increase the communication distance and the network coverage range and extend the reachable area of the visual field.
In the prior art, most relay communication radio stations are usually fixedly arranged at a high place, so that the relay communication radio stations are difficult to arrange and are inconvenient to transfer to a working position, and the advantage of flexible deployment and use of an unmanned aerial vehicle system in the field is greatly reduced; and the effective communication domain degree of the fixedly arranged relay radio station is generally not adjustable, the angle of signal search is limited, and when the carrier flies away from the effective area, the communication efficiency is rapidly reduced.
Therefore, a more preferable solution to the above technical problem is to be provided.
Disclosure of Invention
In order to overcome the technical problem, the invention discloses a beyond visual range unmanned aerial vehicle signal relay system adopting a tethered unmanned aerial vehicle, which utilizes the tethered unmanned aerial vehicle to mount a signal relay radio station so as to realize convenient height adjustment and ensure that the deployment of the unmanned aerial vehicle system is more flexible.
The technical scheme adopted by the scheme is as follows:
a signal relay system of an over-the-horizon unmanned aerial vehicle adopting a mooring unmanned aerial vehicle comprises 3 parts of an over-the-horizon flying platform, a ground terminal and a mooring lift-off platform; the over-the-horizon flying platform is used for performing over-the-horizon low-altitude flying operation; the ground terminal is used for executing control operation on the over-the-horizon flying platform and the mooring and lifting platform on the ground; the mooring and lift-off platform is used for lifting to a high place; the system carries a relay radio station to relay and connect the ground terminal and the over-the-horizon flying platform.
Furthermore, the main body of the over-the-horizon flying platform is a fixed-wing unmanned aerial vehicle; the fixed wing unmanned aerial vehicle carries an airborne radio station and is used for establishing wireless communication with the ground.
Further, the ground terminal is provided with a fixed wing control end and a ground radio station; and the fixed wing control end of the ground terminal establishes communication with the airborne radio station of the over-the-horizon flying platform through the ground radio station so as to carry out flying management on the over-the-horizon flying platform.
Furthermore, the main body of the mooring and lifting platform is a multi-shaft unmanned aerial vehicle; and the ground terminal is connected with the multi-shaft unmanned aerial vehicle through a conductive cable and continuously supplies power to the mooring and lift-off platform.
Further, multiaxis type unmanned aerial vehicle, its carry on flight control system in order to control multiaxis type unmanned aerial vehicle's steady flight.
Further, the mooring and lifting platform is provided with a power distribution module; the power distribution module is connected with the conductive cable and supplies power to other modules of the mooring and lifting platform.
Furthermore, the mooring and lifting platform is also provided with a standby power supply; the standby power supply adopts a rechargeable battery and is connected with the power distribution module, and the power distribution module carries out charge and discharge management on the standby power supply.
Further, the ground terminal is provided with a multi-axis machine control end and used for carrying out flight management on the mooring and lift-off platform.
Further, the multi-axis machine control end with multi-axis type unmanned aerial vehicle's flight control system carries on wifi module, and both establish wireless communication through wifi.
Further, the ground terminal is powered by a large-capacity storage battery or connected with commercial power or a generator for power distribution.
In the technical scheme, the mooring and lifting system formed by the ground terminal and the multi-axis machine provides a stable lifting platform for the height adjustment of the relay station. And ground carries out the power supply of infinite time limit through the power supply cable to aerial unmanned aerial vehicle platform, makes unmanned aerial vehicle can not receive the electric energy restriction and stop for a long time in the air to beyond visual range fixed wing unmanned aerial vehicle for remote operation provides long-time stable signal relay.
The invention has the following beneficial effects:
(1) utilize mooring lift-off platform to carry signal relay station in order to realize convenient altitude mixture control, the position height of relay station is not fixed unchangeable, can be according to the nimble adjustment of signal strength, guarantee unmanned aerial vehicle system's suitability in the complex environment.
(2) And need not set up signal relay point at fixed position, make unmanned aerial vehicle system's deployment more nimble, for example with mooring the lift-off platform setting on vehicle-mounted system, carry out the operation anytime and anywhere, realize moving relay even.
(3) The mooring and lifting platform needs high-altitude stable hovering and does not need a large number of maneuvering actions, so that the mooring and lifting platform is determined to be only three processes of taking off, hovering and landing, and the failure rate is greatly reduced through simple actions.
(4) The system is convenient to operate, the signal link is stable and reliable, and the method has a wide application prospect.
Drawings
Fig. 1 is a signal link diagram of a beyond-the-horizon unmanned aerial vehicle signal relay system employing a tethered unmanned aerial vehicle in the present invention;
fig. 2 is a schematic structural connection diagram of the over-the-horizon unmanned aerial vehicle signal relay system adopting the tethered unmanned aerial vehicle.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in the attached figure 1, the over-the-horizon unmanned aerial vehicle signal relay system adopting the mooring unmanned aerial vehicle consists of 3 parts of an over-the-horizon flying platform, a ground terminal and a mooring and lifting platform.
The over-the-horizon flying platform main body is a fixed wing unmanned aerial vehicle and is used for carrying different low-altitude operation sensors to execute over-the-horizon low-altitude flying operation. The main body of the mooring lift-off platform is a multi-shaft unmanned aerial vehicle which carries a relay radio station and is connected with the ground terminal and the over-the-horizon flying platform in a relay mode when the platform is lifted to the high position. The ground terminal is used for executing control operation on the over-the-horizon flying platform and the mooring and lifting platform on the ground.
As shown in the structural connection schematic diagram of each component of the system in fig. 2, a fixed-wing unmanned aerial vehicle serving as an over-the-horizon flying platform carries an airborne radio station; and the ground terminal is provided with a fixed wing control end, establishes communication with the beyond-the-horizon flying platform through a ground radio station and is used for carrying out flight management on the fixed wing unmanned aerial vehicle.
The multi-axis unmanned aerial vehicle carries a flight control system to control the stable flight of the multi-axis unmanned aerial vehicle. The flight control is internally provided with a geographic positioning module and an attitude sensing module, and the real-time position and attitude of the multi-axis unmanned aerial vehicle are obtained through a fusion algorithm, and the multi-axis unmanned aerial vehicle is controlled to execute flight actions so as to realize fixed-point hovering and stable lifting.
The ground terminal is also provided with a multi-axis machine control end for carrying out flight management on the lifting and hovering of the mooring and lifting platform. The multi-axis machine control end carries with the wifi module with multi-axis type unmanned aerial vehicle's flight control system, and both establish wireless communication through wifi.
The ground terminal is connected with the multi-shaft unmanned aerial vehicle through a conductive cable, and continuously supplies power for each module of the mooring and lift-off platform through the power distribution module. The control mechanism for the winding of the conductive cable can adopt the technical scheme disclosed by the applicant: a winding control mechanism for a staying unmanned aerial vehicle (publication number: CN210133782U, application date: 2019.06.24).
The power distribution module of the mooring lift-off platform is connected with the rechargeable battery to serve as a standby power supply and performs charging and discharging management on the standby power supply, so that the influence on the flight stability caused by sudden ground power failure or unstable power supply in a short time is avoided.
The ground terminal adopts a large-capacity storage battery for power supply or is connected with commercial power or a generator for power distribution.
The invention relates to a signal relay system of an over-the-horizon unmanned aerial vehicle adopting a tethered unmanned aerial vehicle, which comprises the following signal relay realization methods:
a broadcast type communication mode is adopted for a radio station used for transmitting data by a fixed wing unmanned aerial Vehicle system of an over-the-horizon flight platform, a MavLink (micro Air Vehicle Link) protocol is adopted as a communication protocol, the load information of a communication message packet comprises the serial number of a message frame, a message is sent each time, the content of the byte is added with 1, and the message is restarted from 0 after being added to 255. Therefore, the message loss proportion of the receiving end of the mavrink message frame can be calculated through the sequence number to be used for indicating the signal strength.
When the over-the-horizon flying platform starts to operate, the flying distance is short, the ground terminal and the over-the-horizon flying platform directly communicate through the radio station, the communication link is smooth, and the condition of packet loss does not exist or rarely exists. When the fixed-wing unmanned aerial vehicle flies out of the radio station sight range, the message packet loss is more and more serious, namely, the communication signal is weaker and weaker.
Therefore, the signal intensity can be judged by calculating the packet loss rate and setting a threshold value, when the signal is lower than the set value, the mooring and lifting platform is started and the power is supplied to the carried relay station, the relay station starts to work, the over-the-horizon flying platform is connected firstly, the signal is strengthened, and then the signal is transferred to the ground terminal.
As the signal diminishes, the flying height of the tethered airborne platform may also be increased to allow the signal path to bypass obstacles, as shown in fig. 1.
But limited by the flying height of the tethered airborne platform (limited by cable length or aircraft flight capability), the height of the repeater station cannot be increased indefinitely. Therefore, if the signal is still continuously weakened after reaching the high limit, the over-the-horizon flying platform flies out of the relay range, and the risk evading operation such as return flight should be triggered to avoid the occurrence of unknown accidents.
The ground terminal supplies power to the multi-axis unmanned aerial vehicle in an infinite way through the power supply cable, so that the unmanned aerial vehicle can stay in the air for a long time without being limited by electric energy; and the mooring and lift-off system formed by the mooring and lift-off system provides a stable lifting platform for the height adjustment of the relay station of the fixed-wing unmanned aerial vehicle, so that long-time stable signal relay is provided for the over-the-horizon fixed-wing unmanned aerial vehicle for remote operation.
The above description is only an embodiment of the present invention, and each example is not intended to limit the present invention, and the technical solutions formed by equivalent transformations are adopted without departing from the essence of the present invention.
Claims (10)
1. A signal relay system of an over-the-horizon unmanned aerial vehicle adopting a mooring unmanned aerial vehicle is characterized by comprising 3 parts of an over-the-horizon flying platform, a ground terminal and a mooring lift-off platform;
the over-the-horizon flying platform is used for performing over-the-horizon low-altitude flying operation;
the ground terminal is used for executing control operation on the over-the-horizon flying platform and the mooring and lifting platform on the ground;
the mooring and lift-off platform is used for lifting to a high place; the system is provided with a relay radio station for relaying and connecting the ground terminal and the over-the-horizon flying platform.
2. The over-the-horizon drone signal relay system employing tethered drones of claim 1 wherein the over-the-horizon flying platform is a fixed wing drone;
the fixed wing unmanned aerial vehicle carries an airborne radio station and is used for establishing wireless communication with the ground.
3. The over-the-horizon drone signal relay system with tethered drone of claim 2 wherein said ground terminal is provided with a fixed wing control end and a ground radio;
and the fixed wing control end of the ground terminal establishes communication with the airborne radio station of the over-the-horizon flying platform through the ground radio station so as to carry out flying management on the over-the-horizon flying platform.
4. The over-the-horizon unmanned aerial vehicle signal relay system employing a tethered unmanned aerial vehicle of claim 1 wherein the tethered airborne platform is comprised of a multi-axis unmanned aerial vehicle;
and the ground terminal is connected with the multi-shaft unmanned aerial vehicle through a conductive cable and continuously supplies power to the mooring and lift-off platform.
5. The over-the-horizon unmanned aerial vehicle signal relay system employing a tethered unmanned aerial vehicle of claim 4, wherein the multi-axis unmanned aerial vehicle carries a flight control system to control smooth flight of the multi-axis unmanned aerial vehicle.
6. The over-the-horizon unmanned aerial vehicle signal relay system employing a tethered unmanned aerial vehicle of claim 4 or 5 wherein the tethered airborne platform is provided with a power distribution module;
the power distribution module is connected with the conductive cable and supplies power to other modules of the mooring and lifting platform.
7. The beyond-the-horizon unmanned aerial vehicle signal relay system employing a tethered unmanned aerial vehicle of claim 6 wherein the tethered airborne platform is further provided with a backup power supply;
the standby power supply adopts a rechargeable battery and is connected with the power distribution module, and the power distribution module carries out charge and discharge management on the standby power supply.
8. The over-the-horizon drone signal relay system with tethered drones as in claim 4, wherein the ground terminal is provided with a multi-axis control terminal for flight management of the tethered airborne platform.
9. The over-the-horizon unmanned aerial vehicle signal relay system employing a tethered unmanned aerial vehicle of claim 8 wherein the multi-axis machine control terminal and the flight control system of the multi-axis unmanned aerial vehicle carry a wifi module, both of which establish wireless communication via wifi.
10. An over-the-horizon unmanned aerial vehicle signal relay system employing a tethered unmanned aerial vehicle as claimed in any of claims 1 to 9 wherein the ground terminals are powered by large capacity batteries or connected to mains or generators for power distribution.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112601264A (en) * | 2020-11-12 | 2021-04-02 | 中国人民解放军海军航空大学青岛校区 | Low-altitude beyond-visual-range wireless communication method based on aerial relay |
| CN113342052A (en) * | 2021-06-27 | 2021-09-03 | 广西翼界科技有限公司 | Beyond-visual-range operation unmanned aerial vehicle fault emergency landing method |
| CN113359799A (en) * | 2021-06-25 | 2021-09-07 | 广西翼界科技有限公司 | Remote directional monitoring system based on unmanned aerial vehicle |
| CN115149997A (en) * | 2022-09-05 | 2022-10-04 | 广东电网有限责任公司佛山供电局 | Device capable of achieving signal enhancement of multi-rotor unmanned aerial vehicle |
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| CN113342052A (en) * | 2021-06-27 | 2021-09-03 | 广西翼界科技有限公司 | Beyond-visual-range operation unmanned aerial vehicle fault emergency landing method |
| CN115149997A (en) * | 2022-09-05 | 2022-10-04 | 广东电网有限责任公司佛山供电局 | Device capable of achieving signal enhancement of multi-rotor unmanned aerial vehicle |
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Application publication date: 20200904 |