CN114245446B - Multi-point collaborative operation device based on differential positioning system - Google Patents
Multi-point collaborative operation device based on differential positioning system Download PDFInfo
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- CN114245446B CN114245446B CN202111437159.6A CN202111437159A CN114245446B CN 114245446 B CN114245446 B CN 114245446B CN 202111437159 A CN202111437159 A CN 202111437159A CN 114245446 B CN114245446 B CN 114245446B
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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
- H04W52/245—TPC being performed according to specific parameters using SIR [Signal to Interference Ratio] or other wireless path parameters taking into account received signal strength
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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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
- H04W52/52—TPC using AGC [Automatic Gain Control] circuits or amplifiers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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 relates to a multipoint collaborative operation device based on a differential positioning system, wherein each front-end operation device is provided with an ad hoc network processor, an ad hoc network antenna transceiver and a differential positioning module; each differential positioning module receives Beidou satellite positioning information through a positioning antenna, and differential positioning reference information is generated by the differential positioning module on the command node and is sent outwards through the positioning antenna; the command node is a device for current command operation in the network and transmitting positioning reference information in real time; each self-networking antenna transceiver receives the differential positioning reference information in real time through the self-networking antenna and transmits the differential positioning reference information to each differential positioning module through the self-networking network processor; each differential positioning module carries out differential calculation according to Beidou satellite positioning information and differential positioning reference information; and the ad hoc network processor distributes the obtained differential orientation and differential positioning data to the command station and other front-end operation equipment in the network in a UDP broadcast mode.
Description
Technical Field
The invention relates to the fields of Beidou differential positioning technology and wireless ad hoc network data transmission, in particular to a multipoint collaborative operation device based on a differential positioning system, which can be used as a technical route in the multipoint collaborative operation field, can be applied to an explosion-proof weapon system for detecting, digging and pinning integrated operation, and belongs to the technical field of military.
Background
With the rapid development of satellite positioning technology, there is an increasing demand for rapid and high-precision position information. The key of the most widely used differential high-precision positioning technology at present is that the carrier phase observed quantity of the GPS is used, and most errors in the observed data of the mobile station are removed in a differential mode by utilizing the spatial correlation of the observed errors between the reference station and the mobile station, so that the positioning with high precision (in the order of decimeters or even centimeters) is realized. At present, the differential positioning equipment adopts the technical means of a data transmission radio station, 3G/4G and the like, and has the problems of inflexible image and data transmission networking, low bandwidth, serious electromagnetic interference and the like when the equipment is relatively close. The data transmission radio station is a high-performance professional radio station realized by means of a Digital Signal Processing (DSP) technology and a radio station technology, and the transmission rate of the common data transmission radio station can reach 19.2kbps and can transmit differential data information in real time, but the requirements of high-bandwidth image and data transmission and multipoint free networking required by a multipoint collaborative operation device cannot be met. The 3G/4G transmission technical means can not meet the requirements of free and flexible networking and automatic relay of the multipoint collaborative operation device.
Disclosure of Invention
The invention solves the technical problems that: the multi-point collaborative operation device based on the differential positioning system solves the problem that common-frequency electromagnetic interference is serious when a plurality of devices are relatively close to each other through an automatic power adjustment mechanism realized inside an ad hoc network device.
The solution of the invention is as follows: a transmitting automatic power adjustment method suitable for multi-node cooperative operation comprises the following steps:
s1, detecting signal intensity of all nodes in real time;
s2, establishing a time-based data sequence, wherein each data sequence is a data frame, each data frame converts the signal intensity of each node into an array form for characterization, and the array comprises the serial numbers of all nodes except the local node and the signal to noise ratio of all nodes;
s3, carrying out weighted average smoothing calculation on the latest N data frames to obtain an estimated value signal-to-noise ratio, respectively comparing the estimated value signal-to-noise ratio with a highest threshold value Y1 and a lowest threshold value Y2, and when the estimated value is higher than 110% of the threshold value Y1, indicating that a node with a too strong signal exists, and turning to S4; otherwise, gain adjustment control is not performed; when the estimated value is lower than the threshold value Y2, indicating that a node with a weak signal exists, switching to S5, otherwise, not performing gain adjustment control;
s4, calculating the difference value of the signal-to-noise ratio and Y1 of each node aiming at all nodes in the current data frame, if the difference value is larger than 0, marking all the nodes with the difference value larger than 0 as points with too strong signals, selecting the minimum difference value as offset of gain adjustment, and reducing the gain of all the points with too strong signals according to the offset; otherwise, gain adjustment control is not performed;
s5, calculating the difference value of the signal-to-noise ratio of Y2 and each node aiming at all nodes in the current data frame, if the difference value is larger than 0, marking all nodes with the difference value larger than 0 as nodes with weak signals, and increasing the gain for all nodes with weak signals, wherein the offset of the increased gain is the difference value of the signal-to-noise ratio of Y2 and the corresponding nodes; otherwise, gain adjustment control is not performed.
Preferably, the value of N ranges from 12 to 20.
Preferably, the range of the highest threshold value Y1 is 50-70, and the range of the lowest threshold value Y2 is 25-35.
The transmitting automatic power adjusting circuit suitable for multi-node cooperative operation comprises a radio frequency receiving unit, a radio frequency transmitting unit, a power evaluating unit and a gain adjusting unit;
the radio frequency receiving unit detects the signal intensity of all nodes in real time;
the power evaluation unit establishes a time-based data sequence, each data sequence is a data frame, the signal intensity of each node sent by the radio frequency receiving unit is converted into an array form in each data frame for representation, and the array comprises the numbers of all nodes except the local node and the signal to noise ratio of all nodes; determining a node with a strong signal and a node with a weak signal, determining the offset of gain adjustment, and triggering a gain adjustment unit;
the gain adjusting unit adjusts the gain of the node with the strong signal and adjusts the gain of the node with the weak signal according to the determined offset of the gain adjustment according to the triggering; the signal to be transmitted is converted into a radio frequency signal by the radio frequency transmitting unit, and the radio frequency signal is amplified and then transmitted.
Preferably, the power evaluation unit determines the node with too strong a signal and the node with too weak a signal and the offset of the gain adjustment by:
(1) Carrying out weighted average smoothing calculation on the latest N data frames to obtain an estimated value signal-to-noise ratio, respectively comparing the estimated value signal-to-noise ratio with a highest threshold value Y1 and a lowest threshold value Y2, and turning (2) to a node with a strong signal when the estimated value is higher than 110% of the threshold value Y1; otherwise, the gain adjusting unit is not triggered; when the estimated value is lower than the threshold value Y2, indicating that a node with a weak signal exists, turning to (3), otherwise, not triggering the gain adjustment unit;
(2) Calculating the difference value of the signal-to-noise ratio and Y1 of each node aiming at all nodes in the current data frame, if the difference value is larger than 0, marking all nodes with the difference value larger than 0 as points with too strong signals, selecting the minimum difference value as offset of gain adjustment, and triggering a gain adjustment unit; otherwise, the gain adjusting unit is not triggered;
(3) Calculating the difference value of the signal-to-noise ratio of Y2 and each node aiming at all nodes in the current data frame, if the difference value is larger than 0, marking all nodes with the difference value larger than 0 as nodes with too weak signals, and taking the difference value of the signal-to-noise ratio of Y2 and the nodes with too weak signals as gain adjustment offset of the corresponding nodes with too weak signals; otherwise, the gain adjustment unit is not triggered.
Preferably, the value range of N is 12-20; the value range of the highest threshold value Y1 is 50-70, and the value range of the lowest threshold value Y2 is 25-35.
The multipoint collaborative operation device is based on a differential positioning system, wherein the multipoint is a plurality of front-end operation devices; each front-end operation device is provided with an ad hoc network processor, an ad hoc network antenna transceiver and a differential positioning module; the free networking and relay among the nodes are completed by the respective self-networking network processors;
each differential positioning module receives Beidou satellite positioning information through a positioning antenna, and differential positioning reference information is generated by the differential positioning module on the command node and is sent outwards through the positioning antenna; the command node is a device for current command operation in the network and transmitting positioning reference information in real time;
each self-networking antenna transceiver receives the differential positioning reference information in real time through the self-networking antenna and transmits the differential positioning reference information to each differential positioning module through the self-networking network processor;
each differential positioning module carries out differential calculation according to Beidou satellite positioning information and differential positioning reference information to obtain differential orientation and differential positioning data, and sends the differential orientation and differential positioning data to respective Ad hoc network processors; the ad hoc network processor distributes the obtained differential orientation and differential positioning data to a command station and other front-end operation equipment in the network in a UDP broadcast mode;
the automatic transmission power adjustment circuit of claim 4 is operated in an ad hoc network processor on a command node and is used for adjusting the transmission power of all nodes in the network, namely front-end operation equipment.
Preferably, each ad hoc network antenna transceiver receives the differential positioning reference information at a maximum frequency of 20Hz.
Preferably, the single-hop transmission distance of each front-end operation device is greater than 2km, the single-hop transmission delay is less than 56ms, and the single-hop transmission communication rate is greater than 20mbps.
Preferably, the networking of the plurality of front-end operation devices is a centerless same-frequency system, all nodes are equal in position, and any node can be used as an end node, a relay node or a command node in the network.
Compared with the prior art, the invention has the following beneficial effects:
(1) The networking is flexible: the wireless ad hoc network system is a centerless same-frequency system, all nodes are equal in status, and a single frequency point support has TDD (time division duplex) bidirectional communication, so that the frequency management is simple, and the frequency spectrum utilization rate is high. Any node device may be used in the network as an end node, relay node, or director node. Wireless communication networks can be quickly established at any time and anywhere without recourse to any other fixed communication network facilities (e.g., optical fibers, copper cables, etc.). All the multipoint cooperative operation devices based on the differential positioning system adopting the centerless same-frequency ad hoc network technology can automatically form a wireless mesh network by only powering on, and are communicated with each other in real time.
(2) Positioning and communication integration: the integrated differential positioning mobile station and the ad hoc network processing module realize a real-time accurate positioning monitoring system between the command station and the front-end operation equipment in an integrated mode, position information and image information of the front-end equipment can be transmitted back to the command station through the ad hoc network communication private network, meanwhile, differential positioning reference signals of the command station can be received to realize accurate positioning calculation, and each mobile station can achieve centimeter-level accurate positioning with the reference station, so that accurate collaborative operation is facilitated.
(3) The automatic power control function is provided: an automatic control circuit for keeping the output signal power constant or varying only in a small range in the case where the input signal power varies greatly. It is important to be able to maintain proper power in the output signal of a communication device, especially a navigation device, so that the input signal is too small to operate properly and the receiver is not saturated or blocked due to too large.
Drawings
FIG. 1 is a schematic diagram of a multipoint coordination operation device based on a differential positioning system;
fig. 2 is a schematic diagram of an ad hoc network power control principle;
fig. 3 is a schematic diagram of a power control process flow.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to fig. 1, 2 and 3. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The multipoint collaborative operation device based on the differential positioning system relates to a plurality of front-end operation devices, wherein each front-end operation device is called a node, each node is provided according to the figure 1, and the node 1 is taken as an example, so that each component part in the figure 1 is provided with a mark 1; the node 1 is provided with a differential positioning mobile station 1 (i.e. a differential positioning module 1), a differential positioning antenna 1, a differential directional antenna 1, an ad hoc network processing module 1, an ad hoc network antenna transceiver 1, an ad hoc network memory 1, an Ethernet transformer 1, a network interface 1, an ad hoc network antenna 1 and an ad hoc network antenna 2. The ad hoc network processing module 1 receives differential positioning reference signals from an ad hoc network reference station (any node can be assigned as a reference station or command station) at a far end through the ad hoc network antenna transceiver 1, and transmits the differential positioning reference signals to the differential positioning mobile station 1; the differential positioning mobile station 1 is responsible for receiving Beidou satellite positioning information, and combines the differential positioning reference information received by the ad hoc network processing module 1 to perform differential calculation, so that centimeter-level positioning accuracy is obtained in real time, and accurate positioning between the multipoint differential positioning mobile station and the differential positioning reference station is realized. The differential positioning mobile station 1 transmits the calculated accurate differential orientation and differential positioning data to the ad hoc network processing module 1 through serial data, the ad hoc network processing module 1 distributes the obtained accurate positioning data of the differential positioning mobile station 1 to a reference station and a plurality of mobile stations in other networks through UDP broadcasting, and other terminals read and process according to operation requirements. The ad hoc network processing module 1 realizes data synchronization and transmission between a plurality of differential positioning mobile stations 1 and differential positioning reference stations, and can simultaneously transmit image data information with large bandwidth in real time. The invention realizes the real-time accurate positioning monitoring system between the command station and the front-end operation equipment by integrating the differential positioning mobile station and the ad hoc network processing module, can transmit the position information and the image information of the front-end equipment back to the command station through the ad hoc network communication private network, can receive the differential positioning reference signal of the command station to realize accurate positioning calculation, can achieve centimeter-level accurate positioning between each mobile station and the reference station, and is convenient for accurate collaborative operation.
Too little ad hoc network radio frequency power can affect the range or distance, and if the radio frequency power is too large, saturation of receivers of nearby ad hoc network nodes can be caused. As a multi-node operation system, the positions of nodes are not fixed, when the positions of the nodes are denser, excessive power can be caused to influence transmission performance, and when the distance between the nodes is farther, the power can be too small to be connected. Therefore, the power of the whole network needs to be evaluated, and the power of each node is adjusted so as to keep the whole network performance optimal. Automatic power control is an automatic control circuit that keeps the output signal power constant or varies only over a small range in the event that the input signal power varies widely. It is important to be able to maintain proper power in the output signal of a communication device, especially a navigation device, so that the input signal is too small to operate properly and the receiver is not saturated or blocked due to too large.
As shown in fig. 2, the automatic power control circuit mainly comprises a radio frequency receiving unit, a radio frequency transmitting unit, a power evaluation unit and a gain adjustment unit. As shown in fig. 3, the transmit automatic power adjustment procedure is as follows: the automatic power control circuit detects the signal intensity of all the neighbor nodes through the radio frequency receiving unit. The power evaluation unit first establishes a time-based data sequence Ti, ti+1, ti+2, …, and each data frame converts the signal strength of the neighboring node into an array, where the array includes the node numbers and the signal-to-noise ratios of the nodes. The array does not contain the record row of the local node. And secondly, the power evaluation unit processes the data sequence, carries out weighted average smoothing calculation on the latest N data frames (generally about 12-20), and reduces the ping-pong effect caused by data mutation. Comparing the calculated estimated value SNR (signal-to-noise ratio) with a highest threshold value Y1 (taking 50-70 according to experience), marking as too strong a signal when the estimated value is higher than 110% of the threshold value, wherein only the signal indicates that the detector cannot trigger a gain adjustment control system, and an additional condition is required that SNR-Y1 is calculated for all nodes in the array, a minimum difference MIN [ SNR-Y1] is selected as an offset of gain adjustment, and if the value is larger than 0, the gain adjustment control is triggered. Comparing the calculated estimated value SNR with a lowest threshold value Y2 (taking 25-35 according to experience), marking the estimated value as a signal too weak when the estimated value is lower than the threshold value, calculating Y2-SNR as offset of gain adjustment aiming at the node, and triggering gain adjustment control if the value is larger than 0. The gain adjusting unit adjusts the gain MIN [ SNR-Y1] to be low for nodes marked as too strong signals and directly adjusts the gain Y2-SNR to be high for nodes marked as too weak signals.
Each operation terminal of the multipoint collaborative operation system can receive differential reference information of the differential positioning reference station in real time, and the highest frequency of the differential reference information is 20Hz. Each operation terminal of the multipoint collaborative operation system can realize accurate positioning through Beidou differential positioning calculation, and the positioning precision is higher than 1cm+1ppm. The operation terminals of the multipoint collaborative operation system can be precisely oriented, and the orientation precision is higher than 0.2 degrees/m. The operation terminals of the multipoint collaborative operation system can be freely networked, automatically relay, and the single-hop transmission distance is more than 2km. The operation terminals of the multipoint collaborative operation system can be freely networked, the relay is automatically carried out, and the single-hop transmission delay is less than 56ms. The operation terminals of the multipoint collaborative operation system can be freely networked, automatically relay, and the single-hop transmission communication rate is more than 20mbps.
The multi-point collaborative operation system can freely networking among all operation terminals, automatically relay, and can observe the relative positions of the operation terminals in real time during multi-point simultaneous operation, thereby facilitating multi-point collaborative accurate operation, and can correspondingly perform automatic power adjustment according to the power change of input signals, so as to avoid the problems of network blocking and serious co-channel interference.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (10)
1. The automatic transmitting power adjusting method suitable for multi-node cooperative operation is characterized by comprising the following steps:
s1, detecting signal intensity of all nodes in real time;
s2, establishing a time-based data sequence, wherein each data sequence is a data frame, each data frame converts the signal intensity of each node into an array form for characterization, and the array comprises the serial numbers of all nodes except the local node and the signal to noise ratio of all nodes;
s3, carrying out weighted average smoothing calculation on the latest N data frames to obtain an estimated value signal-to-noise ratio, respectively comparing the estimated value signal-to-noise ratio with a highest threshold value Y1 and a lowest threshold value Y2, and when the estimated value is higher than 110% of the threshold value Y1, indicating that a node with a too strong signal exists, and turning to S4; otherwise, gain adjustment control is not performed; when the estimated value is lower than the threshold value Y2, indicating that a node with a weak signal exists, switching to S5, otherwise, not performing gain adjustment control;
s4, calculating the difference value of the signal-to-noise ratio and Y1 of each node aiming at all nodes in the current data frame, if the difference value is larger than 0, marking all the nodes with the difference value larger than 0 as points with too strong signals, selecting the minimum difference value as offset of gain adjustment, and reducing the gain of all the points with too strong signals according to the offset; otherwise, gain adjustment control is not performed;
s5, calculating the difference value of the signal-to-noise ratio of Y2 and each node aiming at all nodes in the current data frame, if the difference value is larger than 0, marking all nodes with the difference value larger than 0 as nodes with weak signals, and increasing the gain for all nodes with weak signals, wherein the offset of the increased gain is the difference value of the signal-to-noise ratio of Y2 and the corresponding nodes; otherwise, gain adjustment control is not performed.
2. The method according to claim 1, characterized in that: the value range of N is 12-20.
3. The method according to claim 1, characterized in that: the value range of the highest threshold value Y1 is 50-70, and the value range of the lowest threshold value Y2 is 25-35.
4. An automatic power adjustment circuit of transmission suitable for multinode collaborative operation, characterized in that: the device comprises a radio frequency receiving unit, a radio frequency transmitting unit, a power evaluation unit and a gain adjustment unit;
the radio frequency receiving unit detects the signal intensity of all nodes in real time;
the power evaluation unit establishes a time-based data sequence, each data sequence is a data frame, the signal intensity of each node sent by the radio frequency receiving unit is converted into an array form in each data frame for representation, and the array comprises the numbers of all nodes except the local node and the signal to noise ratio of all nodes; determining a node with a strong signal and a node with a weak signal, determining the offset of gain adjustment, and triggering a gain adjustment unit;
the gain adjusting unit adjusts the gain of the node with the strong signal and adjusts the gain of the node with the weak signal according to the determined offset of the gain adjustment according to the triggering; the signal to be transmitted is converted into a radio frequency signal by the radio frequency transmitting unit, and the radio frequency signal is amplified and then transmitted.
5. The circuit of claim 4, wherein: the power evaluation unit determines a node with a too strong signal and a node with a too weak signal and an offset of gain adjustment by:
(1) Carrying out weighted average smoothing calculation on the latest N data frames to obtain an estimated value signal-to-noise ratio, respectively comparing the estimated value signal-to-noise ratio with a highest threshold value Y1 and a lowest threshold value Y2, and turning (2) to a node with a strong signal when the estimated value is higher than 110% of the threshold value Y1; otherwise, the gain adjusting unit is not triggered; when the estimated value is lower than the threshold value Y2, indicating that a node with a weak signal exists, turning to (3), otherwise, not triggering the gain adjustment unit;
(2) Calculating the difference value of the signal-to-noise ratio and Y1 of each node aiming at all nodes in the current data frame, if the difference value is larger than 0, marking all nodes with the difference value larger than 0 as points with too strong signals, selecting the minimum difference value as offset of gain adjustment, and triggering a gain adjustment unit; otherwise, the gain adjusting unit is not triggered;
(3) Calculating the difference value of the signal-to-noise ratio of Y2 and each node aiming at all nodes in the current data frame, if the difference value is larger than 0, marking all nodes with the difference value larger than 0 as nodes with too weak signals, and taking the difference value of the signal-to-noise ratio of Y2 and the nodes with too weak signals as gain adjustment offset of the corresponding nodes with too weak signals; otherwise, the gain adjustment unit is not triggered.
6. The circuit of claim 5, wherein: the value range of N is 12-20; the value range of the highest threshold value Y1 is 50-70, and the value range of the lowest threshold value Y2 is 25-35.
7. The multipoint collaborative operation device is based on a differential positioning system, wherein the multipoint is a plurality of front-end operation devices; the method is characterized in that: each front-end operation device is provided with an ad hoc network processor, an ad hoc network antenna transceiver and a differential positioning module; the free networking and relay among the nodes are completed by the respective self-networking network processors;
each differential positioning module receives Beidou satellite positioning information through a positioning antenna, and differential positioning reference information is generated by the differential positioning module on the command node and is sent outwards through the positioning antenna; the command node is a device for current command operation in the network and transmitting positioning reference information in real time;
each self-networking antenna transceiver receives the differential positioning reference information in real time through the self-networking antenna and transmits the differential positioning reference information to each differential positioning module through the self-networking network processor;
each differential positioning module carries out differential calculation according to Beidou satellite positioning information and differential positioning reference information to obtain differential orientation and differential positioning data, and sends the differential orientation and differential positioning data to respective Ad hoc network processors; the ad hoc network processor distributes the obtained differential orientation and differential positioning data to a command station and other front-end operation equipment in the network in a UDP broadcast mode;
the automatic transmission power adjustment circuit of claim 4 is operated in an ad hoc network processor on a command node and is used for adjusting the transmission power of all nodes in the network, namely front-end operation equipment.
8. The multipoint collaborative work apparatus according to claim 7, wherein: each ad hoc network antenna transceiver receives the differential positioning reference information at a maximum frequency of 20Hz.
9. The multipoint collaborative work apparatus according to claim 7, wherein: the single-hop transmission distance of each front-end operation device is more than 2km, the single-hop transmission time delay is less than 56ms, and the single-hop transmission communication rate is more than 20mbps.
10. The multipoint collaborative work apparatus according to claim 7, wherein: the networking of a plurality of front-end operation devices is a centerless same-frequency system, all nodes are equivalent in status, and any node can be used as an end node, a relay node or a command node in the network.
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