CN113163478A - Unmanned aerial vehicle data chain downlink power control method and system based on distance information - Google Patents
Unmanned aerial vehicle data chain downlink power control method and system based on distance information Download PDFInfo
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- CN113163478A CN113163478A CN202011636771.1A CN202011636771A CN113163478A CN 113163478 A CN113163478 A CN 113163478A CN 202011636771 A CN202011636771 A CN 202011636771A CN 113163478 A CN113163478 A CN 113163478A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/06—TPC algorithms
- H04W52/14—Separate analysis of uplink or downlink
- H04W52/143—Downlink power control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/18—TPC being performed according to specific parameters
- H04W52/24—TPC being performed according to specific parameters using SIR [Signal to Interference Ratio] or other wireless path parameters
- H04W52/243—TPC being performed according to specific parameters using SIR [Signal to Interference Ratio] or other wireless path parameters taking into account interferences
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a downlink power control method and a system of an unmanned aerial vehicle data link based on distance information, wherein the method comprises the following steps: measuring the distance between the ground station and the unmanned aerial vehicle; sending the distance information to the unmanned aerial vehicle through an uplink measurement and control link; and the unmanned aerial vehicle analyzes the distance information and obtains the downlink transmitting power of the unmanned aerial vehicle at the distance by searching a mapping table of the distance and the transmitting power. The invention adopts the idea of sectional control, the near end overcomes the influence of shadow fading and multipath fading, and the far end improves the energy efficiency of the battery of the airborne equipment; on one hand, the adjustment frequency and the dynamic range of the ground station for receiving the AGC are reduced, and the reliability of information transmission is improved; on the other hand, the transmitting power only depends on the distance information, is not easily influenced by the channel characteristics, and the control loop is stable; more importantly, the transmitting power of the airborne communication equipment is automatically adjusted along with the distance, so that the utilization efficiency of the battery is improved, the flight time of the unmanned aerial vehicle is prolonged, and the user experience is greatly improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle power control, in particular to a downlink power control method and system based on distance information for an unmanned aerial vehicle data chain.
Background
In recent years, unmanned aerial vehicles are widely used in the fields of scientific research, environmental monitoring, search and rescue, and the like. The unmanned aerial vehicle data link plays the important role in controlling the flight of the unmanned aerial vehicle and transmitting the telemetering data, but is easily influenced by the environment, the electromagnetic and geographical natural environments where the unmanned aerial vehicle data link is located are complex, and the channel has a time-varying characteristic, so that the communication link quality needs to be guaranteed by an anti-interference method capable of flexibly adapting to the complex environment, and the power control is one of key technologies.
In a data link communication system, in order to enhance the low interception rate characteristic and the low interference rate characteristic of the whole network, an optimal strategy is generally required to be achieved between the increase of the network throughput and the reduction of the node power consumption. In recent years, in order to meet various application requirements, the unmanned aerial vehicle is developed towards the trend of miniaturization and low power consumption, most light unmanned aerial vehicles are powered by batteries, and thus, severe requirements are provided for the power consumption of airborne communication equipment. In order to not reduce the operation time of the unmanned aerial vehicle, an efficient power control algorithm is required, and the power consumption of airborne communication equipment is reduced as much as possible while long-distance reliable communication is guaranteed.
In unmanned aerial vehicle data link communication, common airborne communication equipment power control algorithms are divided into open-loop and closed-loop algorithms. The open-loop control algorithm is simple, the airborne equipment always transmits a certain large fixed power after being electrified, but the algorithm has the defect that the receiving power of the ground communication equipment also changes along with the change of the distance between the unmanned aerial vehicle and the ground station, so that AGC adjustment can be frequently performed to ensure that the receiving level of the later stage is constant, and the large difficulty is increased for the design of the AGC algorithm. Meanwhile, the receiving sensitivity of the ground communication equipment is constant, and in order to ensure that the ground station can still normally receive signals under the long-distance condition, the airborne communication equipment must transmit larger power, so that the power consumption is greatly increased, and the operation radius and the operation time of the unmanned aerial vehicle are shortened. Therefore, for application scenarios of battery-powered drones, closed-loop power control algorithms are often employed.
The closed-loop control algorithm is divided into cooperative power control and non-cooperative power control. The non-cooperative power control method is a method for controlling the transmitting power by means of an intelligent algorithm by only utilizing the position relation between data chains or the inherent characteristics of data chain signals without performing power control information interaction between data chain receiving and transmitting devices.
According to the background art, the technical problems of the invention are as follows:
(1) in the traditional cooperative power control method, information interaction between the unmanned aerial vehicle and the ground station is frequent, and because the data link of the unmanned aerial vehicle is in an electromagnetic and geographical natural environment which is complex, a channel has a time-varying characteristic, frame loss and error codes can occur in long-distance signal transmission;
(2) frequent interaction of various information between the unmanned aerial vehicle and the ground station further increases the complexity of the system, and brings great difficulty to power adjustment of the unmanned aerial vehicle transmitting equipment;
(3) if the transmission power of the unmanned aerial vehicle is too large, the battery consumption is too large, the endurance is poor, and if the transmission power of the unmanned aerial vehicle is too small, the sensitivity of the ground station receiving equipment cannot be met, so that the unmanned aerial vehicle is out of control.
Disclosure of Invention
The invention provides a downlink power control method and system based on distance information for an unmanned aerial vehicle data link, and aims to solve the technical problems recorded in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention provides a downlink power control method of an unmanned aerial vehicle data link based on distance information, which comprises the following steps:
s1: measuring the distance between the ground station and the unmanned aerial vehicle to obtain first distance information;
s2: optimizing the first distance information to obtain second distance information, packaging the second distance information and sending the second distance information to the unmanned aerial vehicle;
s3: and the unmanned aerial vehicle analyzes the encapsulated second distance information and obtains the downlink transmitting power of the unmanned aerial vehicle at the distance by searching a mapping table of the distance between the ground station and the unmanned aerial vehicle and the transmitting power.
Further, the S1 specifically includes:
s11: acquiring the time delay of a signal transmitted and received between a ground station and an unmanned aerial vehicle;
s12: calculating the time delay and the speed of the receiving and transmitting signals through a mathematical relation shown in the formula (1) to obtain the distance from the unmanned aerial vehicle to the ground station, and further obtain first distance information;
(1)R＝C*(τR/2)，
wherein C is the speed of light and is approximately equal to the propagation speed of electromagnetic waves in the air, R is the one-way distance from the unmanned aerial vehicle to the ground station, and tauRFor transmit-receive signal delays.
Further, the S2 specifically includes:
s21: the second distance information and the auxiliary information are packaged together to obtain uplink data;
s22: and periodically sending the uplink data to the unmanned aerial vehicle through an uplink measurement and control link.
Further, the auxiliary information includes a carrier frequency, a physical bandwidth, a roll-off factor, a modulation mode, and a code rate.
Further, the S21 specifically includes:
s211: according to the error of pseudo code ranging and the power adjustment speed, accumulating and averaging the first distance information of the latest 16 times to obtain second distance information;
s212: and encapsulating the second distance information after the accumulation and the averaging and the auxiliary information to obtain uplink data.
Further, the S3 specifically includes:
s31: the unmanned aerial vehicle analyzes the packaged second distance information;
s32: obtaining the downlink transmitting power of the unmanned aerial vehicle at the distance by searching a mapping table of the distance between the unmanned aerial vehicle and the ground station and the transmitting power;
the transmitted power comprises rated transmitting power and compensation transmitting power, and the flight area of the unmanned aerial vehicle is divided into a first area and a second area according to the distance between the unmanned aerial vehicle and the ground station.
Further, the S32 specifically includes:
if the unmanned aerial vehicle is in the first area, the power transmitted to the ground station by the unmanned aerial vehicle is the rated power;
and if the unmanned aerial vehicle is in the second area, the power transmitted to the ground station by the unmanned aerial vehicle is the superposition of the rated power and the compensation transmitting power.
Further, the compensation transmitting power increases with the increase of the distance from the edge of the first area to the drone, and the specific correspondence is as shown in formula (2):
(2)PC(dB)＝20*logd，
where pc (db) is the compensated transmit power and d is the distance from the edge of the first area to the drone.
Further, the obtaining method of the mapping table comprises:
l1, the compensation transmitting power is gradually increased, and the distance d from the edge of the first area to the unmanned aerial vehicle is calculated by the formula (2) through increasing the transmitting power;
l2, the superposition of the compensation transmitting power and the rated transmitting power is used as the transmitting power of the unmanned aerial vehicle, and the superposition of the distance d from the edge of the first area to the unmanned aerial vehicle and the radius of the first area is used as the distance from the unmanned aerial vehicle to the ground station;
l3, repeating the steps L1 and L2, and obtaining a mapping table of the distance from the unmanned aerial vehicle to the ground station and the corresponding transmitting power of the unmanned aerial vehicle.
A downlink power control system of an unmanned aerial vehicle data link based on distance information comprises:
the distance measuring module is used for measuring the distance between the ground station and the unmanned aerial vehicle to obtain first distance information;
the information transmission module is used for optimizing the first distance information to obtain second distance information, packaging the second distance information and sending the second distance information to the unmanned aerial vehicle;
and the unmanned aerial vehicle analyzes the second distance information and obtains the downlink transmitting power of the unmanned aerial vehicle at the distance by searching a mapping table of the distance and the transmitting power.
Has the advantages that: the invention creatively provides a segmented closed-loop power control algorithm based on distance information, a ground station obtains the distance between the ground station and an unmanned aerial vehicle through active distance measurement, the distance information is optimized and is sent to the unmanned aerial vehicle through an uplink measurement and control link, and the unmanned aerial vehicle obtains the current downlink transmitting power through a lookup table and automatically adjusts the current downlink transmitting power after analyzing the information.
Compared with the prior art, the invention has the advantages that:
(1) the invention adopts the idea of sectional control, the near end overcomes the influence of shadow fading and multipath fading, the far end improves the energy efficiency of the battery of the airborne equipment, and simultaneously solves the problem that frame loss and error codes can occur in long-distance signal transmission.
(2) The technical scheme adopted by the invention reduces the adjustment frequency and the dynamic range of the ground station receiving AGC on one hand, and increases the reliability of information transmission; on the other hand, the technical scheme adopted by the invention only depends on the distance information, is not easily influenced by the channel characteristics, the control loop is stable, and the distance information is subjected to smooth filtering processing, so that the accuracy of power control is further improved.
(3) According to the invention, a segmented closed-loop power control algorithm based on distance information is adopted, and the transmitting power of the airborne communication equipment is automatically adjusted along with the distance, so that the utilization efficiency of the battery is improved, the flight time of the unmanned aerial vehicle is prolonged, and the user experience is greatly improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flow chart of a downlink power control method based on distance information for an unmanned aerial vehicle data link;
fig. 2 is a block flow diagram of a drone data chain downlink power control system based on distance information;
fig. 3 is a diagram of a drone transmit power control scheme.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.
Furthermore, the terms "long", "short", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention, but do not indicate or imply that the referred devices or elements must have the specific orientations, be configured to operate in the specific orientations, and thus are not to be construed as limitations of the present invention.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1, the present invention provides a downlink power control method for an unmanned aerial vehicle data link based on distance information, where the method includes:
s100, measuring the distance between the ground station and the unmanned aerial vehicle; in the unmanned aerial vehicle measurement and control system, a pseudo code ranging principle is adopted. The distance measurement process is to modulate the distance measurement pseudo code on a continuous carrier, the ground station transmits the modulated carrier signal to the unmanned aerial vehicle, the same distance measurement signal is forwarded and returned to the ground after the distance measurement signal is locked by a receiver on the unmanned aerial vehicle, and the ground system obtains the distance by comparing the propagation delay of the received distance measurement signal and the propagation delay of the transmitted distance measurement signal. The distance between the drone and the ground station can be expressed by the following formula:
R＝C*(τR/2)，
wherein C is the speed of light, which is similar to the propagation speed of electromagnetic waves in the air, R is the one-way distance from the unmanned aerial vehicle to the ground station, i.e. the first distance information, and tauRFor transmit-receive signal delays.
S200: and accumulating and averaging the first distance information of the last 16 times according to the error of the pseudo code ranging and the power adjustment speed to obtain second distance information, packaging the second distance information, the carrier frequency, the physical bandwidth, the roll-off factor, the modulation mode and the code rate, and then sending the second distance information to the unmanned aerial vehicle through an uplink measurement and control link.
The pseudo code ranging system mainly utilizes the autocorrelation characteristic of pseudo codes, and the pseudo codes are much higher than the correlation peak value when the pseudo codes are not aligned under the condition of phase alignment. By using the linear hypotenuse of the triangular correlation peak, the correlation value is in linear relation with time in a code element width, a time discriminator of a pseudo code tracking loop can be formed, and a lead delay locking negative feedback is formed, so that the phase of a receiving code can be tracked and locked by a local code through the negative feedback of the correlation peak value of the pseudo code. The distance of the target can be measured by measuring the time difference between the phase correlation peak of the transmitting pseudo code and the phase correlation peak of the receiving pseudo code.
S300, the unmanned aerial vehicle analyzes the second distance information and obtains the downlink transmitting power of the unmanned aerial vehicle at the distance by searching a mapping table of the distance and the transmitting power; the mapping table of the distance between the unmanned aerial vehicle and the ground station and the transmitting power is obtained in the following mode:
according to unmanned aerial vehicle's flight radius, divide into first region and second area with unmanned aerial vehicle's the region of flight, first region is: the maximum distance of the flying unmanned aerial vehicle when transmitting rated power is a circle with the maximum distance as a radius, namely a first area; the second area is: the second area is a space outside the range of the first area.
When the unmanned aerial vehicle flies, a definite and unblocked direct path always exists between the unmanned aerial vehicle and the ground station, in order to simplify an air-ground wireless link transmission model, neglect the influence of shadow fading and multipath fading, the strength of a received signal is approximately predicted by using a free space propagation model of the signal, therefore, in order to offset the power loss caused by the path, the corresponding compensation needs to be carried out on the transmitting power, and the compensated power is:
PC(dB)＝20*logd，
where pc (db) is the compensated transmit power and d is the distance from the edge of the first area to the drone.
In practical applications, limited by battery capacity and overall weight, the flight radius of a typical miniaturized drone is not too large, and is not assumed to be 11Km, while the maximum output power of the onboard communication equipment is assumed to be 30dBm (1W) and the minimum output power is 0 dBm. Therefore, in combination with the power control design concept herein, a maximum power of 30dBm is transmitted at a relative distance of 11 Km. Meanwhile, the fact that shadow fading and multipath fading of the unmanned aerial vehicle are obvious in the near-end sight range and the power needs to be increased properly is considered, so that when the distance between the unmanned aerial vehicle and a ground station is designed to be 0-1 Km, the transmitting power is fixed to be 10dBm (far less than the maximum power, almost no influence is caused on power consumption), and the transmitting power is stepped to be 1dB and adjustable.
For example, when the distance between the drone and the ground station increases from 1Km, the launch power of the drone increases from 10dBm to 11dBm at a certain time, and the power increases by 1dB at this time. According to the compensation power calculation formula pc (dB) ═ 20 × logd, d can be calculated to be 1.12Km, that is, when the unmanned aerial vehicle flies to 2.12Km away from the ground station, if the unmanned aerial vehicle increases the transmission power of 1dB, the receiving sensitivity of the ground station can be kept unchanged, thereby ensuring the receiving performance of the ground station; on the contrary, if the distance between the unmanned aerial vehicle and the ground station is closer and closer, the transmitting power of the unmanned aerial vehicle is smaller and smaller, and under the condition that the receiving sensitivity of the ground station is not lost, the energy is saved and the endurance time is prolonged. According to the calculation mode, a mapping relation table of the distance between the unmanned aerial vehicle and the ground station and the transmission power of the unmanned aerial vehicle can be obtained through multiple calculations, as shown in table 1, wherein the relative distance is the distance between the unmanned aerial vehicle and the ground station, and the transmission power is the transmission power of the unmanned aerial vehicle.
| Relative distance (Km) | Launch power (dBm) | Relative distance (Km) | Launch power (dBm) |
| 0～1 | 10 | 4.16～4.55 | 21 |
| 1～2.12 | 11 | 4.55～4.98 | 22 |
| 2.12～2.26 | 12 | 4.98～5.47 | 23 |
| 2.26～2.41 | 13 | 5.47～6.01 | 24 |
| 2.41～2.58 | 14 | 6.01～6.62 | 25 |
| 2.58～2.78 | 15 | 6.62～7.31 | 26 |
| 2.78～3.00 | 16 | 7.31～8.08 | 27 |
| 3.00～3.24 | 17 | 8.08～8.94 | 28 |
| 3.24～3.51 | 18 | 8.94～9.91 | 29 |
| 3.51～3.82 | 19 | 9.91～11 | 30 |
| 3.82～4.16 | 20 |
TABLE 1
Specifically, the power control workflow of the system is as follows: after the ground station and the unmanned aerial vehicle airborne communication equipment are respectively electrified, the unmanned aerial vehicle fixedly emits 10dBm power and establishes connection with the ground communication equipment. After the connection is established, the ground station acquires first distance information between the ground station and the unmanned aerial vehicle through active ranging, obtains second distance information through weighted average processing of the first distance information, and encapsulates the second distance information in a data frame of an uplink.
The unmanned aerial vehicle carries out real-time analysis on the uplink data frame, and after second distance information is analyzed, the current transmitting power is determined according to the mapping relation of the lookup table. Along with the flying distance of the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the ground station is gradually increased, and after the distance exceeds 1Km, the unmanned aerial vehicle starts to adjust the transmitting power according to the lookup table. In consideration of the ranging precision and the ranging error, the airborne communication equipment carries out smooth filtering processing on the analyzed second distance information in real time so as to eliminate the error, and the accurate distance parameter is favorable for accurate power control at the later stage.
The closed-loop response time of ground receiving AGC and the multipath characteristic of a channel are comprehensively considered, the adjustment frequency is not too fast, adjustment is set once every 3 seconds, when the flight distance of the unmanned aerial vehicle falls in a range of 9.91-11 Km, the transmitting power of the unmanned aerial vehicle is adjusted to the maximum output power of 30dBm, meanwhile, the ground station needs to properly reduce the flight radius of the unmanned aerial vehicle, and the situation that the receiving level of airborne communication equipment is too small and exceeds the receiving sensitivity to cause the unmanned aerial vehicle to be out of control is avoided.
When the unmanned aerial vehicle returns to the navigation, the power control algorithm is similar to the power control algorithm, and finally, the effect of energy-saving cruising is achieved through the accurate control of the transmitting power of the unmanned aerial vehicle.
A downlink power control system of an unmanned aerial vehicle data link based on distance information comprises:
the distance measuring module is used for measuring the distance between the ground station and the unmanned aerial vehicle to obtain first distance information;
the information transmission module is used for optimizing the first distance information to obtain second distance information, packaging the second distance information and sending the second distance information to the unmanned aerial vehicle;
and the unmanned aerial vehicle analyzes the second distance information and obtains the downlink transmitting power of the unmanned aerial vehicle at the distance by searching a mapping table of the distance and the transmitting power.
The working mode of the downlink power control system based on the distance information of the data chain of the unmanned aerial vehicle is detailed in the downlink power control method based on the distance information of the data chain of the unmanned aerial vehicle, and is not repeated herein.
The embodiment provides a downlink power control method and system based on distance information for an unmanned aerial vehicle data chain, the technical scheme in the embodiment adopts a segmented control idea, the near end overcomes the influence of shadow fading and multipath fading, and the far end improves the energy efficiency of an airborne equipment battery; on one hand, the adjustment frequency and the dynamic range of the ground station for receiving the AGC are reduced, and the reliability of information transmission is improved; on the other hand, the technical scheme adopted by the invention only depends on the distance information, is not easily influenced by the channel characteristics, the control loop is stable, and the distance information is subjected to smooth filtering treatment, so that the accuracy of power control is further improved; more importantly, the transmitting power of the airborne communication equipment is automatically adjusted along with the distance, so that the utilization efficiency of the battery is improved, the flight time of the unmanned aerial vehicle is prolonged, and the user experience is greatly improved.
The foregoing description of the embodiments has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same elements or features may also vary in many respects. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.
Example embodiments are provided so that this disclosure will be thorough and will fully convey the scope to those skilled in the art. Numerous details are set forth, such as examples of specific parts, devices, and methods, in order to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In certain example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.
The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises" and "comprising" are intended to be inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed and illustrated, unless explicitly indicated as an order of performance. It should also be understood that additional or alternative steps may be employed.
Claims (10)
1. A downlink power control method based on distance information for an unmanned aerial vehicle data link is characterized by comprising the following steps:
s1: measuring the distance between the ground station and the unmanned aerial vehicle to obtain first distance information;
s2: optimizing the first distance information to obtain second distance information, packaging the second distance information and sending the second distance information to the unmanned aerial vehicle;
s3: and the unmanned aerial vehicle analyzes the encapsulated second distance information and obtains the downlink transmitting power of the unmanned aerial vehicle at the distance by searching a mapping table of the distance between the ground station and the unmanned aerial vehicle and the transmitting power.
2. The method according to claim 1, wherein the S1 specifically includes:
s11: acquiring the time delay of a signal transmitted and received between a ground station and an unmanned aerial vehicle;
s12: calculating the time delay and the speed of the receiving and transmitting signals through a mathematical relation shown in the formula (1) to obtain the distance from the unmanned aerial vehicle to the ground station, and further obtain first distance information;
(1)R＝C*(τR/2)，
wherein C is the speed of light and is approximately equal to the propagation speed of electromagnetic waves in the air, R is the one-way distance from the unmanned aerial vehicle to the ground station, and tauRFor transmit-receive signal delays.
3. The method according to claim 1, wherein the S2 specifically includes:
s21: the second distance information and the auxiliary information are packaged together to obtain uplink data;
s22: and periodically sending the uplink data to the unmanned aerial vehicle through an uplink measurement and control link.
4. The method of claim 3, wherein the auxiliary information comprises a carrier frequency, a physical bandwidth, a roll-off factor, a modulation scheme, and a code rate.
5. The method according to claim 3, wherein the S21 specifically includes:
s211: according to the error of pseudo code ranging and the power adjustment speed, accumulating and averaging the first distance information of the latest 16 times to obtain second distance information;
s212: and encapsulating the second distance information after the accumulation and the averaging and the auxiliary information to obtain uplink data.
6. The method according to claim 1, wherein the S3 specifically includes:
s31: the unmanned aerial vehicle analyzes the packaged second distance information;
s32: obtaining the downlink transmitting power of the unmanned aerial vehicle at the distance by searching a mapping table of the distance between the unmanned aerial vehicle and the ground station and the transmitting power;
the transmitted power comprises rated transmitting power and compensation transmitting power, and the flight area of the unmanned aerial vehicle is divided into a first area and a second area according to the distance between the unmanned aerial vehicle and the ground station.
7. The method of claim 6, wherein the UAV data link downlink power control method based on distance information,
the S32 specifically includes:
if the unmanned aerial vehicle is in the first area, the power transmitted to the ground station by the unmanned aerial vehicle is the rated power;
and if the unmanned aerial vehicle is in the second area, the power transmitted to the ground station by the unmanned aerial vehicle is the superposition of the rated power and the compensation transmitting power.
8. The method according to claim 6, wherein the compensation transmit power increases with an increase in distance from the edge of the first area to the drone, and the specific correspondence relationship is as shown in formula (2):
(2)PC(dB)＝20*logd，
where pc (db) is the compensated transmit power and d is the distance from the edge of the first area to the drone.
9. The method according to claim 8, wherein the mapping table is obtained by:
l1, the compensation transmitting power is gradually increased, and the distance d from the edge of the first area to the unmanned aerial vehicle is calculated by the formula (2) through increasing the transmitting power;
l2, the superposition of the compensation transmitting power and the rated transmitting power is used as the transmitting power of the unmanned aerial vehicle, and the superposition of the distance d from the edge of the first area to the unmanned aerial vehicle and the radius of the first area is used as the distance from the unmanned aerial vehicle to the ground station;
l3, repeating the steps L1 and L2, and obtaining a mapping table of the distance from the unmanned aerial vehicle to the ground station and the corresponding transmitting power of the unmanned aerial vehicle.
10. The utility model provides an unmanned aerial vehicle data link is based on downlink power control system of distance information which characterized in that includes:
the distance measuring module is used for measuring the distance between the ground station and the unmanned aerial vehicle to obtain first distance information;
the information transmission module is used for optimizing the first distance information to obtain second distance information, packaging the second distance information and sending the second distance information to the unmanned aerial vehicle;
and the unmanned aerial vehicle analyzes the second distance information and obtains the downlink transmitting power of the unmanned aerial vehicle at the distance by searching a mapping table of the distance and the transmitting power.
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