CN115441926A - One-station multi-machine sub-control system - Google Patents
One-station multi-machine sub-control system Download PDFInfo
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- CN115441926A CN115441926A CN202210921992.6A CN202210921992A CN115441926A CN 115441926 A CN115441926 A CN 115441926A CN 202210921992 A CN202210921992 A CN 202210921992A CN 115441926 A CN115441926 A CN 115441926A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- 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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- 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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- H—ELECTRICITY
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- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/003—Arrangements for allocating sub-channels of the transmission path
- H04L5/0078—Timing of allocation
- H04L5/0085—Timing of allocation when channel conditions change
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- H—ELECTRICITY
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- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
- H04L5/1469—Two-way operation using the same type of signal, i.e. duplex using time-sharing
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Abstract
The invention relates to a design method of a one-station multi-machine sub-control system, which comprises the following steps: refreshing the command at a fixed period of the ground station; the ground station transmits the instruction to the unmanned aerial vehicle set to realize the remote control function; the unmanned aerial vehicle set transmits the telemetering information to the ground station to realize the telemetering function; and the ground station software displays the cluster function and controls the real unmanned aerial vehicle set to realize task scheduling. Under the condition that both an airborne station and a ground station are only provided with one set of data transmission radio stations, namely a single communication channel, a one-station multi-machine sub-control system is designed based on a time division half-duplex mode and a time division multiple access system. The time division multiple access adopts fixed time slot division, and the sequence of the time division multiple access is obtained by descending the scheduling weight factors composed of the channel quality factors, the speed factors and the access category factors. The design method of the one-station multi-machine sub-control system can obviously improve the network throughput performance, simultaneously solves the problems of network delay, network blockage and the like among the communication links of the cluster network, and provides reference significance for the design mode of one station with multiple machines.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle measurement and control communication, and particularly relates to a design method of a one-station multi-machine sub-control system.
Background
With the rapid development of aviation technology and the continuous improvement of unmanned aerial vehicle performance, unmanned aerial vehicle systems have become research hotspots in the fields of aviation, measurement and control, electronic countermeasure and the like. In the early stage of relevant research on unmanned aerial vehicle systems, a single-machine system is mainly used, a ground control station is used as a control center of the system, and processes such as function control and parameter distribution of the unmanned aerial vehicle are completed in a point-to-point communication mode. The unmanned aerial vehicle single-station system has poor survivability, low system capacity and limited action range, cannot fully play the characteristics of flexibility and high efficiency of an unmanned aerial vehicle platform, and cannot support multiple unmanned aerial vehicles to jointly complete complex data transmission tasks such as measurement and control, confrontation and the like.
In order to improve the transmission capability of the unmanned aerial vehicle system and expand the application range, the unmanned aerial vehicle system tends to develop towards a one-station multi-machine system at present. The system for one unmanned aerial vehicle and multiple unmanned aerial vehicles at one station consists of a ground control station and multiple unmanned aerial vehicles, relates to multiple technical details such as multiple-vehicle communication, cooperative task allocation, cooperative track planning, control law and the like, and is a problem of numerous and complex constraint conditions. In the drone-one-station-multiple-machine system, since the drone group has high mobility, its topology is frequently changed, which requires a communication network having low latency and high reliability. Therefore, it becomes crucial to design a solution to support high performance communication between the drone and the ground, but at present there is no suitable architecture to achieve this well.
Disclosure of Invention
In order to overcome the disadvantages of the prior art, the present invention provides a design method of a one-station multi-machine sub-control system, in which a ground station is used as a central coordinator, and the main tasks are to receive remote sensing and remote measuring information, process and store data of the information, etc. To avoid collisions and optimize cognitive radio frequency usage, ground stations use time division multiple access methods. Under the condition that both an airborne station and a ground station are only provided with one set of data transmission radio stations, namely a single communication channel, a one-station multi-machine sub-control system is designed based on a time division half-duplex mode and a time division multiple access system.
In order to achieve the purpose, the invention adopts the technical scheme that:
a one-station multi-machine sub-control system comprises a ground station and n airborne measurement and control terminals respectively deployed on n unmanned aerial vehicles, wherein the ground station and each airborne measurement and control terminal are respectively provided with a data transmission radio station, and the n unmanned aerial vehicles form an unmanned aerial vehicle set;
the ground station and the n airborne measurement and control terminals are communicated based on a time division half-duplex mode and a time division multiple access system;
the ground station refreshes remote control commands in a fixed period and transmits the remote control commands to the unmanned aerial vehicle set to realize a remote control function; and the airborne measurement and control terminal of the unmanned aerial vehicle set transmits the telemetering information to the ground station to realize the telemetering function.
In one embodiment, the channel transmission link of the remote control function is:
the ground station refreshes the remote control command at a fixed period, then the remote control command is sent to the data transmission radio station of the corresponding unmanned aerial vehicle through the data transmission radio station, and the airborne measurement and control terminal of the corresponding unmanned aerial vehicle receives the remote control command and forwards the remote control command to the flight control computer to realize the remote control function;
the channel transmission link of the telemetering function is as follows:
the airborne measurement and control terminal receives the telemetering information from the flight control computer at a fixed period and refreshes the telemetering information, then the telemetering information is sent to a data transmission radio station of the ground station through a data transmission radio station of the unmanned aerial vehicle and displayed on a telemetering interface of the ground station, and the ground station records and stores the received telemetering information in a file form.
In one embodiment, in the time division half-duplex mode, the airborne measurement and control terminal comprises two states, namely receiving a remote control command and returning telemetering information; the ground station comprises two states which are respectively sending a remote control command and receiving telemetering information, when the ground station sends the remote control command, the airborne measurement and control terminal receives the remote control command, and when the airborne measurement and control terminal returns the telemetering information, the ground station receives the telemetering information.
In one embodiment, the time division multiple access system adopts fixed time slot division, and determines the priority of the communication links according to the descending order of scheduling weight factors of the communication links, wherein the scheduling weight factors comprise channel quality factors, speed factors and access category factors.
In one embodiment, the channel quality factor is represented as:
wherein C is k (t) denotes a communication link U k The potential transmission rate requested at the beginning of the transmission frame t according to its reported channel state information;
where tc is a predefined number of transmission frames representing the average window length, R k (t) is the communication link U k The total transmission rate obtained at the transmission frame t;
the velocity factor is expressed as:
where L is the communication diameter of the ground station, T f Is the transmission frame duration, v k Is a communication link U k Of the unmanned aerial vehicle and the ground station, function x] int Represents the largest integer not exceeding x;
the access category factor is expressed as:
wherein Pr AC Representing the access probability of the access factor AC,CW min (AC) represents a predefined minimum contention window for the access factor AC.
In one embodiment, in the tdma scheme, each communication cycle is divided into a downlink cycle and an uplink cycle;
the downlink cycle comprises two time slots, and the ground station sends remote control instruction information to the unmanned aerial vehicle set in the first time slot; the second time slot is a protection time slot;
the uplink cycle is divided into N data time slots, N =2N, according to the sequence of the scheduling weight factors from large to small, the ith unmanned aerial vehicle sends telemetering information to the ground station at the 2i-1 time slot, and the 2i time slot is a protection time slot.
In one embodiment, the drone is configured with a GPS receiver to refresh remote control commands for the ground station at fixed periods;
the GPS receiver can provide more accurate time synchronization between the unmanned aerial vehicle and the ground station according to the clock synchronization instruction.
The GPS receiver outputs a pulse per second signal once per second, and the specific clock synchronization method is as follows:
when a pulse per second signal is received, the ground station sends a clock synchronization command in a broadcast mode, and starts a measurement and control timer to send a measurement and control instruction when the set time is up; after receiving the pulse per second signal and the clock synchronization instruction, each unmanned aerial vehicle also starts a measurement and control timer, namely, the measurement and control timer sends a measurement and control instruction when the set time is up; the first clock is synchronously finished;
and then, the ground station and the unmanned aerial vehicle set restart the measurement and control timer once after receiving every k second pulse signals so as to realize periodic clock synchronization.
In one embodiment, each drone detects the start time of each tdma cycle period and the start time of the timeslot to obtain and feed back channel state information of the corresponding communication link to the ground station, one downlink period and one uplink period constituting one tdma cycle period.
In one embodiment, the communication frame of the time division multiple access system comprises a remote control frame structure and a measurement and control frame structure;
the remote control frame structure and the address code are used for identifying the data transmission direction and are defined as follows: the high 4 bits are destination addresses, the low 4 bits are source addresses, the ground station and each unmanned aerial vehicle correspond to unique address codes, the address codes and the instruction codes adopt redundant transmission, and a 3-judgment-2 error correction method is adopted, namely more than 2 of the 3 address codes or the instruction codes are the same, and the same value is an effective value;
in the telemetering frame structure, the definition of an address code is the same as that of a remote control frame address code, telemetering information is transmitted according to a main frame and a secondary frame respectively, main frame data is transmitted for 1 time in each telemetering information refreshing period, secondary frame data corresponds to different data combinations according to secondary frame numbers and is transmitted in turn according to a set sequence, the refreshing rate of the secondary frame data is 1/p of the telemetering refreshing rate, and the secondary frames are p groups; and judging the validity of the whole telemetry frame according to the check code, wherein the check code is equal to the sum of the data after the frame header and before the check code according to bytes.
In one embodiment, the ground station software displays the cluster function and controls the real unmanned aerial vehicle set to achieve task scheduling.
Compared with the prior art, the invention has the beneficial effects that:
drawings
FIG. 1 is a schematic diagram of the overall structure of the system of the present invention.
Fig. 2 is a schematic diagram of a wireless remote control channel transmission link.
Fig. 3 is a schematic diagram of a wireless telemetry channel transmission link.
Fig. 4 is a schematic diagram of communication time allocation in a time division half duplex mode.
Fig. 5 is a fixed time slot structure of a tdma communication cycle.
Fig. 6 is a representation of ground station cluster of kunshan spread-peng unmanned aerial vehicles.
Fig. 7 is a field representation of an unmanned aerial vehicle.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the drawings and examples.
Referring to fig. 1, the present invention is a one-station multi-machine sub-control system, which includes a ground station and n airborne measurement and control terminals respectively deployed on n unmanned aerial vehicles, where the n unmanned aerial vehicles form an unmanned aerial vehicle set or may be called an unmanned aerial vehicle cluster. The ground station and each airborne measurement and control terminal are respectively only provided with one data transmission radio station.
And the ground station refreshes the remote control command at a fixed period and transmits the remote control command to the unmanned aerial vehicle set to realize the remote control function. Specifically, the ground station sends the remote control command to the data transmission radio station corresponding to the unmanned aerial vehicle through the data transmission radio station, the airborne measurement and control terminal corresponding to the unmanned aerial vehicle receives the remote control command and forwards the remote control command to the flight control computer, the remote control function is realized, and the channel transmission link is as shown in fig. 2.
And the airborne measurement and control terminal of the unmanned aerial vehicle set transmits the telemetering information to the ground station to realize the telemetering function. Specifically, the airborne measurement and control terminal receives telemetry information from the flight control computer at a fixed period and refreshes the telemetry information. Then, the telemetering information is sent to the data transmission radio station of the ground station through the data transmission radio station of the unmanned aerial vehicle and displayed on a telemetering interface of the ground station, so that a telemetering function is realized, and a channel transmission link is shown in figure 3. The ground station may record and store the received telemetry information in the form of a file or the like.
And the ground station software displays the cluster function, so that the real unmanned aerial vehicle set is controlled to realize task scheduling.
The ground station can remotely control the flight of the multiple unmanned aerial vehicles, simultaneously receive, record and display the telemetering information of the multiple unmanned aerial vehicles, and realize the same-screen multitask control in a multi-target supply mode. The measurement and control system adopts a measurement and control integrated design, and adopts a wireless channel for remote control and remote measurement. Under the condition that the airborne station and the ground station are only provided with one set of data transmission stations, namely a single communication channel, the ground station and n airborne measurement and control terminals communicate based on a time division half duplex mode and a time division multiple access system, and a one-station multi-machine sub-control system is formed.
Referring to fig. 4, the time division half-duplex mode includes two states, namely receiving a remote control command and returning telemetric information; the ground station includes two states, namely sending remote control commands and receiving telemetry information. When the ground station sends a remote control command, the airborne measurement and control terminal receives the remote control command, and when the airborne measurement and control terminal returns the remote measurement information, the ground station receives the remote measurement information. Thus, a time division half duplex communication mode is formed.
The fixed time slot type division mode has high resource utilization rate and stable data refreshing period, so that the fixed time slot type division mode is used as the time slot division mode of the time division multiple access communication period of the one-station multi-machine separate control system.
Specifically, the ground station acts as a centralized controller, collects channel state information and drone-individual information for the communication links within its communication coverage, and then makes scheduling decisions regarding the time slots in each transmission frame. Assuming that there are K communication links, with U k Indicating, K =1,2.., K, the ground station calculates a scheduling weight factor for each communication link, the scheduling weight factor being calculated from its reported channel state information and individual information. The scheduling weight factor designed by the invention mainly comprises three parts, namely a channel quality factor, a speed factor and an access category factor. The channel quality factor is designed to optimize network throughput by considering channel state information for different communication links. The speed factor is provided to achieve potential time-of-service fairness among drones. The access category factor is set to prioritize access of different categories.
1) Channel quality factor
In order to improve the network throughput of the communication network, the channel quality of different communication links is included in the design of the scheduling weight factor, and the channel quality factor is expressed as:
wherein C is k (t) denotes a communication link U k The potential transmission rate requested at the beginning of the transmission frame t according to its reported channel state information.
Wherein t is c Is a pre-transmission frame indicating the length of the averaging windowDefinition of quantity, R k (t) is the communication link U k The total transmission rate obtained at transmission frame t.
2) Velocity factor
Due to the mobility of the cluster network, potential service time fairness among the unmanned aerial vehicles in the communication network is caused. In order to achieve potential service time fairness where the probability that an unmanned aerial vehicle of different speeds obtains a transmission service from a ground station is almost the same, a speed factor is designed based on access probabilities of different unmanned aerial vehicles, taking only the speed effect into consideration. Thus, the communication link U k Can be designed as
Where L is the communication diameter of the ground station, T f Is the transmission frame duration, v k Is a communication link U k Of the unmanned aerial vehicle and the ground station, function x] int Representing the largest integer not exceeding x.
3) Access class factor
Each access class has a respective priority to indicate its access probability, the priorities of the different access classes being distinguished by predefined minimum and maximum Contention Window (CW) values for each access class. The access probability of a certain access class is approximately inversely proportional to its corresponding minimum contention window, which means that the access class factor can be expressed as:
wherein Pr AC Representing access probability, CW, of access factor AC min (AC) represents a predefined minimum contention window for the access factor AC.
And sequencing the scheduling weight factors of the communication links in descending order to determine the priority of the communication links.
In the invention, each communication period is divided into a downlink period and an uplink period, the downlink period comprises two time slots, the ground station sends remote control instruction information to the unmanned aerial vehicle set in the first time slot, and the second time slot is used as a protection time slot. The uplink cycle is divided into N data time slots (2 times the number of the unmanned aerial vehicles, i.e., N = 2N), a communication link with a larger scheduling weight factor is preferred in data transmission scheduling, i.e., the 1 st unmanned aerial vehicle sends telemetry information in the 1 st time slot, the 2 nd time slot is a guard time slot, the 2 nd unmanned aerial vehicle sends telemetry information in the 3 rd time slot, the 4 th time slot is a guard time slot, … …, the ith unmanned aerial vehicle sends telemetry information to the ground station in the 2i-1 th time slot, the 2i th time slot is a guard time slot, … …, the nth unmanned aerial vehicle sends telemetry information in the N-1 th time slot, and the nth time slot is a guard time slot. The fixed time slot structure of the time division multiple access communication cycle is shown in fig. 5. Based on this, the communication links acquiring the resources may perform their respective data transmissions during the allocated time slots.
In the invention, each unmanned aerial vehicle is provided with a GPS receiver, and two important information can be provided. First, each drone can obtain its real-time geographic location and speed from a GPS receiver. In addition, the GPS receiver can refresh remote control commands for the ground station at fixed periods, and can provide accurate time synchronization between the unmanned aerial vehicle and the ground station according to clock synchronization commands. The second pulse signal is output once per second. By using the pulse per second signal, the clock synchronization of each party in one-station multi-machine measurement and control communication can be realized.
The specific method for synchronizing clocks of all parties in one-station multi-machine measurement and control communication is as follows:
when a pulse per second signal is received, the ground station sends a clock synchronization command in a broadcast mode, and starts a measurement and control timer, namely sends a measurement and control command when the set time is up; after receiving the pulse per second signal and the clock synchronization instruction, each unmanned aerial vehicle also starts a measurement and control timer, namely, the measurement and control instruction is sent when the set time is reached. At this point, the first clock synchronization is complete.
And then, the ground station and the unmanned aerial vehicle set restart the measurement and control timer once after receiving every k second pulse signals so as to realize periodic clock synchronization. Each drone may detect the start time of each tdma cycle period and the start time of the timeslot to obtain channel state information for the communication link and feed it back to the ground station along with other information, a tdma cycle period consisting of one downlink period and one uplink period.
In the invention, a plurality of time slots in time division multiple access form a communication frame, and the communication frame structure is divided into a remote control frame structure and a remote measurement frame structure:
remote control frame structure: the address code is used for identifying the data transmission direction and is defined as follows: the high 4 bits are destination addresses, the low 4 bits are source addresses, and the ground station and each unmanned aerial vehicle correspond to unique address codes. The address codes and the instruction codes adopt redundant transmission, and a 3-judgment-2 error correction method is adopted, namely more than 2 of the 3 address codes or instruction codes are the same, and the same value is an effective value.
If the corresponding remote control instruction carries the remote regulation data, judging the validity of the remote regulation data according to a check code, wherein the check code is equal to a byte summation value of the remote regulation data.
Telemetry frame structure: the address code is defined as the remote control frame address code. The telemetry information is transmitted separately in primary and secondary frames. The main frame data is sent 1 time in each telemetering information refreshing period, and is mainly data with a fast change period, high refreshing rate requirement and high importance, such as a pitch angle, a roll angle, a triaxial angular rate, an angle of each control surface, longitude, latitude, remote control instruction return, flight time and the like. The subframe data corresponds to different data combinations according to subframe numbers and is sent in turn according to a specific sequence, mainly sensor data and airborne equipment state data, and the refresh rate of the subframe data is 1/p (p groups of subframes in total) of the telemetering refresh rate. And judging the validity of the whole telemetry frame according to the check code, wherein the check code is equal to the sum of the data after the frame header and before the check code according to bytes.
The one-station multi-machine sub-control system is designed by utilizing the contents, and the designed ground and machine-mounted synchronous time division communication mode is comprehensively considered, so that the reliability of communication is ensured. Fig. 6 is a representation of ground station cluster of the designed kunshan spread-peng unmanned aerial vehicle, and fig. 7 is a representation of field unmanned aerial vehicle.
The design method of the one-station multi-machine sub-control system comprises the following steps that a designed scheduling weight factor consists of a channel quality factor, a speed factor and an access category factor, wherein the channel quality factor optimizes network throughput by considering channel state information of different communication links; the speed factor realizes the potential service time fairness among the unmanned aerial vehicles; the access category factor distinguishes access priorities of different categories. Therefore, the invention can obviously improve the network throughput performance, simultaneously solves the problems of network delay, network blockage and the like among the communication links of the cluster network, and also provides reference significance for the design mode of one station with multiple machines.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of additional like elements in an article or apparatus that comprises the element. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments and it is not intended to limit the invention to the specific embodiments described. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A one-station multi-machine sub-control system is characterized by comprising a ground station and n airborne measurement and control terminals which are respectively deployed on n unmanned aerial vehicles, wherein the ground station and each airborne measurement and control terminal are respectively provided with a data transmission radio station, and the n unmanned aerial vehicles form an unmanned aerial vehicle set;
the ground station and the n airborne measurement and control terminals are communicated based on a time division half-duplex mode and a time division multiple access system;
the ground station refreshes a remote control command at a fixed period and transmits the remote control command to the unmanned aerial vehicle set to realize a remote control function; and the airborne measurement and control terminal of the unmanned aerial vehicle set transmits the telemetering information to the ground station to realize the telemetering function.
2. The one-station multi-machine separate control system according to claim 1, wherein the channel transmission link of the remote control function is:
the ground station refreshes the remote control command at a fixed period, then the remote control command is sent to the data transmission radio station of the corresponding unmanned aerial vehicle through the data transmission radio station, and the airborne measurement and control terminal of the corresponding unmanned aerial vehicle receives the remote control command and forwards the remote control command to the flight control computer to realize a remote control function;
the channel transmission link of the telemetering function is as follows:
the airborne measurement and control terminal receives the telemetering information from the flight control computer at a fixed period and refreshes the telemetering information, then the telemetering information is sent to a data transmission radio station of the ground station through a data transmission radio station of the unmanned aerial vehicle and displayed on a telemetering interface of the ground station, and the ground station records and stores the received telemetering information in a file form.
3. The system according to claim 1, wherein in the time division half duplex mode, the onboard measurement and control terminal comprises two states, namely receiving a remote control command and returning telemetric information; the ground station comprises two states which are respectively sending a remote control command and receiving telemetering information, when the ground station sends the remote control command, the airborne measurement and control terminal receives the remote control command, and when the airborne measurement and control terminal returns the telemetering information, the ground station receives the telemetering information.
4. The system of claim 1, wherein the time division multiple access system employs fixed time slot division to determine the priority of the communication links in descending order of the scheduling weight factors of the communication links, and the scheduling weight factors comprise channel quality factors, speed factors, and access category factors.
5. The one-station multi-machine-separate-control system according to claim 4, wherein the channel quality factor is expressed as:
wherein C is k (t) denotes a communication link U k The potential transmission rate requested at the beginning of the transmission frame t according to its reported channel state information;
wherein t is c Is a predefined number of transmission frames, R, representing the length of the averaging window k (t) is the communication link U k The total transmission rate obtained at the transmission frame t;
the velocity factor is expressed as:
where L is the communication diameter of the ground station, T f Is the transmission frame duration, v k Is a communication link U k Of the unmanned aerial vehicle and the ground station, function x] int Represents the largest integer not exceeding x;
the access category factor is expressed as:
wherein Pr AC Representing access probability, CW, of access factor AC min (AC) represents a predefined minimum contention window for the access factor AC.
6. A one-station multi-machine separate control system according to claim 4 or 5, wherein each communication cycle of the TDMA system is divided into a downlink cycle and an uplink cycle;
the downlink cycle comprises two time slots, and the ground station sends remote control instruction information to the unmanned aerial vehicle set in the first time slot; the second time slot is a protection time slot;
the uplink cycle is divided into N data time slots, N =2N, according to the sequence of the scheduling weight factors from large to small, the ith unmanned aerial vehicle sends telemetering information to the ground station at the 2i-1 time slot, and the 2i time slot is a protection time slot.
7. The one-station multi-machine-separate-control system according to claim 1, wherein the unmanned aerial vehicle is provided with a GPS receiver, and the GPS receiver provides time synchronization between the unmanned aerial vehicle and the ground station according to a clock synchronization instruction;
the GPS receiver outputs a pulse per second signal once per second, and the specific clock synchronization method is as follows:
when a pulse per second signal is received, the ground station sends a clock synchronization command in a broadcast mode, and starts a measurement and control timer to send a measurement and control instruction when the set time is up; after receiving the pulse per second signal and the clock synchronization command, each unmanned aerial vehicle also starts a measurement and control timer, namely, the measurement and control timer sends a measurement and control command when the set time is reached; the first clock is synchronously finished;
and then, the ground station and the unmanned aerial vehicle set restart the measurement and control timer once after receiving every k second pulse signals so as to realize periodic clock synchronization.
8. The system of claim 7, wherein each drone detects a start time of each TDMA cycle period and a start time of a time slot to obtain channel state information of a corresponding communication link and feeds the channel state information back to the ground station, one downlink period and one uplink period constituting one TDMA cycle period.
9. The one-station multi-machine separate control system according to claim 7, wherein the communication frame of the tdma system includes a remote control frame structure and a measurement and control frame structure;
the remote control frame structure and the address code are used for identifying the data transmission direction and are defined as follows: the high 4 bits are destination addresses, the low 4 bits are source addresses, the ground station and each unmanned aerial vehicle correspond to unique address codes, the address codes and the instruction codes adopt redundant transmission, and a 3-judgment-2 error correction method is adopted, namely more than 2 of the 3 address codes or the instruction codes are the same, and the same value is an effective value;
in the telemetering frame structure, the definition of an address code is the same as that of a remote control frame address code, telemetering information is transmitted according to a main frame and a secondary frame respectively, main frame data is transmitted for 1 time in each telemetering information refreshing period, secondary frame data corresponds to different data combinations according to secondary frame numbers and is transmitted in turn according to a set sequence, the refreshing rate of the secondary frame data is 1/p of the telemetering refreshing rate, and the secondary frames are p groups; and judging the validity of the whole telemetry frame according to the check code, wherein the check code is equal to the sum of the data after the frame header and before the check code according to bytes.
10. The one-station multi-machine separate control system according to claim 7, wherein the ground station software displays a cluster function to control the real unmanned aerial vehicle set to realize task scheduling.
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| CN202210921992.6A Pending CN115441926A (en) | 2022-08-02 | 2022-08-02 | One-station multi-machine sub-control system |
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