CN112422161B - Unmanned ship wireless communication method, unmanned ship communication system and communication base station - Google Patents
Unmanned ship wireless communication method, unmanned ship communication system and communication base station Download PDFInfo
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- CN112422161B CN112422161B CN202011090709.7A CN202011090709A CN112422161B CN 112422161 B CN112422161 B CN 112422161B CN 202011090709 A CN202011090709 A CN 202011090709A CN 112422161 B CN112422161 B CN 112422161B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- H04B7/0602—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using antenna switching
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
- H04B7/0802—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station using antenna selection
- H04B7/0805—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station using antenna selection with single receiver and antenna switching
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- 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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Abstract
The application is applicable to the technical field of unmanned ships and provides an unmanned ship wireless communication method, an unmanned ship communication system and a communication base station. The method is applied to the unmanned ship communication system; the unmanned ship communication system comprises a communication base station and an unmanned ship, wherein a control unit and multiple antennas are arranged on the unmanned ship, and the beam widths of the multiple antennas are different. The method comprises the following steps: the communication base station acquires attitude parameters of the unmanned ship and generates a first antenna switching instruction according to the attitude parameters; sending a first antenna switching instruction to a control unit; the first antenna switching instruction is used for instructing the control unit to switch a target antenna in the multiple antennas to be in a connected state, and the beam width of the target antenna is larger than the rolling angle and the pitching angle. Because the beam width of the target antenna in the connected state is larger than the rolling angle and the pitching angle, the gain of the antenna cannot be attenuated to zero, the normal transmission of antenna signals can be guaranteed, and the communication stability of the unmanned ship under various conditions is guaranteed.
Description
Technical Field
The application belongs to the technical field of unmanned ships, and particularly relates to an unmanned ship wireless communication method, an unmanned ship communication system and a communication base station.
Background
In recent years, unmanned devices have been developed more and more rapidly. Taking an unmanned ship as an example, the application of the unmanned ship in the fields of scientific research, environmental protection, unmanned freight and the like is gradually trending.
On the water surface within the line of sight range, unmanned ships typically communicate mobile based on antennas. Due to the difference of sea conditions, the unmanned ship is often inclined/swayed during operation. The receiving and transmitting performance of the antenna installed on the unmanned ship is affected, and even the communication stability of the unmanned ship is affected due to the interruption of wireless signals.
Disclosure of Invention
In view of this, embodiments of the present application provide an unmanned ship wireless communication method, an unmanned ship communication system, and a communication base station, so as to solve the technical problem in the prior art that unmanned ship mobile communication stability is low.
In a first aspect, an embodiment of the present application provides an unmanned ship wireless communication method, which is applied to an unmanned ship communication system; the unmanned ship communication system comprises a communication base station and an unmanned ship, wherein the unmanned ship is provided with a control unit and a plurality of antennas, and the wave beam widths of the plurality of antennas are different;
the method comprises the following steps:
the communication base station acquires attitude parameters of the unmanned ship; the attitude parameters comprise the rolling angle of the unmanned ship and the pitching angle of the unmanned ship;
the communication base station generates a first antenna switching instruction according to the attitude parameters;
the communication base station sends a first antenna switching instruction to the control unit; the first antenna switching instruction is used for instructing the control unit to switch a target antenna in the multiple antennas to be in a connected state, and the beam width of the target antenna is larger than the rolling angle and the pitching angle.
In a possible implementation manner of the first aspect, the generating, by the communication base station, the first antenna switching instruction according to the attitude parameter includes:
the communication base station screens a target antenna from the multiple antennas according to the maximum value of the rolling angle and the pitching angle; wherein the beam width of the target antenna is greater than the maximum value;
and generating a first antenna switching instruction according to the target antenna.
In one possible implementation manner of the first aspect, the antenna includes a first antenna, a second antenna, and a third antenna; the beam width of the first antenna, the beam width of the second antenna and the beam width of the third antenna are decreased in sequence;
the communication base station screens a target antenna from a plurality of antennas according to the maximum value in the roll angle and the pitch angle, and the method comprises the following steps:
determining a maximum value according to the rolling angle and the pitching angle;
determining the first antenna as a target antenna when the maximum value is greater than or equal to a first threshold value;
determining the third antenna as the target antenna under the condition that the maximum value is less than or equal to the second threshold value;
determining that the second antenna is the target antenna when the maximum value is larger than the second threshold and smaller than the first threshold;
wherein the first threshold is greater than the second threshold.
In a possible implementation manner of the first aspect, the target antenna is used for constructing a first communication link between the unmanned ship and the communication base station when the target antenna is connected. Correspondingly, after the communication base station sends a first antenna switching instruction to the unmanned ship control unit, the method further comprises the following steps;
acquiring a performance parameter of a first communication link; the performance parameters include channel parameters for characterizing a network state of the first communication link:
keeping the target antenna unchanged under the condition that the performance parameters meet the preset requirements;
under the condition that the performance parameters do not meet the preset requirements, generating a second antenna switching instruction, and sending the second antenna switching instruction to the control unit; the second antenna switching instruction is used for instructing the control unit to switch the currently connected antenna to be the antenna with larger beam width.
In one possible implementation form of the first aspect, the channel parameter includes at least one of:
received signal strength, signal-to-noise ratio, and block error rate.
In a second aspect, an embodiment of the present application provides an unmanned ship communication system, including: a communication base station and an unmanned ship; the unmanned ship is provided with a control unit and a plurality of antennas, and the beam widths of the plurality of antennas are different;
the communication base station is used for acquiring attitude parameters of the unmanned ship and sending a first antenna switching instruction to the control unit according to the attitude parameters; the attitude parameters comprise the rolling angle of the unmanned ship and the pitching angle of the unmanned ship;
the control unit is used for switching a target antenna in the multiple antennas to be in a connected state according to the first antenna switching instruction; the beam width of the target antenna is greater than the roll and pitch angles.
In one possible implementation manner of the second aspect, a first communication link and a second communication link which are arranged in parallel are included between the communication base station and the unmanned ship;
the first communication link is constructed based on a target antenna and used for transmitting the running state information of the unmanned ship and the environment information collected by the unmanned ship;
the second communication link is a communication link constructed based on a satellite, and is used for transmitting instruction information, wherein the instruction information comprises a first antenna switching instruction.
In a possible implementation manner of the second aspect, the communication base station is further configured to obtain a performance parameter of the first communication link, and update the first antenna switching instruction according to the performance parameter;
wherein the performance parameters include channel parameters characterizing a network state of the first communication link.
In one possible implementation of the second aspect, the plurality of antennas are mounted vertically on the unmanned vessel, and the plurality of antennas are located at the same height.
In a third aspect, an embodiment of the present application provides an unmanned ship wireless communication device, which is applied to an unmanned ship communication system; the unmanned ship communication system comprises a communication base station and an unmanned ship, wherein the unmanned ship is provided with a control unit and a plurality of antennas, and the wave beam widths of the plurality of antennas are different;
the device includes:
the acquisition module is used for acquiring the attitude parameters of the unmanned ship; the attitude parameters comprise the rolling angle of the unmanned ship and the pitching angle of the unmanned ship;
the generating module is used for generating a first antenna switching instruction according to the attitude parameters;
the sending module is used for sending a first antenna switching instruction to the control unit; the first antenna switching instruction is used for instructing the control unit to switch a target antenna in the multiple antennas to be in a connected state, and the beam width of the target antenna is larger than the rolling angle and the pitching angle.
In a fourth aspect, an embodiment of the present application provides a communication base station, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the methods in the first aspect when executing the computer program.
In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps of any one of the methods in the first aspect.
In a sixth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of any one of the first aspect.
According to the unmanned ship wireless communication method provided by the embodiment of the application, the communication base station generates a first antenna switching instruction according to the attitude parameter of the unmanned ship, and sends the first antenna switching instruction to the control unit of the unmanned ship. And the control unit of the unmanned ship switches the target antenna with the beam width larger than the rolling angle and the pitching angle to a connected state according to the received first antenna switching instruction. In practical application, the inclination angle of the target antenna changes along with the swinging of the unmanned ship. Because the beam width of the target antenna is larger than the rolling angle and the pitching angle of the unmanned ship, the gain of the target antenna cannot be attenuated to zero, and the normal transmission of antenna signals can be ensured, so that the stability of unmanned ship communication is ensured.
It is understood that the beneficial effects of the second to sixth aspects can be seen from the description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic diagram illustrating components of an unmanned ship communication system according to an embodiment of the present application;
fig. 2 is a schematic diagram of an operation of a first communication unit according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a wireless communication method of an unmanned ship according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a process of generating a first antenna switching command according to an embodiment of the present application;
FIG. 5 is a schematic flow chart illustrating a method for wireless communication between an unmanned ship according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of a wireless communication device for an unmanned ship according to an embodiment of the present application;
fig. 7 is a schematic hardware composition diagram of a communication base station according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Fig. 1 is a schematic composition diagram of an unmanned ship communication system according to an embodiment of the present application. As shown in fig. 1, the unmanned ship communication system includes a communication base station 10 and at least one unmanned ship 20 (as shown in fig. 1, unmanned ship 2 … unmanned ship n, n is an integer greater than or equal to 1).
In this embodiment, the unmanned ships 20 perform information interaction with each other through the communication base station 10 by using a centralized control method.
In this embodiment, each unmanned ship 20 is provided with a navigation unit 201, a control unit 202, an acquisition unit 203, a first communication unit 204, and a second communication unit 205.
The navigation unit 201 is configured to acquire position information and attitude information of the unmanned ship 20.
The acquisition unit 203 is used for acquiring the operation information of the unmanned ship 20. The operation information includes, but is not limited to, operation state information of the unmanned ship and operation environment information.
For example, the operation state information may be fault information of the unmanned ship 20, and the operation environment information may be video information or picture information of the environment in which the unmanned ship 20 is located.
In this embodiment, the first communication unit 204 and the second communication unit 205 are provided in parallel between the communication base station 10 and the unmanned ship 20.
The first communication unit 204 is configured to construct a first communication link for transmitting the position information, attitude information, and operation information of the unmanned ship 20.
The second communication unit 205 is configured to construct a second communication link, and the second communication link is configured to transmit the instruction information. The command information may be a control command transmitted from the communication base station 10 to the unmanned ship 20, or may be an operation completion command fed back from the unmanned ship 20 to the communication base station 10.
In order to simultaneously take stability and real-time performance of data transmission into account, the first communication link and the second communication link are arranged in parallel, and data can be transmitted in parallel. The first communication link is a high-bandwidth communication link and is used for guaranteeing real-time performance of data transmission. The second communication link is a communication link with high stability and is used for ensuring the reliable transmission of the instruction information.
For example, the second communication link may be a satellite-based constructed communication link. The first communication link is a mobile communication link constructed based on an antenna. In consideration of the multi-directivity and rapidity of unmanned ship movement, the antenna may be a vertically polarized omnidirectional antenna in the present embodiment. I.e. the axial direction of the element of the antenna is perpendicular to the ground.
Due to the small bandwidth of the communication link constructed based on the satellite, the real-time communication requirement of a large amount of data between the unmanned ship 20 and the communication base station 10 cannot be satisfied. Based on this, various antennas are installed on the unmanned ship. The beamwidths of the various antennas vary. The communication base station 10 may select antennas with different beam widths to implement the first communication link according to the attitude information of the unmanned ship 20, so as to ensure stability of the first communication link.
Fig. 2 is a schematic diagram of an operation of the unmanned ship communication system according to an embodiment of the present application. As shown in fig. 2, the unmanned ship 20 and the communication base station 10 include a first communication unit and a second communication unit arranged in parallel.
The first communication unit of the unmanned ship includes a radio frequency switch and a plurality of antennas having different beam widths.
The number of output paths of the radio frequency switch is the same as that of the antennas, and each output path is connected with one antenna. The radio frequency switch can respond to a control instruction of the control unit, and switch the output channel which is in the connected state at present, so as to switch the antenna which is in the connected state at present.
In order to realize the remote control of the unmanned ship 20 by the communication base station 10, the control instruction of the control unit may be a control instruction sent by the communication base station 10. Further, in order to ensure stability of transmission of the control command, the communication base station 10 transmits the control command to the unmanned ship 20 through the second communication unit.
Illustratively, the first communication unit may include antennas of three different beamwidths. The three antennas are antenna a, antenna B and antenna C, respectively. The communication base station 10 may send a control instruction to the control unit through the second communication unit so that the antenna currently in the connected state may be any one of the antenna a, the antenna B, and the antenna C. When any one of the antennas is in a connected state, a first communication link is constructed, and the control unit sends the position information, the attitude information and the operation information of the unmanned ship to the communication base station 10 in real time through the first communication link.
In this embodiment, the antenna a, the antenna B, and the antenna C have different beam widths. Since the antenna in this embodiment is a vertically polarized omnidirectional antenna, and the horizontal direction is 360 degrees, the antenna a, the antenna B, and the antenna C have different beam widths, which may mean that the antenna a, the antenna B, and the antenna C have different vertical beam widths.
The vertical beamwidth may refer to an angle opened between two points on a vertical plane pattern of the antenna where the gain is lowered by 3dB from a maximum point of the main lobe. Most of the energy radiated by the antenna is concentrated in the beam width, and the size of the beam width is used for representing the radiation concentration degree of the antenna. The smaller the vertical beam width is, the better the radiation direction of the antenna is, and the stronger the anti-interference capability of signal transmission is.
For antennas having the same input power, the vertical beam width of the antenna becomes wider, and the antenna gain decreases. The vertical beam width of the antenna is narrowed and the antenna gain is increased. Therefore, the vertical beam width of the antenna can be reduced, the gain of the antenna can be increased, and the signal transmission distance of the antenna and the anti-interference capability of signal transmission can be increased.
Illustratively, the beam width of antenna a is the largest, the beam width of antenna B is the next largest, and the beam width of antenna C is the smallest. When the first communication link is constructed based on the antenna C, the transmission distance of the first communication link is long, and the anti-interference capability of the signal is strong.
In practical application, due to wind waves and the like, the unmanned ship can swing in the sailing process. At this time, the oscillator shaft of the antenna installed on the unmanned ship is not perpendicular to the ground any more, and the antenna generates an antenna inclination angle. At this time, the power emitted from the antenna deviates from the main beam direction, resulting in attenuation of the energy radiated from the antenna. Especially, when the swinging angle of the unmanned ship is too large, the inclination angle of the antenna is larger than the vertical beam width of the antenna, the energy radiated by the antenna falls on side lobes, and the gain of the antenna is sharply reduced or even fails.
Illustratively, the beam width of antenna a is 30 °, the beam width of antenna B is 20 °, and the beam width of antenna C is 10 °.
When the unmanned ship runs under a good sea condition and the swinging angle of the unmanned ship can be ignored, the antenna A, the antenna B and the antenna C can be used for constructing a first communication link and transmitting data to the communication base station. From the technical index, the gain of the antenna C is higher than that of the antenna A, and the wireless signal can be transmitted farther by selecting the antenna C. At this time, the communication base station 10 may send a control instruction to the control unit, and switch the antenna C to be the antenna currently in the connected state, so that the signal has a longer transmission distance and higher interference immunity, and the stability of unmanned ship communication is ensured.
When the unmanned ship is driven under severe sea conditions, for example, the rolling angle of the unmanned ship reaches 20 °. The inclination angles of the three antennas reach 20 degrees, and at the moment, the antenna gains of the antenna C and the antenna B fall on side lobes, so that the signal transmission of the communication equipment is seriously damaged, and even the signal is interrupted. When the antenna a is adopted, although the main lobe gain of the antenna a is reduced, since the beam width of the antenna a is larger than the swing angle, although the gain of the antenna a is reduced, the signal is attenuated, and the wireless signal can still be transmitted normally. At this time, the communication base station 10 may send a control instruction to the control unit, and switch the antenna a to be the antenna currently in the connected state, thereby ensuring the basic communication capability of the first communication link of the unmanned ship.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. It is worth mentioning that the specific embodiments listed below may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 3 is a flowchart illustrating a wireless communication method of an unmanned ship according to an embodiment of the present application. The present embodiment is applied to the unmanned ship communication system in fig. 1, the execution subject of the present embodiment is the communication base station 10 in fig. 1, and as shown in fig. 3, the unmanned ship wireless communication method includes:
and S10, the communication base station acquires the attitude parameters of the unmanned ship.
In this embodiment, the attitude parameters of the unmanned ship include a roll angle of the unmanned ship and a pitch angle of the unmanned ship.
The connecting line between the bow and the stern of the unmanned ship is in the longitudinal direction of the unmanned ship, and the connecting line between the port and the starboard of the unmanned ship is in the transverse direction.
The unmanned ship longitudinally sways for pitching, and the corresponding swaying angle is a pitching angle.
The unmanned ship transversely sways for the roll, and the corresponding angle of swaying is the roll angle.
In some embodiments, the control unit of the unmanned ship acquires the roll angle and the pitch angle of the unmanned ship through the navigation unit, and actively transmits the acquired roll angle and pitch angle to the communication base station.
In other embodiments, the communication base station sends a request instruction to a control unit of the unmanned ship, and the control unit controls the navigation unit to take the roll angle and the pitch angle of the unmanned ship in response to the received request instruction, and feeds back the obtained roll angle and pitch angle to the communication base station.
And S20, the communication base station generates a first antenna switching instruction according to the attitude parameter.
In this embodiment, the first switching instruction is used to instruct the control unit to switch the antenna currently processing the connected state.
Unmanned boats have mounted thereon a plurality of antennas having different beam widths. And when the attitude parameter of the unmanned ship changes, switching the antenna in the connected state at present, so that the beam width of the antenna in the connected state at present is larger than the attitude parameter of the unmanned ship.
The fact that the beam width of the antenna is larger than the attitude parameter of the unmanned ship means that the beam width of the antenna is larger than the rolling angle of the unmanned ship and the pitching angle of the unmanned ship at the same time.
In this embodiment, the communication base station may screen the target antenna from the multiple antennas according to a maximum value of the roll angle and the pitch angle, where a beam width of the target antenna is greater than the maximum value. And then, the communication base station generates a first antenna switching instruction according to the target antenna, wherein the first antenna switching instruction comprises the identification of the target antenna.
S30, sending a first antenna switching instruction to the control unit; the first antenna switching instruction is used for instructing the control unit to switch a target antenna in the multiple antennas to be in a connected state, and the beam width of the target antenna is larger than the rolling angle and the pitching angle.
In this embodiment, in order to ensure the stability of the first antenna switching instruction, the communication base station sends the first antenna switching instruction to the control unit through the second communication link in the embodiment of fig. 1.
And the control unit controls the radio frequency switch to be communicated with the antenna corresponding to the identification according to the identification of the target antenna contained in the first antenna switching instruction in the received first antenna switching instruction. So that the antenna corresponding to the identifier is in a connected state. The target antenna constructs a first communication link between the unmanned ship and the communication base station, and at the moment, the control unit of the unmanned ship can transmit the position information, the attitude information and the operation information of the unmanned ship to the communication base station through the first communication link.
In this embodiment, the beam width of the target antenna is greater than the roll angle and the pitch angle.
According to the unmanned ship wireless communication method provided by the embodiment of the application, the communication base station generates a first antenna switching instruction according to the attitude parameter of the unmanned ship, and sends the first antenna switching instruction to the control unit of the unmanned ship. And the control unit of the unmanned ship switches the target antenna with the beam width larger than the rolling angle and the pitching angle to a connected state according to the received first antenna switching instruction. In practical application, the inclination angle of the target antenna changes along with the swinging of the unmanned ship. Because the beam width of the target antenna is larger than the rolling angle and the pitching angle of the unmanned ship, the gain of the target antenna cannot be attenuated to zero, and the normal transmission of antenna signals can be ensured, so that the stability of unmanned ship communication is ensured.
Fig. 4 is a flowchart illustrating a process of generating a first antenna switching command according to an embodiment of the present application. As shown in fig. 4, generating a first antenna switching instruction according to the attitude parameter includes:
s201, screening a target antenna from the multiple antennas according to the maximum value of the rolling angle and the pitching angle. Wherein the beam width of the target antenna is greater than the maximum value.
In this embodiment, the unmanned ship is provided with a first antenna, a second antenna and a third antenna; and the beam width of the first antenna, the beam width of the second antenna and the beam width of the third antenna are sequentially decreased progressively.
Wherein the beam width may refer to a vertical beam width.
For example, the first antenna has a beam width x1The beam width of the second antenna is x2The third antenna has a beam width of x3Wherein x is1>x2>x3. Accordingly, the first antenna has the smallest antenna gain, the second antenna has the second smallest antenna gain, and the third antenna has the largest antenna gain.
In this embodiment, the selecting a target antenna from multiple antennas according to the maximum value of the roll angle and the pitch angle may include:
step A: and determining the maximum value according to the rolling angle and the pitching angle.
And B: and determining the first antenna as the target antenna when the maximum value is greater than or equal to the first threshold value.
In this step, the first threshold may be preset according to the beam width of the first antenna. For example, the first threshold is smaller than the beam width of the first antenna and greater than or equal to the beam width of the second antenna.
And C: determining the third antenna as the target antenna under the condition that the maximum value is less than or equal to the second threshold value; wherein the first threshold is greater than the second threshold.
In this step, the second threshold may be preset according to the beam width of the third antenna. For example, the second threshold is less than or equal to the beamwidth of the third antenna. It should be understood that the second threshold is less than the first threshold.
Step D: and determining the second antenna as the target antenna under the condition that the maximum value is larger than the second threshold and smaller than the first threshold.
S202, generating a first antenna switching instruction according to the target antenna.
In this embodiment, the communication base station assigns an identifier to each antenna on the unmanned ship in advance. Correspondingly, the generated first antenna switching instruction contains the identification of the target antenna.
For example, the first antenna is identified as 1, the second antenna is identified as 2, and the third antenna is identified as 3. If the target antenna is the second antenna, the generated first antenna switching instruction is marked as 2.
Fig. 5 is a schematic flowchart illustrating a wireless communication method for an unmanned ship according to another embodiment. The main implementation body of this embodiment is the communication base station in the embodiment of fig. 1. As shown in fig. 5, after the communication base station sends the first antenna switching instruction to the unmanned ship control unit, the method for improving the communication stability of the unmanned ship further includes;
and S40, acquiring the performance parameters of the first communication link.
In this embodiment, the performance parameter may include a channel parameter for characterizing a network state of the first communication link.
The channel parameters may include at least one of: received signal strength, signal-to-noise ratio, and block error rate.
The Received Signal Strength (hereinafter referred to as RSSI) may be used to determine the quality of the first communication link. The greater the received signal strength, the better the quality of the first communication link.
The SIGNAL-to-NOISE RATIO (SNR) may be a RATIO of the power of the output SIGNAL of the amplifier to the power of the NOISE output at the same time. The larger the signal-to-noise ratio, the better the quality of the transmitted signal.
The block error rate may refer to the ratio of the number of incorrect data received to the total number of data blocks transmitted. The larger the block error rate is, the more interference is suffered in data transmission, and the reliability of the data is low.
And S50, keeping the target antenna unchanged under the condition that the performance parameters meet the preset requirements.
In this embodiment, the obtained performance parameters include at least one of received signal strength, signal-to-noise ratio, and block error rate, and each parameter needs to respectively satisfy a corresponding preset requirement.
For example, if the acquired performance parameter is RSSI, the performance parameter meeting the preset requirement may mean that RSSI is greater than a third threshold. If the obtained performance parameter is the SNR, the performance parameter meeting the preset requirement may mean that the SNR is greater than the fourth threshold. If the obtained performance parameter is the block error rate, the performance parameter meeting the preset requirement may mean that the block error rate is smaller than the fifth threshold.
The third threshold, the fourth threshold and the fifth threshold may be all fixed values preset according to data transmission requirements.
When the performance parameters meet preset requirements, a first communication link between the characterization communication base station and the unmanned ship can meet normal communication requirements. At this time, the antenna currently in the connected state, that is, the target antenna, may be kept unchanged.
S60, generating a second antenna switching instruction under the condition that the performance parameter does not meet the preset requirement, and sending the second antenna switching instruction to the control unit; the second antenna switching instruction is used for instructing the control unit to switch the currently connected antenna to the antenna with the larger beam width.
In this embodiment, that the performance parameters do not satisfy the preset requirements may mean that at least one of the obtained performance parameters does not satisfy the corresponding preset requirements.
For example, the performance parameter not meeting the preset requirement includes: RSSI is less than or equal to the third threshold, SNR is less than or equal to the fourth threshold, and the block error rate is greater than or equal to any item in the fifth threshold.
And when the performance parameters do not meet the preset requirements, representing that a first communication link between the communication base station and the unmanned ship cannot meet the normal communication requirements. At this time, the communication base station generates a second antenna switching instruction and sends the second antenna switching instruction to the control unit; the second antenna switching instruction is used for instructing the control unit to switch the currently connected antenna to the antenna with the larger beam width.
Illustratively, the control unit switches the antenna currently in the connected state to the second antenna according to the received first antenna switching instruction. And if the performance parameter of the first communication link constructed based on the second antenna does not meet the preset requirement. The communication base station generates a second antenna switching instruction, which is used to instruct the control unit to switch the currently connected antenna to the first antenna. Because the beam width of the first antenna is larger than that of the second antenna, the gain of the antenna can be guaranteed as much as possible in the shaking process of the unmanned ship, and the communication stability of the first communication link is further guaranteed.
Further, before generating the second antenna switching instruction, the communication base station first determines whether there is an antenna larger than the beam width of the target antenna in the first antenna switching instruction. If the antenna switching command exists, generating a second antenna switching command; and if the communication stability of the current first communication link is not high, generating an alarm instruction, wherein the alarm instruction is used for indicating that the communication stability of the current first communication link is low.
In the unmanned ship wireless communication method provided by the embodiment of the application, the communication base station sends a first antenna switching instruction to the control unit, and after the control unit completes switching of the currently connected antenna, the communication base station further acquires performance parameters of the first communication link. And generating a second antenna switching instruction under the condition that the performance parameter does not meet the requirement. The second antenna switching instruction is used for indicating the control unit to switch the current connected antenna to be the antenna with larger beam width, and the stability of the first communication link of the unmanned ship is further guaranteed.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Based on the unmanned ship wireless communication method provided by the embodiment, the embodiment of the invention further provides an embodiment of an unmanned ship communication system suitable for realizing the method.
An embodiment of the application also provides an unmanned ship communication system. The schematic composition of the unmanned ship communication system in this embodiment can be seen in fig. 1 and 2. As shown in fig. 1 and 2, the unmanned ship communication system includes a communication base station 10 and an unmanned ship 20; the unmanned ship is provided with a control unit, a first communication unit and a second communication unit. The first communication unit includes a plurality of antennas having different beam widths.
In this embodiment, the communication base station 10 is configured to obtain an attitude parameter of the unmanned ship, and send a first antenna switching instruction to the control unit according to the attitude parameter; the attitude parameters include a roll angle of the unmanned ship and a pitch angle of the unmanned ship. The control unit of the unmanned ship is used for switching a target antenna in the multiple antennas to be in a connected state according to the first antenna switching instruction; the beam width of the target antenna is greater than the roll and pitch angles.
The communication base station 10 may obtain the attitude parameters of the unmanned ship through a navigation unit provided on the unmanned ship. Specifically, reference may be made to the description of the embodiment in fig. 3, which is not repeated herein.
The first communication unit of the unmanned ship 10 further includes a radio frequency switch. The rf switch may be a multi-output rf switch, and each output path of the rf switch is connected to an antenna. The multi-channel radio frequency switch is used for responding to a control instruction of the control unit, switching the currently communicated output channel and further switching the target antenna to be in a communicated state. The beam width of the target antenna is greater than the roll and pitch angles.
In this embodiment, a first communication link and a second communication link which are arranged in parallel are included between the communication base station and the unmanned ship; the first communication link is constructed based on an antenna in a connected state at present and is used for transmitting the operation information of the unmanned ship and the environment information acquired by the unmanned ship; the second communication link is a communication link constructed based on a satellite, and is used for transmitting instruction information, wherein the instruction information comprises a first antenna switching instruction.
The operation information of the unmanned ship includes, but is not limited to, operation state information and operation environment information of the unmanned ship.
It should be understood that the second communication link is a communication link that is constructed based on the second communication unit. The stability of the second communication link is higher.
In this embodiment, the communication base station 10 may further be configured to obtain a performance parameter of the first communication link, and update the first antenna switching instruction according to the performance parameter; wherein the performance parameters include channel parameters characterizing a network state of the first communication link. Specifically, reference may be made to the description of the embodiment in fig. 5, which is not repeated herein.
In this embodiment, the multiple antennas are vertically installed on the unmanned ship, and the multiple antennas are located at the same height.
In the unmanned ship communication system provided by the embodiment of the application, the communication base station generates a first antenna switching instruction according to the attitude parameter of the unmanned ship, and sends the first antenna switching instruction to the control unit of the unmanned ship. And the control unit of the unmanned ship switches the target antenna with the beam width larger than the rolling angle and the pitching angle to a connected state according to the received first antenna switching instruction. In practical application, the inclination angle of the target antenna changes along with the swinging of the unmanned ship. Because the beam width of the target antenna is larger than the rolling angle and the pitching angle of the unmanned ship, the gain of the target antenna cannot be attenuated to zero, the normal transmission of antenna signals can be ensured, and the stability of unmanned ship communication is ensured.
Furthermore, the communication base station sends the first antenna switching instruction to the control unit through a second communication link constructed based on the satellite, so that the stability of the transmission of the first antenna switching instruction is guaranteed.
The communication base station for improving the unmanned ship communication system provided by the embodiment of the application can be used for executing the technical solutions of the embodiments of fig. 3 to 5 in the above method embodiments, and the implementation principle and the technical effect are similar, and are not described herein again.
Fig. 6 is a schematic structural diagram of an unmanned ship wireless communication device according to an embodiment of the present application. The method is applied to the unmanned ship communication system; the unmanned ship communication system comprises a communication base station and an unmanned ship, wherein a control unit and multiple antennas are arranged on the unmanned ship, and the beam widths of the multiple antennas are different. As shown in fig. 6, the unmanned ship wireless communication device 70 includes an acquisition module 701, a generation module 702, and a transmission module 703.
An obtaining module 701, configured to obtain an attitude parameter of the unmanned ship; the attitude parameters include a roll angle of the unmanned ship and a pitch angle of the unmanned ship.
A generating module 702, configured to generate a first antenna switching instruction according to the attitude parameter;
a sending module 703, configured to send a first antenna switching instruction to the control unit; the first antenna switching instruction is used for instructing the control unit to switch a target antenna in the multiple antennas to be in a connected state, and the beam width of the target antenna is larger than the rolling angle and the pitching angle.
The unmanned ship wireless communication device provided in the embodiment shown in fig. 6 may be used to implement the technical solutions in the embodiments of fig. 3 to fig. 5 in the above method embodiments, and the implementation principle and technical effects are similar, which are not described herein again.
Fig. 7 is a schematic diagram of a communication base station according to an embodiment of the present application. As shown in fig. 7, the communication base station 80 of this embodiment includes: at least one processor 801, a memory 802, and computer programs stored in the memory 802 and executable on the processor 801. The communication base station further comprises a communication unit 803, wherein the processor 801, the memory 802 and the communication unit 803 are connected by a bus 804.
The processor 801, when executing the computer program, implements the steps in the above-described respective unmanned ship wireless communication method embodiments, such as steps S10 to S30 in the embodiment shown in fig. 3. Alternatively, the processor 801, when executing the computer program, implements the functions of each module/unit in each apparatus embodiment described above, for example, the functions of the modules 701 to 303 shown in fig. 6.
Illustratively, a computer program may be partitioned into one or more modules/units that are stored in the memory 802 and executed by the processor 801 to accomplish the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions that describe the execution of a computer program in the unmanned ship wireless communication device 80.
Those skilled in the art will appreciate that fig. 7 is merely an example of a communication base station apparatus and does not constitute a limitation of a communication base station, and may include more or less components than those shown, or combine certain components, or different components, such as input output devices, network access devices, buses, etc.
Alternatively, the communication base station may be the communication base station in fig. 1.
The Processor 801 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 802 may be an internal memory unit of the communication base station, or may be an external memory device of the communication base station, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. The memory 802 is used for storing the computer programs and other programs and data required by the communication base station. The memory 802 may also be used to temporarily store data that has been output or is to be output.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A wireless communication method for unmanned ship is characterized in that the method is applied to unmanned ship communication system; the unmanned ship communication system comprises a communication base station and an unmanned ship, wherein a control unit and a plurality of antennas are arranged on the unmanned ship, and the beam widths of the plurality of antennas are different;
the method comprises the following steps:
the communication base station acquires attitude parameters of the unmanned ship; the attitude parameters comprise a roll angle of the unmanned ship and a pitch angle of the unmanned ship;
the communication base station generates a first antenna switching instruction according to the attitude parameter;
the communication base station sends the first antenna switching instruction to the control unit; the first antenna switching instruction is used for instructing the control unit to switch a target antenna in the multiple antennas to be in a connected state, and the beam width of the target antenna is greater than the roll angle and the pitch angle.
2. The unmanned-vessel wireless communication method of claim 1, wherein the communication base station generates a first antenna switching instruction according to the attitude parameter, comprising:
the communication base station screens the target antenna from the multiple antennas according to the maximum value of the rolling angle and the pitching angle;
and generating the first antenna switching instruction according to the target antenna.
3. The unmanned-vessel wireless communication method of claim 2, wherein the antenna comprises a first antenna, a second antenna, and a third antenna; wherein the beam width of the first antenna, the beam width of the second antenna, and the beam width of the third antenna decrease in sequence;
the communication base station selects a target antenna from the multiple antennas according to the maximum value of the rolling angle and the pitching angle, and the method comprises the following steps:
determining the maximum value according to the roll angle and the pitch angle;
determining the first antenna as the target antenna if the maximum value is greater than or equal to a first threshold value;
determining the third antenna as the target antenna if the maximum value is less than or equal to a second threshold;
determining the second antenna as the target antenna if the maximum value is greater than the second threshold and less than the first threshold;
wherein the first threshold is greater than the second threshold.
4. The unmanned-vessel wireless communication method of claim 2, wherein the target antenna, when connected, is configured to establish a first communication link between the unmanned vessel and the communication base station;
after the communication base station sends the first antenna switching instruction to the unmanned ship control unit, the method further comprises the following steps;
acquiring a performance parameter of the first communication link; the performance parameters include channel parameters for characterizing a network state of the first communication link:
keeping the target antenna unchanged under the condition that the performance parameter meets a preset requirement;
under the condition that the performance parameter does not meet the preset requirement, generating a second antenna switching instruction, and sending the second antenna switching instruction to the control unit; the second antenna switching instruction is used for instructing the control unit to switch the currently connected antenna to the antenna with the larger beam width.
5. The unmanned-vessel wireless communication method of claim 4, wherein the channel parameters comprise at least one of:
received signal strength, signal-to-noise ratio, and block error rate.
6. An unmanned-vessel communication system, comprising: a communication base station and an unmanned ship; the unmanned ship is provided with a control unit and a plurality of antennas, and the wave beam widths of the plurality of antennas are different;
the communication base station is used for acquiring attitude parameters of the unmanned ship and sending a first antenna switching instruction to the control unit according to the attitude parameters; the attitude parameters comprise a roll angle of the unmanned ship and a pitch angle of the unmanned ship;
the control unit is used for switching a target antenna in the multiple antennas to be in a connected state according to the first antenna switching instruction; the beam width of the target antenna is greater than the roll angle and the pitch angle.
7. The unmanned-vessel communication system of claim 6, wherein the communication base station and the unmanned vessel comprise a first communication link and a second communication link arranged in parallel;
the first communication link is constructed based on the target antenna and used for transmitting the operation information of the unmanned ship and the environment information collected by the unmanned ship;
the second communication link is a communication link constructed based on a satellite, and the second communication link is used for transmitting instruction information, wherein the instruction information comprises the first antenna switching instruction.
8. The unmanned-vessel communication system of claim 7, wherein the communication base station is further configured to obtain a performance parameter of the first communication link, and update the first antenna switching instruction according to the performance parameter;
wherein the performance parameters comprise channel parameters characterizing a network state of the first communication link.
9. The unmanned-vessel communication system of claim 6, wherein the plurality of antennas are mounted vertically on the unmanned vessel, and the plurality of antennas are located at a same elevation.
10. A communications base station comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 5 when executing the computer program.
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