CN111641489B - Multitask component communication method applied to unmanned aerial vehicle - Google Patents
Multitask component communication method applied to unmanned aerial vehicle Download PDFInfo
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Abstract
According to the requirement of an unmanned aerial vehicle system, m task components have reloading requirements, and the method comprises the steps of determining the types and the number of the reloadable task components for communication; determining the optimal bandwidth of communication transmission; sequentially marking the component type codes of each exchangeable task component and sequentially marking the component code sets of the exchangeable task components corresponding to the type number in each component type; generating a clock code; setting a general communication frame format of the communication center equipment and each task component: identifying a reloadable task component, adjusting system configuration, and distributing optimal communication transmission bandwidth for the reloadable task component; obtaining the actual transmission time of the clock long code and a plurality of time difference intervals, and correcting after comparison processing to realize time synchronization; the method has the advantages of low cost, good transmission control quality and high transmission rate.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle control, and particularly relates to a multitask component communication method applied to an unmanned aerial vehicle.
Background
Along with the quick application and the development of unmanned aerial vehicle technique, especially excellent performance on the military affairs for unmanned aerial vehicle receives people's favor more and more. Unmanned aerial vehicle has following advantage: the system is rarely limited by climatic conditions, can be used day and night, can be protruded above dangerous areas to carry out monitoring and reconnaissance for a long time to acquire information, and can transmit target images and the like in real time; moreover, the unmanned aerial vehicle has no pilot, does not need to consider the physiological limit of the pilot, and can be designed to have simple structure, light weight, small size, convenient use and easy operation and maintenance, so the development cost, the production cost and the maintenance cost of the unmanned aerial vehicle are much lower than those of a manned aircraft, and a large amount of cost for training the pilot can be saved.
According to the use division, unmanned aerial vehicles can be generally divided into the following categories:
1) The target drone: simulating the flight state of airplanes, missiles and other various aircrafts; the method is mainly used for identifying the performance of various aviation (air defense) weapons and training fighter pilots and air defense weapon operators.
2) Scout: strategic, battle and tactical reconnaissance are carried out, the battlefield is monitored, and information is provided for the combat action of troops. The reconnaissance and monitoring unmanned aerial vehicle is an unmanned aerial vehicle which is relatively complete in doors at present and is widely applied in actual combat, such as a global eagle unmanned reconnaissance vehicle, a blind star unmanned reconnaissance vehicle, a predator unmanned reconnaissance vehicle and a knight unmanned reconnaissance vehicle which are researched in the United states.
3) Bait unmanned aerial vehicle: electronic reconnaissance equipment such as an enemy radar is induced to start up to acquire related information; the simulation display false target can induce the enemy and air defense weapon to shoot, attract the enemy fire and shield the own party group to prevent suddenly.
4) Electronic countermeasure unmanned aerial vehicle: the unmanned aerial vehicle is divided into an electronic reconnaissance aircraft and an electronic interference unmanned aerial vehicle, wherein the electronic reconnaissance aircraft is used for collecting communication information and electronic information of enemies, such as 147 series unmanned aerial vehicles of the Raean company; the latter is used to electronically interfere with enemy communication command systems, such as air-Exjam unmanned aerial vehicles in the United states.
5) Attacking the unmanned aerial vehicle: attacking and intercepting ground and aerial targets; the attacking unmanned aerial vehicle carries small and powerful accurate guided weapons, laser weapons or anti-radiation missiles, attacks important targets such as enemy radars, communication command equipment and tanks and intercepts tactical missiles in a boosting section.
6) Communication relay unmanned aerial vehicle: the unmanned aerial vehicle is used for transmitting signals such as images to other military machines or army and navy, and the unmanned aerial vehicle provided with ultrahigh frequency and very high frequency radio communication equipment is generally used for relay communication.
7) Unmanned aerial vehicle of other usage: unmanned aerial vehicles can also be used for target identification, laser irradiation, aerial relay stations for remote data transfer, anti-submergence, gunfire correction, measurement of remote high-altitude atmosphere, reconnaissance of chemical, bacterial contamination and nuclear radiation, and the like.
In the system composition of the unmanned aerial vehicle, a key central device is a flight control computer. It is just like unmanned aerial vehicle's brain, both is the control and the management center of full machine, is the communication central hub equipment of full machine again. Most onboard equipment needs to communicate with it to enable interaction with remote control and telemetry displays at the surface. It needs to communicate with task components, engine systems, atmospheric data systems, navigation systems, comprehensive detection systems, airborne link equipment, air traffic control response systems, etc. on board. On one hand, the unmanned aerial vehicle control system acquires various position and state information of the unmanned aerial vehicle in real time through the communication, and selects a proper control strategy to realize whole-course flight control and management of the unmanned aerial vehicle; on the other hand, the ground station remote control device receives the ground station remote control command from the airborne link device in real time and distributes the command to the corresponding airborne device, and meanwhile, the remote control data of other airborne devices are collected and packaged and transmitted back to the ground station through the airborne link device, so that an operator at the ground station can know the state of the unmanned aerial vehicle in real time and control the unmanned aerial vehicle. That is, to ensure successful completion of a task, it is necessary to ensure effective communication between the task module and the flight control computer.
Unmanned aerial vehicles of different usage are equipped with different task components. Like a target drone, the task components of which are target devices, and the task components of a scout drone are scout devices, such as an optoelectronic platform, a digital camera, and the like; bait unmanned aerial vehicle, electron countermeasure unmanned aerial vehicle, communication relay unmanned aerial vehicle etc. its task subassembly then corresponds to be bait equipment, electron countermeasure equipment, communication relay equipment etc.. Different task components, determine different uses of the unmanned aerial vehicle. When different tasks are required, different unmanned aerial vehicles are dispatched to complete corresponding tasks. For example, when there is a scout and communication relay task, a scout unmanned aerial vehicle is used; when a communication relay task exists, the communication relay unmanned aerial vehicle is used; when having the electronic countermeasure task, use electronic countermeasure unmanned aerial vehicle. Maintenance of these at least three drones is normally required.
At present, in order to save military expenses, all countries hope to develop multipurpose unmanned aerial vehicles suitable for different actual combat environments, or to refit the multipurpose unmanned aerial vehicles into on the basis of original unmanned aerial vehicles. Because like this, can satisfy multiple task demand by single unmanned aerial vehicle, make development, use cost greatly reduced.
In order to meet the requirement that a single unmanned aerial vehicle is expanded from single use to multiple use, the simplest mode is to change task components. Because this way only the task components need to be replaced for the purpose of multipurpose for the whole drone system. Neither need change another unmanned aerial vehicle, also need not change other equipment that are correlated with the task subassembly, for example fly control computer, the cost is minimum like this, both the cost is reduced, practices thrift the expense, and it is nimble convenient again to use, and the later maintenance is simple.
Therefore, in order to achieve the purpose of realizing multiple purposes only by replacing the task components, the flight control computer is required to be in communication with a plurality of task components through the same communication interface, and can identify the task components. How to solve the problem is the key point for expanding the single-purpose unmanned aerial vehicle into multiple purposes.
In view of the above problems, the applicant filed an invention patent with application number 201610146.0 on 29/2/2016, and claimed a multitask component communication method applied to an unmanned aerial vehicle, specifically including determining the number of removable task components for communicating with a communication center device according to system configuration for a certain unmanned aerial vehicle; determining m replaceable task components communicating with the communication center equipment, wherein m is more than or equal to 2; marking the component type code of each task component in sequence; the component type codes are T1, T2, \ 8230;, ti, \ 8230;, tm, respectively; setting a general communication frame format of the communication central equipment and each task component; the communication center equipment identifies the task component according to the component type code Ti, acquires or fills the information content of the task component Ti, and completes communication; firstly, the communication center equipment judges the component type code of the current task component, and then acquires or fills in the information content corresponding to the current component type code from the universal communication frame format to complete the communication with the current task component.
However, the above method only considers the method of communication after processing the types of the multitask components, and there is no specific processing method for the simultaneous installation of the same type of task components on the unmanned aerial vehicle. Meanwhile, no effective way is provided for how the information content of the task component Ti is specifically set and how the quick communication is established. Moreover, the bandwidth occupied by the task components during communication is not taken into consideration, so that the bandwidth is wasted, the cost is increased, and the transmission rate is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a multitask component communication method applied to an unmanned aerial vehicle, which not only can realize the multipurpose function of the unmanned aerial vehicle by communicating with communication center equipment after a plurality of data frames are generalized and only replacing a task component, but also can judge and process the task components of the same type, can quickly identify information and establish communication, reduces the cost and improves the data transmission rate.
The invention provides a multitask component communication method applied to an unmanned aerial vehicle, wherein according to the requirement of an unmanned aerial vehicle system, m task components have the requirement of reloading, wherein m is more than or equal to 2, and the method specifically comprises the following steps:
(1) Determining the type and type number of the reloadable task components which are communicated with the communication center equipment based on the system configuration of one or more unmanned aerial vehicles;
(2) Determining the optimal bandwidth of communication transmission based on the type and the type number of the replaceable task components;
(3) Sequentially marking the component type code of each reloadable task component based on the determined type of the reloadable task component, wherein the component type codes are T1, T2, \8230, ti, \8230, and Tm; sequentially marking component code sets { NT1}, { NT2}, \ 8230 [, { NTi }, \8230 ], { NTm } of the reloadable task components corresponding to the type numbers in each component type respectively based on the determined type numbers of the reloadable task components, wherein each component code set comprises component codes corresponding to the number of the reloadable task components in the types of the reloadable task components, and the component codes respectively correspond to the reloadable task components represented by the component codes;
(4) Generating a clock code based on the attribute parameters of the reloadable task component;
(5) Setting a general communication frame format of the communication center equipment and each task component based on the type and the type number of the removable task components, the clock code, and the marked component type code of each removable task component and the marked component code of each removable task component:
information content of frame header component type code Ti component code NTi clock code NTi
(6) The communication center equipment identifies the reloadable task component according to the component type code Ti and the component code NTi, and if the identification condition is met, the step (7) is carried out; if not, an alarm is given, an error message is prompted, and the step (1) is returned;
(7) Adjusting system configuration, and distributing communication transmission optimal bandwidth for the replaceable task components corresponding to the component type codes Ti and the component codes NTi;
(8) The communication center equipment obtains the actual transmission time of the clock length code and a plurality of time difference intervals according to the clock code, compares the set clock length code with the clock length code actually received and transmitted to respectively obtain a corresponding transmission time correction value and a corresponding time difference interval correction value, and correspondingly calibrates the reloadable task component and the communication center equipment clock by utilizing the transmission time correction value and the time difference interval correction value to realize time synchronization;
(9) And the communication center equipment acquires or fills in the information content of the task component NTi to complete communication.
Preferably, the communication center equipment is a flight control computer.
Preferably, in the step (2), the determining the optimal bandwidth for communication transmission specifically includes: and determining a type weight coefficient and a type number weight coefficient which respectively correspond to each type and each type number, and respectively determining the optimal type bandwidth and the optimal component bandwidth based on the type weight coefficient and the type number weight coefficient.
Preferably, in the step (4), the clock code includes a start code, a clock length code and a stop code, the clock length code is a code that is set to be transmitted sequentially with a plurality of time difference intervals, and the time difference intervals are time difference intervals with different lengths.
Preferably, in the step (7), the allocating communication transmission optimal bandwidth specifically includes: and distributing the optimal type bandwidth according to the type weight coefficient corresponding to the type of each exchangeable task component, and distributing the optimal type bandwidth to the optimal component bandwidth respectively corresponding to the exchangeable task component corresponding to the type of each exchangeable task component based on the type quantity weight coefficient.
Preferably, in the step (9), the specific communication hub device acquires or fills in the information content corresponding to the current component type code in the universal communication frame format, so as to complete communication with the current task component.
The multitask component communication method applied to the unmanned aerial vehicle can realize that:
1) By adopting a multi-data-frame universalization method, the adaptability of the communication center equipment to the multi-task component is realized under the condition of minimum cost, the expenditure can be saved for the transformation or development of the unmanned aerial vehicle, the development progress is accelerated, the use is flexible and convenient, the later maintenance is simple, the benefit is maximized, and a reliable and convenient shortcut is provided for the multi-task component replacement of the multipurpose unmanned aerial vehicle;
2) Through communicating with communication central equipment behind will many data frame universalization, only need change the task subassembly just can realize unmanned aerial vehicle's multipurpose function to can judge the processing to the same kind type task subassembly, realize that equipment is synchronous, improve transmission accuracy, can carry out information identification fast simultaneously and establish the communication, reduce cost improves data transmission rate.
Drawings
Fig. 1 is a flowchart of a multitask component communication method applied to an unmanned aerial vehicle.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, the following examples of which are intended to be illustrative only and are not to be construed as limiting the scope of the invention.
The communication center equipment needs to communicate with a plurality of task components through a communication interface, a communication frame format communicated with the task components is set to be a universal communication frame format, in the universal communication frame format, a one-to-one component type code and a component code are set for each task component, the communication center equipment identifies the corresponding task component by utilizing the component type code and the component code, then information content of the task component is obtained or filled according to the component type code, communication with the corresponding task component is completed, and therefore the purpose that the communication center equipment communicates with the task components through the communication interface is achieved.
Fig. 1 is a flowchart of a multitask component communication method applied to an unmanned aerial vehicle. With reference to fig. 1, the invention provides a multitask component communication method applied to an unmanned aerial vehicle, wherein according to the requirement of an unmanned aerial vehicle system, m task components have reloading requirements, so that m reloadable task components needing to be communicated with communication center equipment are determined; wherein m is more than or equal to 2; the communication center equipment can be selected from a flight control computer,
the method specifically comprises the following steps of:
(1) Determining the type and the type number of the removable task components which are communicated with the communication center equipment based on the system configuration of one or more unmanned aerial vehicles; (2) Determining the optimal bandwidth of communication transmission based on the type and the type quantity of the replaceable task components; the specific method for determining the optimal bandwidth for communication transmission can be based on the types and the number of the types to perform bandwidth allocation. For example, the types include a hyperspectral platform component type, an SAR radar component type and a camera shooting component type, the number of the types can be 1 in the hyperspectral platform component type, 2 SAR radars are set in the SAR radar component type, 3 camera shooting component types are set in the camera shooting component type, and the types and the number of the types can be considered, so that the optimal bandwidth required by data transmission is distributed, and a type weight coefficient and a type number weight coefficient respectively corresponding to each type and type number are determined based on the optimal bandwidth;
(3) Sequentially marking the component type code of each reloadable task component based on the determined type of the reloadable task component, wherein the component type codes are T1, T2, \8230, ti, \8230, tm, and m is the total number of types; sequentially marking component code sets { NT1}, { NT2}, \ 8230 [, { NTi }, \8230 ], { NTm } of the reloadable task components corresponding to the type numbers in each component type respectively based on the determined type numbers of the reloadable task components, wherein each component code set comprises component codes corresponding to the number of the reloadable task components in the types of the reloadable task components, and the component codes respectively correspond to the reloadable task components represented by the component codes;
(4) And generating a clock code based on the attribute parameters of the removable task component, wherein the parameters of the clock code are based on the attributes of the removable task component, namely, the parameters are set according to the performance of the component and can be selected according to the actual situation. The clock code comprises a start code, a clock length code and a stop code, wherein the clock length code is a code which is set to have a plurality of time difference intervals for sequential transmission, and the time difference intervals are time difference intervals with unequal lengths; the communication center equipment calculates the time length from the start code to the stop code through the clock code to obtain the actual transmission time of the clock code; the communication center equipment calculates a plurality of time difference interval durations during actual clock length code transmission in a time difference receiving mode through the clock code to obtain a plurality of time difference interval durations during actual clock length code transmission; the set actual transmission time of the clock length code and the clock length code actually received and transmitted are compared with the plurality of time difference interval durations respectively, so that corresponding transmission time correction values and time difference interval correction values can be obtained respectively, and finally the transmission time correction values and the time difference interval correction values are utilized to carry out time synchronization between the replaceable task components and the communication center equipment, so that more accurate clocks are realized, and more accurate control is completed.
(5) Setting a universal communication frame format of the communication center equipment and each task component based on the type and type number of the removable task components, the optimal bandwidth of communication transmission, clock codes, and the marked component type code of each removable task component and the component code of the removable task component
| Frame header | Component type code Ti | Component code NTi | Clock code | Information content of NTi |
(6) The communication center equipment identifies the reloadable task component according to the component type code Ti and the component code NTi, and if the identification condition is met, the step (7) is carried out; if not, an alarm is given, an error message is prompted, and the step (1) is returned;
(7) And adjusting system configuration, and distributing communication transmission optimal bandwidth for the replaceable task components corresponding to the component type codes Ti and the component codes NTi. Specifically, an optimal type bandwidth is distributed according to a type weight coefficient corresponding to the type of each reloadable task component, and then the optimal type bandwidth is distributed to the reloadable task components corresponding to the type of each reloadable task component respectively on the basis of the type number weight coefficient.
(8) The communication center equipment obtains the actual transmission time and a plurality of time difference intervals of the clock length code according to the clock code, compares the set clock length code with the clock length code actually received and transmitted to respectively obtain corresponding transmission time correction value and time difference interval correction value, and calibrates the reloadable task component and the communication center equipment clock by using the transmission time correction value and the time difference interval correction value to realize time synchronization between the reloadable task component and the communication center equipment;
(9) The communication center equipment acquires or fills in the information content of the task component Ti to complete communication, and the specific communication center equipment acquires or fills in the information content corresponding to the type code of the current component in the universal communication frame format to complete communication with the current task component.
If the component type code is T1, the loaded task component is the first task component, the communication center equipment acquires or fills the information content of the first task component from the general communication frame format, and the communication with the first task component is completed;
if the component type code is T2, the loaded task component is a second task component, the communication center equipment acquires or fills the information content of the second task component from the universal communication frame format, and the communication with the second task component is completed;
by analogy, if the component type code is Tm, it indicates that the loaded task component is the mth task component, and the communication hub device acquires or fills in the information content of the mth task component from the general communication frame format, thereby completing the communication with the mth task component.
Although exemplary embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions, substitutions and the like can be made in form and detail without departing from the scope and spirit of the invention as disclosed in the accompanying claims, all of which are intended to fall within the scope of the claims, and that various steps in the various sections and methods of the claimed product can be combined together in any combination. Therefore, the description of the embodiments disclosed in the present invention is not intended to limit the scope of the present invention, but to describe the present invention. Accordingly, the scope of the present invention is not limited by the above embodiments, but is defined by the claims or their equivalents.
Claims (6)
1. The utility model provides a multitask subassembly communication method for unmanned aerial vehicle, according to the needs of unmanned aerial vehicle system, has m task subassemblies and trades the dress demand, wherein m is more than or equal to 2, its characterized in that:
(1) Determining the type and the type number of the removable task components which are communicated with the communication center equipment based on the system configuration of one or more unmanned aerial vehicles;
(2) Determining the optimal bandwidth of communication transmission based on the type and the type quantity of the replaceable task components;
(3) Sequentially marking the component type codes of each exchangeable task component based on the determined type of the exchangeable task component, wherein the component type codes are T1, T2, \ 8230;, ti, \ 8230;, tm; sequentially marking the component code sets { NT1}, { NT2}, \ 8230 { NTi }, \8230 } NTm } of the reloadable task components corresponding to the type numbers in each component type respectively based on the determined type numbers of the reloadable task components, wherein each component code set comprises the component codes corresponding to the number of the reloadable task components in the types of the reloadable task components, and the component codes respectively correspond to the reloadable task components represented by the component codes;
(4) Generating a clock code based on the attribute parameters of the reloadable task component;
(5) Setting a general communication frame format of the communication center equipment and each task component based on the type and the type number of the removable task components, the clock code, and the marked component type code of each removable task component and the marked component code of each removable task component:
(6) The communication center equipment identifies the reloadable task component according to the component type code Ti and the component code NTi, and if the identification condition is met, the step (7) is carried out; if not, giving an alarm, prompting error information, and returning to the step (1);
(7) Adjusting system configuration, and distributing communication transmission optimal bandwidth for the replaceable task components corresponding to the component type codes Ti and the component codes NTi;
(8) The communication center equipment obtains the actual transmission time of the clock length code and a plurality of time difference intervals according to the clock code, compares the set clock length code with the clock length code actually received and transmitted to respectively obtain a corresponding transmission time correction value and a corresponding time difference interval correction value, and correspondingly calibrates the reloadable task component and the communication center equipment clock by utilizing the transmission time correction value and the time difference interval correction value to realize time synchronization;
(9) And the communication center equipment acquires or fills in the information content of the task component NTi to complete communication.
2. The method of claim 1, wherein: the communication center equipment is a flight control computer.
3. The method of claim 1, wherein: in the step (2), the mode for determining the optimal bandwidth for communication transmission specifically comprises: and determining a type weight coefficient and a type number weight coefficient which respectively correspond to each type and each type number, and respectively determining the optimal type bandwidth and the optimal component bandwidth based on the type weight coefficient and the type number weight coefficient.
4. The method of claim 1, wherein: in the step (4), the clock code includes a start code, a clock length code and an end code, the clock length code is a code that is set to have a plurality of time difference intervals for sequential transmission, and the time difference intervals are time difference intervals of unequal length.
5. The method of claim 1, wherein: in the step (7), the allocating communication transmission optimal bandwidth specifically includes: and distributing the optimal type bandwidth according to the type weight coefficient corresponding to the type of each exchangeable task component, and distributing the optimal type bandwidth to the optimal component bandwidth respectively corresponding to the exchangeable task component corresponding to the type of each exchangeable task component based on the type quantity weight coefficient.
6. The method of claim 1, wherein: in the step (9), the specific communication center equipment acquires or fills in the information content corresponding to the current component type code through the universal communication frame format, and completes the communication with the current task component.
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