CN114067548A - Mutual backup dual-link communication method for rotor unmanned aerial vehicle - Google Patents
Mutual backup dual-link communication method for rotor unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C25/00—Arrangements for preventing or correcting errors; Monitoring arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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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
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/40—Remote control systems using repeaters, converters, gateways
- G08C2201/42—Transmitting or receiving remote control signals via a network
Abstract
The invention discloses a mutual backup dual-link communication method for a rotor unmanned aerial vehicle, and belongs to the technical field of communication. The method specifically comprises the steps that 1, the rotor unmanned aerial vehicle uses a data link for communication; step 2, the rotor unmanned aerial vehicle uses a 4G link for communication; step 3, the rotor unmanned aerial vehicle simultaneously uses data link communication and 4G link communication; step 4, detecting the communication state of the data link communication and the 4G link communication and switching the communication link; and 5, carrying out auxiliary positioning and positioning information returning by a 4G data transmission module in 4G link communication. The invention can detect the communication state and switch the link, thereby improving the stability and the safety of the link.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a rotor unmanned aerial vehicle mutual backup dual-link communication method.
Background
A drone is a drone aircraft that is operated with a radio remote control device and a self-contained program control device. Multi-rotor drones are a type of aircraft that can take off and land vertically. The biggest characteristic of many rotor unmanned aerial vehicle itself is compact structure, can VTOL, disguise good, use extensively. The multi-rotor unmanned aerial vehicle is widely concerned and applied in a plurality of civil fields such as aerial photography, disaster relief, exploration, reconnaissance, agriculture and the like.
Unmanned aerial vehicle communication is the means that unmanned aerial vehicle realized remote control, and accessible wireless device realizes the remote control telemetering measurement information interaction of unmanned aerial vehicle and ground equipment, has multiple communication mode including data link communication, mobile communication, satellite communication. In consideration of different application scenes and the electromagnetic environment interference condition, the single communication link has instability and unreliability in the flight of the unmanned aerial vehicle, and by using the method of mutual backup double-link communication, the automatic switching of the main link and the auxiliary link can be realized in an emergency state, so that the communication reliability can be greatly improved, and the flight safety of the unmanned aerial vehicle is improved.
Disclosure of Invention
In view of the above, the invention provides a rotor unmanned aerial vehicle mutual backup dual-link communication method. The method can switch the link when detecting the communication state, and improves the stability and the safety of the link.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a rotor unmanned aerial vehicle mutual backup dual-link communication method specifically comprises the following steps:
step 2, the rotor unmanned aerial vehicle uses a 4G link for communication;
step 3, the rotor unmanned aerial vehicle simultaneously uses data link communication and 4G link communication;
step 4, detecting the communication state of the data link communication and the 4G link communication and switching the communication link;
and 5, carrying out auxiliary positioning and positioning information returning by a 4G data transmission module in 4G link communication.
Further, the data link in step 1 comprises a ground data terminal, an airborne data terminal of the rotor unmanned aerial vehicle and a flight control unit; the 4G link communication in the step 2 comprises a server side, the ground data terminal and a 4G data transmission module for realizing 4G data interaction between the ground data terminal and the server side;
data link communication: the airborne data terminal sends uplink remote control instruction information from the ground data terminal to the flight control unit through an asynchronous RS422 port, and sends the received telemetry data of the flight control unit and link state data generated by the airborne data terminal to the ground data terminal through a line-of-sight link;
4G link communication: the server forwards the uplink remote control instruction from the ground data terminal to the 4G data transmission module; the 4G data transmission module sends the received uplink remote control instruction to the flight control unit through the TTL serial port, and sends the telemetering data and the positioning information from the flight control unit to the server, and the ground data terminal acquires and processes the airborne data from the server.
Further, in the step 3, a flight control remote control port of the airborne data terminal is connected to the RS422 to TTL conversion module, and is connected with a serial port of the STM32 control board after conversion; the port of the 4G data transmission module is directly connected with the serial port of the STM32 control panel through TTL output;
the STM32 control board is used for judging whether data are sent to the airborne data terminal and the 4G data transmission module, and if the data are sent to the airborne data terminal, the corresponding control pin IO1 is enabled to output high level; if the 4G data transmission module sends the enable corresponding pin IO2, enabling the pin IO2 to output a high level; and if the data transmission is not detected after the delay detection, canceling the enabling of the corresponding pin and outputting a low level.
Further, in the step 4, the STM32 control board is connected with the relay through a composite logic gate circuit, so as to realize the selection of the communication link.
Further, the data link is a main communication link, the 4G communication link is an auxiliary emergency communication link, and the composite logic gate circuits corresponding to the data link and the 4G communication link are respectively a NAND gate and a NOT gate; when the main link is broken, the relay switches the link, and the auxiliary link is responsible for communication with the rotor unmanned aerial vehicle and is used for emergency control after the broken link.
Further, in the step 5, the 4G data transmission module acquires the real-time position of the unmanned aerial vehicle in a GPS and LBS base station positioning dual-positioning mode, and sends the position of the unmanned aerial vehicle to the ground data terminal through the server; and adopting the LBS base station for positioning under the condition that the GPS fails.
Furthermore, the algorithm of the base station location is a TDOA algorithm, the 4G data transmission module calculates the position of the unmanned aerial vehicle through the TDOA algorithm and then sends the position information to the server side, and the server side sends the position information to the ground data terminal for display processing.
The invention adopts the technical scheme to produce the beneficial effects that:
the invention utilizes a mutual backup double-link communication method of the rotor unmanned aerial vehicle, solves the problem that the rotor unmanned aerial vehicle is used in different application scenes, and carries out link switching by detecting the communication state, thereby improving the stability and the safety of the link. The data link communication reliability is high, the communication distance is limited, the data link communication method is suitable for medium and short distance communication and no signal coverage areas, the 4G communication method is suitable for long distance communication with signal coverage areas, and the communication mode can be switched according to actual use scenes. The two communication modes are mutually backup in flight, and can realize automatic switching and emergency control under the condition of main link chain breakage as a standby communication means. Utilize the LBS locate function of 4G module to carry out assistance-localization real-time, can confirm rotor unmanned aerial vehicle position under the abnormal conditions, improve unmanned aerial vehicle safety in utilization.
Drawings
FIG. 1 is a schematic diagram of a communication method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a data link system according to an embodiment of the present invention;
FIG. 3 is a schematic view of line-of-sight propagation according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a 4G communication system according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating a pin definition of a relay according to an embodiment of the present invention;
fig. 6 is a connection diagram of a link detection and switching module according to an embodiment of the invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments 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 it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of an embodiment of the present invention, in which a rotorcraft preferentially selects an L-band data link as a primary communication link, and a 4G module as a secondary communication link, which is responsible for emergency communication positioning in the case of a link break of the primary link. In order to prevent signal interference, a relay module is adopted to physically isolate remote control signals of two links, and an STM32 control board controls a relay to switch the links through an IO port and a logic gate circuit. Utilize STM32 control panel to detect two links, judge and read two links whether have a signal to send, if exceed the time and do not send the signal, judge for this link broken link, automatic switch to another link, emergent link can acquire unmanned aerial vehicle telemetering measurement information like flight path, gesture information, can send remote control command simultaneously for the unmanned aerial vehicle of rotor controls.
As shown in fig. 2, the data link system of the unmanned aerial vehicle provided by the embodiment is composed of a ground data terminal and an airborne data terminal.
The airborne data terminal consists of an airborne transceiving combination and an airborne omnidirectional antenna. The airborne transceiving combination comprises an airborne transceiver, an airborne terminal and an airborne power supply.
The airborne transceiver receives the remote control signal sent by the ground data terminal, and sends the intermediate frequency signal to the airborne terminal after frequency conversion and intermediate amplification.
The airborne terminal despreads and demodulates the remote control intermediate frequency signal, transmits the signal to the airborne flight control system and the airborne task equipment through an RS422 serial port, receives telemetering information transmitted by the flight control computer, modulates the signal after encryption and error correction coding, and transmits the intermediate frequency signal to a transceiver. The transceiver carries out frequency conversion and power amplification and then sends the frequency-converted and power-amplified signals to a ground data terminal through an omnidirectional antenna on the transceiver.
The monitoring computer control command is encoded in the ground terminal processing unit. The ground terminal processing unit randomizes, differentially encodes and directly spreads the sequence spectrum to the remote control data, adopt BPSK modulation mode to finish the carrier modulation, the working frequency band of the radio frequency signal is L wave band, can set up a plurality of frequency points to choose.
The receiving antenna on the airplane adopts an omnidirectional antenna, the uplink remote control signal received by the transceiver is amplified and down-converted to output an intermediate frequency signal, and the remote control data is finally output to the airplane flight control computer by the airplane-mounted terminal through an RS422 interface after the airplane-mounted terminal despreads, demodulates, decodes and derandomizes.
The telemetering data is input into the airborne terminal processing unit by the airborne flight control computer through an RS422 serial port and forms a main and auxiliary frame structure with data chain telemetering. After the telemetering composite data is encrypted and error correction coded, the telemetering composite data is transmitted to a ground station by an onboard omnidirectional antenna through BPSK modulation and power amplification. The working frequency range of the transmitter on the transmitter is L wave band, and a plurality of point frequencies can be selected.
The ground receiving and transmitting antenna is shared, the received signal is amplified and is down-converted in the transceiver, the intermediate frequency signal is output and is sent to the ground terminal, and the ground terminal sends the telemetering data to the monitoring computer.
The radio frequency selected by the system is a microwave frequency band, is a linear propagation mode, has poor diffraction capability and cannot communicate outside the sight distance. Therefore, the longer the radio range is affected by the curvature of the earth, the higher the flying height of the unmanned aerial vehicle is required. The range of the ground-air data link of the unmanned aerial vehicle is limited by the radio visual range, the radio visual range is reasonably calculated according to a geometric visual range formula in consideration of the influence of various terrains, landforms and climates on electric wave propagation, and the result is consistent with L-band empirical data and foreign empirical data.
The data link communication distance calculation method is as follows, electromagnetic wave emission is from T (transmitter) point to R (receiver) point through earth surface C point, as shown in figure 3, according to the sight distance propagation diagram, the maximum communication distance of the theoretical data link can be calculated.
The radius of the earth is 6370km, and h1 and h2 are far smaller than R, so the sight distance d0And is approximately equal to TC + CR. The relationship is calculated by the triangle and,
TC2＝(R+h1)2-R2≈2Rh1
in the same way, CR2≈2Rh2
The radio line-of-sight is thus calculated according to equation (1):
in the formula:
h1-ground station antenna height in meters (m) from ground during operation;
h2-the height of the drone antenna from the ground in meters (m) when in operation;
d0-is the direct viewing distance, in kilometers (km).
The relation between the ground-air radio-television distance and the flying height of the unmanned aerial vehicle can be obtained according to a formula, and the relation is shown in a table 1.
TABLE 1 ground-to-air radio distance
Therefore, when the flying height of the rotor unmanned aerial vehicle is larger than 50m, the data link communication action distance can reach 30 km.
The 4G module used in this embodiment is a product in which hardware is loaded to a specified frequency band, software supports a standard LTE protocol, and high integration and modularization of software and hardware are achieved. The method has the characteristics of high communication speed, wide network spectrum, flexible communication and the like. The hardware integrates radio frequency and baseband on a PCB platelet to complete wireless receiving, transmitting and baseband signal processing functions. The 4G module transmits all terminal service data and equipment running states to the service center in real time through high-speed networking, monitors the running states of the terminal equipment in real time through the management monitoring platform, and can timely troubleshoot equipment faults. The efficiency is greatly improved in various aspects such as operation cost, operation scale, service timeliness and the like.
The 4G communication covers most of conventional application scenes, and data exchange can be carried out between the unmanned aerial vehicle and the ground display and control center through the public mobile communication network. Considering the advantages of large bandwidth, small delay and the like of the 4G network, when 4G communication is used for information interaction in low altitude, the navigation information, the equipment information, the attitude information and the feedback information of the unmanned aerial vehicle are transmitted to the ground.
Schematic diagram as shown in fig. 4, the architecture of the whole unmanned aerial vehicle 4G communication system is composed of three parts: airborne end, ground end and server end. The airborne terminal mainly refers to a 4G data transmission module, and the function of the airborne terminal is mainly embodied in three aspects: the system is responsible for realizing the interaction of the flight state and the control instruction with a flight control system; the system is responsible for realizing the control of task load and acquiring image information; and 4G data interaction which is responsible for keeping constant connection with the server. The ground end is mainly embodied in ground control software and is responsible for displaying flight states, sending flight instructions, controlling task loads and displaying task information. The server has a fixed IP address, the ground end and the airborne end are both in long connection with the server, and data forwarding between the ground end and the airborne end is achieved through the server.
The airborne telemetering information is transmitted to the 4G module through a serial port by the flight control unit, amplified by the antenna and transmitted to the base station in a transparent mode, the core network transmits the airborne telemetering information to a designated receiving port of the ground monitoring center to realize data transmission, and the ground monitoring center receives telemetering data forwarded by the base station through a wired network or a wireless network.
The ground software sends a remote control command through the ground software, binds with the dynamic IP address of the network card, adds a protocol header and constructs a UDP data packet; then send the data packet to the server end through making the port, then carry the end and send to the flight control unit through 4G machine.
Example 3:
in daily application, the data chain is used as a main link of the unmanned aerial vehicle, 4G communication is used as a standby link of the unmanned aerial vehicle, the flight control receives and sends data through a serial port, and the two links are connected with a data serial port of the flight control through a serial port multiplexing method.
The flight control is used for sending telemetering data through an RS422 pin, the telemetering data is divided into two paths through serial port multiplexing, one path is converted into a TX receiving interface of a TTL level connected with a 4G airborne terminal through an RS 422-to-TTL module, one path is connected with the RS422 flight control telemetering interface of an airborne data chain, the two paths can receive telemetering data, and information such as the flight state and the current position of the unmanned aerial vehicle can be monitored simultaneously.
Because the flight control receives the remote control data as a single-path serial port, only one path of signal transmission is allowed, the data sent to the flight control by the data chain and the 4G module cannot be normally received, and two paths of signals may influence each other, so that the flight control receives wrong data. In order to prevent mutual interference caused by simultaneous input of two paths of signals, the two paths of signals are physically isolated through the relay, and the on-off of the relay is controlled through the level, so that a communication link is selected.
A schematic diagram of a combined relay is shown in fig. 5. The control pin inputs high and low level to control the connection state of the COM end. The input of the control pin is 0, and the COM end is connected with A; the input of the control pin is 1, and the COM end is connected with the B.
The priority of the main link and the auxiliary link is managed in a grading mode by adding a logic gate circuit, if and only if the data link is broken and the 4G module is normal, the output of a control pin is 1, and at the moment, the relay controls the 4G link to be communicated and used as emergency control after the main link is broken.
Logic control is carried out by adding a logic gate, the STM32 control board is set to detect that data is sent to a certain channel, the output of a control pin corresponding to the channel is 1, otherwise, the output is 0. After passing through the control logic, the final relay control pin output is shown in table 2. The data link channel is set as the link 1, the 4G communication channel is set as the link 2, and the control logic can ensure that the auxiliary link can not interfere the remote control input of the main link under the normal working condition because the data link is the main link.
TABLE 2 control Pin output Table
In order to realize the functions, a not gate and a not gate are added to form a logic gate circuit, a truth table of the not gate and the not gate is shown in tables 3 and 4, a wiring diagram is shown in fig. 6, wherein COM is connected with a flight control remote control input, A is connected with a data chain remote control output, B is connected with a 4G module remote control output, a control pin is connected with a logic gate output, when the control pin input is 1, a data chain channel is communicated, and when the control pin input is 0, a 4G communication channel is communicated.
TABLE 3 NOT-gate output truth table
| Input A | Output Y |
| 0 | 1 |
| 1 | 0 |
Table 4 nand gate output truth table
| Input A | Input B | Output Y |
| 0 | 0 | 1 |
| 0 | 1 | 1 |
| 1 | 0 | 1 |
| 1 | 1 | 0 |
According to the method, the communication between the two links and the unmanned aerial vehicle can be realized, and automatic switching can be realized according to the input state.
Example 4:
according to the invention, an STM32 control board is added to detect data input of two links and control a relay control pin to select a connected state. For detecting the link input, the serial port data can be received by setting the serial port on the STM32 control board. The method adopts a library function method to configure the IO port of the STM32 control board.
For IO serving as a serial port function, a GPIO clock is enabled firstly, then a corresponding peripheral clock is enabled, and meanwhile, a GPIO mode is set to be multiplexed. The initialization for setting the serial port parameters comprises parameters such as baud rate, stop bit and the like. And after the serial port is set, enabling the serial port. Writing an interrupt service function, and sending data by starting a serial port interrupt receiving link.
The serial port setting comprises the following steps:
1) enabling a serial port clock and enabling a GPIO clock.
2) Setting pin multiplexer mapping: call GPIO _ PinAFConfig function.
3) GPIO initialization setting: the mode is to be set to a multiplexing function.
4) Initializing serial port parameters: and setting parameters such as baud rate, word length, parity check and the like.
5) The interrupt is turned on and NVIC is initialized, enabling the interrupt.
6) Serial ports are enabled.
7) And writing an interrupt processing function.
Remote control input of two links inserts STM32 serial ports respectively, and ground software passes through the link regularly and sends heartbeat package data to flight control, and STM32 is through judging whether heartbeat data is accepted to two serial ports, and this link normal work is then judged to certain serial port acceptance data, and wherein correspond control pin port and set as the high level.
And increasing timer interruption, setting 5-second delay, setting the corresponding IO port of the link to be 0 if the heartbeat packet transmission is not detected within 5 seconds, and judging that the link is interrupted currently. The two IO outputs are connected to a logic gate circuit to control the relay.
The IO port control of STM32 is divided into the following steps:
1) the IO port clock is enabled. The calling function is RCC _ AHB1PeriphClockCmd ().
2) The IO parameters are initialized. Calling a function GPIO _ Init ();
3) the IO is operated. And controlling IO output.
Example 5: LBS base station positioning technology and positioning information feedback
The base stations include mobile, cell and telecommunications base stations. The base station positioning is that the position of a communication module is calculated through a certain algorithm according to the base station signal difference of mobile communication, the position information of the base station is fixed according to the coverage density of the base station near the positioning place, and the self position is calculated according to the signal intensity and the position of the base station by receiving one or more base station signal terminals
The position coordinate value obtained by calculating the difference of the base station signals has the precision lower than that of the GPS and is greatly influenced by the environment, so the method can be used as an auxiliary positioning method. Hybrid positioning is positioning using two or more positioning methods simultaneously. The various positioning methods are combined for use, and the length are complemented so as to achieve higher positioning precision.
GPS positioning (assisted GPS positioning) is a hybrid positioning, which is a combination of GPS positioning technology and LBS positioning. The A-GPS has high positioning precision. GPS (assisted GPS) is an assisted GPS technology that can improve the performance of a GPS satellite positioning system, which can quickly locate a position by operating a base station through mobile communication. The GPS carries out positioning through radio signals sent by satellites, and an A-GPS system can carry out quick positioning through operator base station information in urban environments.
Under the GPS abnormal condition, utilize the LBS locate function of this module can make operating personnel know the unmanned aerial vehicle position under the no GPS condition to control unmanned aerial vehicle safety flight. Wherein the positioning algorithm employs time difference of arrival (TDOA) positioning.
The TDOA algorithm is used for calculating the distance difference d from the unmanned gyroplane to different base stations by utilizing the time difference of the positioning signals of the 4G modules received by different base stations, so that hyperbolas among the base stations can be obtained. The intersection point of the hyperbolas is the position of the unmanned aerial vehicle.
The distance difference from the base station to the unmanned aerial vehicle is obtained by the time difference of the transmitted signals respectively reaching the base station, and the following formula can be obtained
In the formula:
(x0,y0) -relative drone position in meters (m);
(xi,yi) -ith base station location in meters (m);
R12the position difference between the No. 1 base station and the No. 2 base station from the unmanned aerial vehicle is unit meter (m);
R13the position difference between the No. 1 base station and the No. 3 base station from the unmanned aerial vehicle is unit meter (m);
the position relation between the unmanned aerial vehicle position and the base station participating in positioning is shown in formulas (2) and (3), and the unmanned aerial vehicle position can be obtained by solving an equation system due to the fixed base station position.
After the longitude and latitude are calculated, the longitude and latitude are sent to a server through a 4G airborne terminal, and the ground terminal receives and displays the longitude and latitude, so that the position of the unmanned aerial vehicle can be acquired under emergency conditions.
The above description is only a specific embodiment of the present invention, and not all embodiments, and any equivalent modifications of the technical solutions of the present invention, which are made by those skilled in the art through reading the present specification, are covered by the claims of the present invention.
Claims (7)
1. A rotor unmanned aerial vehicle mutual backup double-link communication method is characterized by comprising the following steps:
step 1, a rotor unmanned aerial vehicle uses a data link for communication;
step 2, the rotor unmanned aerial vehicle uses a 4G link for communication;
step 3, the rotor unmanned aerial vehicle simultaneously uses data link communication and 4G link communication;
step 4, detecting the communication state of the data link communication and the 4G link communication and switching the communication link;
and 5, carrying out auxiliary positioning and positioning information returning by a 4G data transmission module in 4G link communication.
2. The gyroplane mutual backup dual-link communication method according to claim 1, wherein the data link in step 1 comprises a ground data terminal, an onboard data terminal of the gyroplane, and a flight control unit; the 4G link communication in the step 2 comprises a server side, the ground data terminal and a 4G data transmission module for realizing 4G data interaction between the ground data terminal and the server side;
data link communication: the airborne data terminal sends uplink remote control instruction information from the ground data terminal to the flight control unit through an asynchronous RS422 port, and sends the received telemetry data of the flight control unit and link state data generated by the airborne data terminal to the ground data terminal through a line-of-sight link;
4G link communication: the server forwards the uplink remote control instruction from the ground data terminal to the 4G data transmission module; the 4G data transmission module sends the received uplink remote control instruction to the flight control unit through the TTL serial port, and sends the telemetering data and the positioning information from the flight control unit to the server, and the ground data terminal acquires and processes the airborne data from the server.
3. The inter-backup dual-link communication method for the unmanned gyroplane according to claim 2, wherein in the step 3, a flight control remote port of an airborne data terminal is connected to an RS422 to TTL module, and is connected with a serial port of an STM32 control panel after conversion; the port of the 4G data transmission module is directly connected with the serial port of the STM32 control panel through TTL output;
the STM32 control board is used for judging whether data are sent to the airborne data terminal and the 4G data transmission module, and if the data are sent to the airborne data terminal, the corresponding control pin IO1 is enabled to output high level; if the 4G data transmission module sends the enable corresponding pin IO2, enabling the pin IO2 to output a high level; and if the data transmission is not detected after the delay detection, canceling the enabling of the corresponding pin and outputting a low level.
4. A rotorcraft reciprocal backup dual-link communication method according to claim 3, wherein in step 4, the STM32 control board is connected to the relays through compound logic gate circuits for realizing selection of communication links.
5. The rotorcraft mutual backup dual-link communication method according to claim 4, wherein the data link is a main communication link, the 4G communication link is an auxiliary emergency communication link, and the corresponding composite logic gate circuits of the two are a NAND gate and a NOT gate respectively; when the main link is broken, the relay switches the link, and the auxiliary link is responsible for communication with the rotor unmanned aerial vehicle and is used for emergency control after the broken link.
6. The rotor unmanned aerial vehicle mutual backup dual-link communication method according to claim 1, wherein in step 5, the 4G data transmission module acquires the real-time position of the unmanned aerial vehicle by means of GPS and LBS base station positioning dual positioning, and transmits the position of the unmanned aerial vehicle to the ground data terminal through the server side; and adopting the LBS base station for positioning under the condition that the GPS fails.
7. The rotorcraft inter-backup dual-link communication method according to claim 6, wherein the algorithm of base station location is TDOA algorithm, the 4G data transmission module calculates the position of the unmanned aerial vehicle through the TDOA algorithm and then sends the calculated position to the server, and the server sends the position information to the ground data terminal for display processing.
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