CN113280680A - Novel networking mode of precision target drone system - Google Patents
Novel networking mode of precision target drone system Download PDFInfo
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- CN113280680A CN113280680A CN202110705335.3A CN202110705335A CN113280680A CN 113280680 A CN113280680 A CN 113280680A CN 202110705335 A CN202110705335 A CN 202110705335A CN 113280680 A CN113280680 A CN 113280680A
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- 230000006855 networking Effects 0.000 title claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 39
- 238000012790 confirmation Methods 0.000 claims description 12
- 238000012549 training Methods 0.000 claims description 10
- 230000004044 response Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/14—Apparatus for signalling hits or scores to the shooter, e.g. manually operated, or for communication between target and shooter; Apparatus for recording hits or scores
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J7/00—Movable targets which are stationary when fired at
- F41J7/06—Bobbing targets, i.e. targets intermittently or unexpectedly appearing
Abstract
The invention discloses a novel networking mode of a precision target drone system, which comprises an integrated controller, a shooting hand position and a target drone, and comprises the following steps of respectively installing communication modules in the integrated controller, the shooting hand position and the target drone, establishing a communication bridge connection point of the integrated controller and the shooting hand position by taking the target drone as a communication key point, starting the target drone, the integrated controller and the shooting hand position, sending an online notification to a network, and then automatically networking the target drone, the integrated controller and the shooting hand position. The invention has the beneficial effects that: the invention adopts the frequency hopping ad hoc network module to realize the ad hoc network of the equipment, the centralized controller and the shooter position can be simultaneously used with the target drone, and can also be separately used with the target drone, the frequency hopping module realizes the real-time property of centralized control or single control together and the real-time property of target hit report of the target drone, and the target drone, the centralized controller and the shooter position have a retransmission mechanism when signal interaction is carried out, thereby ensuring the stable communication of the centralized controller, the shooter position and the target drone.
Description
Technical Field
The invention relates to a target drone system, in particular to a novel networking mode of a precision target drone system, and belongs to the technical field of target practice.
Background
In order to ensure the army live-action training, a plurality of precision target drone systems are available on the market at present, and the main precision target drone systems mainly comprise the following two types;
one is that the polling networking mode is that the target drone, the shooter position and the centralized control system are all networked by using wireless modules in the same frequency band, the target drone and the shooter position are polled by using a master control in turn according to numbers, the target drone and the shooter position do not actively send information to ensure that mutual interference communication is avoided, and the networking mode adopts a carousel mode, so that target reporting cannot control equipment in real time, more equipment polls one round, the slower the equipment reports in real time, the real-time target reporting time is long, the master control has to be used for carousel, and the shooter position and the target drone cannot be used independently;
it is two kinds of communication mode networks, this network deployment mode is that centralized control ware adopts the wifi mode communication with shooting hand position, shooting hand position and target drone correspond wireless module for the equipment and communicate, every target drone and shooting hand position wireless module communication frequency all inconsistent, communication can not the mutual interference together like this, this network deployment mode adopts two kinds of wireless communication modes, the easy unstable operation of communication, wifi is the nearly penetrability of high frequency communication distance poor in addition, because the target drone can only be through shooting hand position transfer, centralized control ware and target drone exclusive use can not be realized.
Disclosure of Invention
The invention aims to solve the problems and provide a novel networking mode of the precision drone aircraft system.
The invention realizes the purpose through the following technical scheme, and the novel networking mode of the precision target drone system comprises an integrated controller, a shooting hand position and a target drone, and comprises the following steps:
a1: respectively installing communication modules in the centralized controller, the shooting hand position and the target drone;
a2: establishing a communication bridge point between the centralized controller and the shooter by taking the target drone as a communication key point;
a3: starting the target drone, the centralized controller and the shooter position, and simultaneously sending an online notification to a network, and then automatically networking the target drone, the centralized controller and the shooter position;
a4: during training, the centralized controller controls the target drone in groups and establishes a corresponding protocol for ensuring the rising and falling consistency of different target drone;
a5: after the target drone receives the shooting command of the shooter position, the target drone simultaneously replies the command to the centralized controller and the shooter position through the wireless communication module.
Preferably, the communication module in a1 is a frame hopping wireless communication module.
Preferably, the drone, the centralized controller and the shooter station in the A2 all have a unique communication mac address to each other to realize point-to-point and point-to-multipoint communication.
Preferably, the networking steps of the drone aircraft, the centralized controller and the shooting hand in the a3 are as follows:
b1: the target drone sends an online command to the centralized controller and the shooter position to remind the target drone to get online, and a single point sends a notice when the addresses of all the centralized controller and the shooter position are known, otherwise, the target drone sends the online notice in a broadcast mode;
b2: the target drone is firstly on-line, and the shooter position and the centralized controller are then on-line, so that the target drone immediately starts to periodically send heartbeat commands to the centralized controller and the shooter position after receiving the broadcast on-line notification of the centralized controller and the shooter position;
b3: the integrated controller and the shooting hand position are on line first, and the integrated controller and the shooting hand position immediately reply an on-line notice to the target drone after receiving the on-line notice of the drone first.
Preferably, the drone, the centralized controller and the shooter station are determined according to whether a heartbeat command or a response to the heartbeat command can be received.
Preferably, the protocol in A4 includes the sequence number of the drone, so that the drone can broadcast and send commands to ensure that the motions and commands of the drone are synchronous.
Preferably, the target drone comprises a controller, a signal controller, a target drone, a signal collector, a night training lamp, a shooter display, a target rod and a target plate, wherein the controller is a notebook computer, the signal controller, the signal collector, the night training lamp and the shooter display are all electrically connected with the output end of the controller, and the target drone, the target rod and the target plate jointly form a target drone body.
Preferably, the specific workflow of the drone is as follows:
c1: after the target drone is started up, sending three online notifications to the shooting hand position and the centralized controller respectively;
c2: in a connection state, the target drone sends a heartbeat command to the shooter position and centralized controller every ten seconds, the shooter position and centralized controller immediately sends a response instruction to the target drone, and if the shooter position and the centralized controller do not reply, the target drone automatically judges that the shooter position and the centralized controller are disconnected;
c3: after the target drone receives a shooting starting command of the shooter position, the target drone sends a confirmation code to the shooter position and the centralized controller, and the shooter position can shoot after replying the confirmation command;
c4: after shooting is started, the target drone synchronously counts the target hitting time and the target hitting area, and then sends a broadcast signal to the shooting hand position and the centralized controller for target reporting.
Preferably, the time interval between sending the on-line notification to the shooter location and the centralized controller by the drone in C1 and C2 is two seconds, and the heartbeat command is sent to the shooter location and the centralized controller once every ten seconds in the drone connection state.
Preferably, if the shooter location and centralized controller in C3 does not receive the acknowledgement code, the drone sends the acknowledgement code to the shooter location and centralized controller again every eight seconds, three times in total.
The invention has the beneficial effects that: firstly, the invention adopts the frequency hopping ad hoc network module to realize the ad hoc network of the equipment, the centralized controller and the shooter can be simultaneously used with the target drone or can be respectively and independently used with the target drone, and the frequency hopping module realizes the real-time performance of centralized control or single control of a plurality of devices together and the real-time performance of target hit target drone.
Secondly, a retransmission mechanism is set in the invention, so that when the target drone, the centralized controller and the shooter position carry out signal interaction, if the signals fluctuate, commands can be repeatedly sent between the target drone, the centralized controller and the shooter position, and the stability of communication is guaranteed.
Drawings
FIG. 1 is a schematic diagram of a networking process of the present invention;
FIG. 2 is a flow chart of a retransmission mechanism according to the present invention;
fig. 3 is a schematic diagram of a signal transmission process according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments 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.
The first embodiment is as follows:
referring to fig. 1-3, a novel networking method of a precision drone aircraft system includes an integrated controller, a shooting hand position and a drone aircraft, and includes the following steps:
a1: respectively installing communication modules in the centralized controller, the shooting hand position and the target drone;
the communication module is a mature frame-skipping wireless communication module on the market, and the target drone can be controlled by the centralized controller alone or together by the frequency hopping module, so that the target drone hit reporting real-time performance is guaranteed.
A2: establishing a communication bridge point between the centralized controller and the shooter by taking the target drone as a communication key point;
the target drone, the centralized controller and the shooter station all have a unique communication mac address to realize point-to-point and point-to-multipoint communication, and the target drone, the centralized controller and the shooter station can be used in a combined mode, so that the communication bandwidth is not occupied.
A3: starting the target drone, the centralized controller and the shooter position, and simultaneously sending an online notification to a network, and then automatically networking the target drone, the centralized controller and the shooter position;
specifically, the networking steps of the drone aircraft, the centralized controller and the shooting hand position are as follows:
b1: the target drone sends an online command to the centralized controller and the shooter position to remind the target drone to get online, and a single point sends a notice when the addresses of all the centralized controller and the shooter position are known, otherwise, the target drone sends the online notice in a broadcast mode;
b2: when the target drone is on-line firstly and the shooter position and the centralized controller are on-line later, the target drone immediately starts to periodically send heartbeat commands to the centralized controller and the shooter position after receiving the broadcast on-line notification of the centralized controller and the shooter position, and the centralized controller and the shooter position immediately respond and determine to be on-line after receiving signals;
b3: when the integrated controller and the shooting hand position are on line first and the target drone is on line later, the integrated controller and the shooting hand position immediately reply an on-line notification to the target drone after receiving the on-line notification of the target drone first.
A4: during training, the centralized controller controls the target drone in groups and establishes a corresponding protocol for ensuring the rising and falling consistency of different target drone;
the protocol comprises a sequence number of the target drone, and the target drone can broadcast and send instructions to ensure that the movement and the instructions of the target drone are synchronous;
specifically, the protocol is as follows:
the sequence number is contained in the protocol, so that the command can be broadcast and sent, the simultaneous movement of the target drone is ensured, and only the target drone controlled by the command can move due to the guarantee of the sequence number, so that the actual effect and the action consistency of the target drone are ensured.
A5: after the target drone receives the shooting command of the shooter position, the target drone simultaneously replies the command to the centralized controller and the shooter position through the wireless communication module;
specifically, the drone, the centralized controller and the shooter station are determined according to whether a heartbeat command or a response to the heartbeat command can be received.
Example two:
as a technical optimization scheme of the invention, the target drone comprises a controller, a signal controller, a target drone, a signal collector, a night training lamp, a shooter display, a target rod and a target plate, wherein the controller is a notebook computer, the signal controller, the signal collector, the night training lamp and the shooter display are all electrically connected with the output end of the controller, and the target drone, the target rod and the target plate jointly form a target drone body.
The target drone body is an acoustic cavity type tilting precision target, and therefore the target drone can be controlled to be not less than sixty-four target positions at most in an expandable mode according to task requirements.
Specifically, the target drone mainly used for light arms or vehicle-mounted machine guns bears the implicit target when shooting, the implicit target drone can bear at least eight single-target and double-target-rod target-type targets, the product adopts an acoustoelectric target reporting technology, the technology is high in target reporting precision, real-time detection can be realized, the impact points and the bullet sequences can be recorded, the target number and the hit ring number can be automatically counted, meanwhile, a shooting file can be established, the shooting score can be printed through a printer, the target drone body adopts a box-type structure, the target arm is designed into a detachable form, the lighting device is an adsorption type LED lamp, the power supply device is independent and external to the target drone, the attack and fall time of the target drone is short, the attack and fall time is not more than one second and one second, meanwhile, the continuous working time of the target drone is long, and the working time is not less than eight hours after each time of starting.
Example three:
as a technical optimization scheme of the invention, the specific working process of the target drone is as follows:
c1: after the target drone is started up, sending three online notifications to the shooting hand position and the centralized controller respectively;
wherein, the time interval for sending the online notification to the shooter position and the centralized controller by the target drone is two seconds.
C2: in a connection state, the target drone sends a heartbeat command to the shooter position and centralized controller every ten seconds, the shooter position and centralized controller immediately sends a response instruction to the target drone, and if the shooter position and the centralized controller do not reply, the target drone automatically judges that the shooter position and the centralized controller are disconnected;
and if the target drone still does not receive the reply of the shooter position and the centralized controller within thirty seconds, automatically judging that the shooter position and the centralized controller are disconnected.
C3: after the target drone receives a shooting starting command of the shooter position, the target drone sends a confirmation code to the shooter position and the centralized controller, and the shooter position can shoot after replying the confirmation command;
if the shooter position and the centralized controller do not receive the confirmation codes, the drone sends the confirmation codes to the shooter position and the centralized controller again every other eight zero seconds for three times in total, otherwise, if the drone does not reply the response instruction after the shooting is finished, the shooter position sends the confirmation codes to the drone again every other eight zero seconds for three times in total.
C4: after shooting is started, the target drone synchronously counts target landing time and a target landing area, and then sends a broadcast signal to a shooting hand position and a centralized controller for target reporting;
when the target drone transmits the uploaded target spot data to the shooter position and the centralized controller, waiting for the reply of the shooter position and the centralized controller, and if the reply is not received, transmitting the target spot data to the Baji and the centralized controller again every second by the target drone for three times in total.
Example four:
when the shooting hand position or the centralized control center is judged to be offline, the target drone sends an online instruction to the shooting hand position or the centralized control center, the online instruction is sent for five times in total, and the time interval for sending the online instruction every time is two seconds;
the integrated controller automatically detects the temperature and the voltage once every sixty seconds;
the target drone is provided with a remote control system, and the remote control system is connected with the centralized controller through a wireless communication module;
further, the remote control system comprises a remote control switch, when the target drone needs to be turned off, the remote control switch sends a command to the centralized controller, the command sending duration is at least two seconds, after the target drone receives the command, the target drone sends a command to the centralized controller every 500ms, the command is sent for three times in total, and then the target drone is turned off automatically after waiting for two seconds.
The integrated controller is provided with a manual switch, the triggering time of the manual switch is at least 200ms, the switch resets after the manual switch is loosened, then the target drone automatically gets on line after receiving a starting command, otherwise, the triggering time of the manual switch is at least two seconds when the target drone needs to be closed, and then the target drone is automatically shut down after receiving an instruction.
The target drone is in a self-checking state after being started for five seconds, is in a standing state after being started, falls down after five seconds, and stands again after five seconds, so that whether the target drone can normally run or not is judged.
Example six:
the interrupt priority of the drone, the shooter station and the centralized controller is as follows:
signal board receive and transmit priority
SIGB_PREEMPTION_PRIORITY 0
SIGB_SUB_PRIORITY 2
xBEE receive and transmit priority
XBEE_PREEMPTION_PRIORITY 0
XBEE_SUB_PRIORITY 2
GPS receive and transmit priority
GPS_PREEMPTION_PRIORITY 3
GPS_SUB_PRIORITY 3
Voltage acquisition ADC priority
TEMPERTURE_PPRIORITY 3
TEMPERTURE_SPRIORITY 3
Display and hidden target position detection and manual key priority
DISP_HID_MANUAL_PPRIORITY 0
DISP_HID_MANUAL_SPRIORITY 0
Priority of universal timer TIME5 (drone timebase reference)
SHARE_TIME_PPRIORITY 0
SHARE_TIME_SPRIORITY 2
Power detection and hit detection priority
POWDEC_HIT_PPRIORITY 0
POWDEC_HIT_SPRIORITY 0
Request for Send protocol
Description of the invention
The frame causes the device to transmit the payload data as RF packets to a particular destination.
For broadcast transmission, the 64-bit target address is set to 0x000000000000FFFF, the coordinator is to be accessed, the 64-bit address may be set to 0 and the 16-bit address may be set to 0xFFFE, or the 64-bit address may be set to the 64-bit address of the coordinator and the 16-bit address may be set to 0x 0000.
For all other transmissions, setting the 16-bit address correctly helps to improve performance when transmitting to multiple targets, if the 16-bit address is not known, please set this field to 0xFFFE, and if successful, send a status frame indicating the 16-bit address found.
The user may set the broadcast radius to 0 to NH, and if set to 0, the value of NH specifies the broadcast radius, this parameter being used only for broadcast transmissions.
The user may read the maximum payload byte using the NP command.
The following table provides the content of the frame, details on the frame structure, see API frame format.
This example shows how a transmission is sent to a device with a target address of 0x0013a 20040014011 and a payload "TxData 1B" if escape is disabled (AP ═ 1).
The transmission is sent to the coordinator without specifying the 64-bit address of the coordinator. The API transfer request frame should be as follows:
0x7E 0x00 0x16 0x10 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xFF
0xFE 0x00 0x00 0x54 0x78 032 0x43 0x6F 0x6F 0x72 0x64 0xFC
where 0x16 is length.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. Novel networking mode of precision target drone system, including centralized control ware, penetrate hand position and target drone, its characterized in that: the method comprises the following steps:
a1: respectively installing communication modules in the centralized controller, the shooting hand position and the target drone;
a2: establishing a communication bridge point between the centralized controller and the shooter by taking the target drone as a communication key point;
a3: starting the target drone, the centralized controller and the shooter position, and simultaneously sending an online notification to a network, and then automatically networking the target drone, the centralized controller and the shooter position;
a4: during training, the centralized controller controls the target drone in groups and establishes a corresponding protocol for ensuring the rising and falling consistency of different target drone;
a5: after the target drone receives the shooting command of the shooter position, the target drone simultaneously replies the command to the centralized controller and the shooter position through the wireless communication module.
2. The novel networking mode of the precision target drone system of claim 1 is characterized in that: the communication module in the A1 is a frame-hopping wireless communication module.
3. The novel networking mode of the precision target drone system of claim 1 is characterized in that: the drone, the centralized controller and the shooter station in the A2 all have a unique communication mac address to each other to realize point-to-point and point-to-multipoint communication.
4. The novel networking mode of the precision target drone system of claim 1 is characterized in that: the networking steps of the drone aircraft, the centralized controller and the shooting hand position in the A3 are as follows:
b1: the target drone sends an online command to the centralized controller and the shooter position to remind the target drone to get online, and a single point sends a notice when the addresses of all the centralized controller and the shooter position are known, otherwise, the target drone sends the online notice in a broadcast mode;
b2: the target drone is firstly on-line, and the shooter position and the centralized controller are then on-line, so that the target drone immediately starts to periodically send heartbeat commands to the centralized controller and the shooter position after receiving the broadcast on-line notification of the centralized controller and the shooter position;
b3: the integrated controller and the shooting hand position are on line first, and the integrated controller and the shooting hand position immediately reply an on-line notice to the target drone after receiving the on-line notice of the drone first.
5. The novel networking mode of the precision target drone system of claim 4 is characterized in that: the drone, the centralized controller and the shooter station are determined according to whether a heartbeat command or a response to the heartbeat command can be received.
6. The novel networking mode of the precision target drone system of claim 1 is characterized in that: the protocol in A4 includes the sequence number of the target drone, so that the target drone can broadcast and send commands to ensure the motion and command synchronism of the target drone.
7. The novel networking mode of the precision target drone system of claim 1 is characterized in that: the target drone comprises a controller, a signal controller, a target drone, a signal collector, a night training lamp, a shooter display, a target rod and a target plate, wherein the controller is a notebook computer, the signal controller, the signal collector, the night training lamp and the shooter display are all electrically connected with the output end of the controller, and the target drone, the target rod and the target plate jointly form a target drone body.
8. The novel networking mode of the precision target drone system of claim 1 is characterized in that: the specific working process of the target drone is as follows:
c1: after the target drone is started up, sending three online notifications to the shooting hand position and the centralized controller respectively;
c2: in a connection state, the target drone sends a heartbeat command to the shooter position and centralized controller every ten seconds, the shooter position and centralized controller immediately sends a response instruction to the target drone, and if the shooter position and the centralized controller do not reply, the target drone automatically judges that the shooter position and the centralized controller are disconnected;
c3: after the target drone receives a shooting starting command of the shooter position, the target drone sends a confirmation code to the shooter position and the centralized controller, and the shooter position can shoot after replying the confirmation command;
c4: after shooting is started, the target drone synchronously counts the target hitting time and the target hitting area, and then sends a broadcast signal to the shooting hand position and the centralized controller for target reporting.
9. The novel networking mode of the precision target drone system of claim 8 is characterized in that: the time interval between the target drone in the C1 and the C2 sending the online notification to the shooter position and the centralized controller is two seconds, and the target drone sends a heartbeat command to the shooter position and the centralized controller every ten seconds in the connection state.
10. The novel networking mode of the precision target drone system of claim 8 is characterized in that: and if the shooter position and the centralized controller in the C3 do not receive the confirmation codes, the drone sends the confirmation codes to the shooter position and the centralized controller once again every eight zero seconds, and the confirmation codes are sent three times in total.
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| CN107504866A (en) * | 2017-09-11 | 2017-12-22 | 上海保瑞信息科技发展有限公司 | Intelligent gunnery training system |
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