CN116108595A - Unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system and method - Google Patents
Unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system and method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, which comprises: the antenna electromagnetic simulation module is used for obtaining a three-dimensional radiation pattern of the antenna assembly machine based on the machine body structure model, the antenna layout position, the antenna electromagnetic model and the servo characteristic model in a simulation mode; the unmanned aerial vehicle motion modeling module is used for constructing a flight platform visual motion profile model and a flight platform motion gesture model based on an unmanned aerial vehicle flight platform height interval, a flight distance interval and a flight platform roll, pitch and course gesture interval; and the blind area comprehensive intelligent analysis module is used for solving the communication coverage blind area condition of a single antenna at each position point in the movement profile of the flying platform based on the three-dimensional radiation pattern of the antenna loader, the vision movement profile model of the flying platform and the movement gesture model of the flying platform. According to the invention, the link margin and the blind area of the unmanned aerial vehicle in each gesture in the full-motion domain range can be automatically calculated and evaluated, and the unmanned aerial vehicle airborne antenna layout design and the data link index design are supported.
Description
Technical Field
The invention belongs to the technical field of aerospace, and relates to an unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system and method.
Background
The radiation characteristics of the large and medium unmanned aerial vehicle after the measurement and control antenna installation can be inevitably influenced by shielding, reflection and the like of the machine body, so that communication blind areas are generated under certain flight positions or postures of the unmanned aerial vehicle, therefore, blind area analysis is required to be carried out when the layout design of the unmanned aerial vehicle measurement and control antenna installation is carried out, and the blind areas caused by the influence of the machine body on the antenna are reduced as much as possible.
The blind area analysis method commonly used at present is to roughly judge the angle and the range of the blind area according to the distortion degree of the three-dimensional electromagnetic radiation pattern of the antenna installation simulated by electromagnetic simulation software. However, in practical engineering application, the normal communication is not affected by large distortion, the link level margin is comprehensively calculated by combining various factors such as the distance between the unmanned aerial vehicle and the ground station in the distortion direction angle, the attitude of the unmanned aerial vehicle and the like, the margin is not enough, the communication blind area is formed, and the electromagnetic simulation result cannot directly and accurately represent the blind area range, as shown in fig. 1. The three-dimensional radiation patterns of the antenna of the link under different frequency points are different, the link level calculation is carried out on the angles of the pattern distortion on each used frequency point in the three-dimensional space after the installation of the antenna, the workload is huge, the manual calculation is difficult to realize, most of the current situations can only simply carry out rough visual blind area judgment based on the three-dimensional electromagnetic radiation patterns of the installation of the antenna, the accuracy of the blind area judgment mode is low, and all the blind area situations can not be identified.
Disclosure of Invention
The invention aims to: the system and the method for comprehensively and intelligently analyzing the blind areas of the measurement and control links of the unmanned aerial vehicle are provided. The invention can automatically calculate and evaluate the link margin and the blind area of the unmanned aerial vehicle in various postures within the full-motion domain range, and supports the layout design and the data link index design of the unmanned aerial vehicle airborne antenna.
The technical scheme is as follows: the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system comprises an antenna electromagnetic simulation module, an unmanned aerial vehicle motion modeling module and a blind area comprehensive intelligent analysis module; the electromagnetic simulation module of the antenna has the functions that: based on the body structure model, the antenna layout position, the antenna electromagnetic model and the servo characteristic model, simulating to obtain an antenna installation three-dimensional radiation pattern; the unmanned aerial vehicle motion modeling module has the functions that: constructing a flight platform apparent motion profile model and a flight platform motion attitude model based on an unmanned aerial vehicle flight platform height interval, a flight distance interval and a flight platform roll, pitch and course attitude interval; the function of the blind area comprehensive intelligent analysis module is as follows: based on the three-dimensional radiation pattern of the antenna loader, the flight platform visual motion profile model and the flight platform motion attitude model, the communication coverage blind area condition of a single antenna at each position point in the flight platform motion profile is calculated.
In the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, the effect of the blind area comprehensive intelligent analysis module further comprises: according to the communication coverage blind area conditions of a single antenna at each position point in the motion profile of the flying platform, the communication coverage conditions of all antennas on a single measurement and control link are solved, and the communication blind area range of the single link is comprehensively evaluated.
In the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, the effect of the blind area comprehensive intelligent analysis module further comprises: according to the communication coverage conditions of all antennas on a single measurement and control link, the communication coverage conditions of all redundancy measurement and control links are solved, and further the communication blind area range and the safety redundancy indication under redundancy backup of multiple measurement and control links on a flight platform are comprehensively evaluated.
The application method of the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system comprises the following steps:
step one: the antenna electromagnetic simulation module is used for obtaining a three-dimensional radiation direction diagram of the antenna installation based on the machine body structure model, the antenna layout position, the antenna electromagnetic model and the servo characteristic model in a simulation mode;
step two: the unmanned aerial vehicle motion modeling module constructs an unmanned aerial vehicle motion model based on an unmanned aerial vehicle flight platform height interval, a flight distance interval and a flight platform roll, pitch and course gesture interval, and comprises a flight platform universal motion profile model and a flight platform motion gesture model;
step three: the blind area comprehensive intelligent analysis module is used for trimming the simulation pattern of the antenna installation machine, so that the blind area comprehensive intelligent analysis module is convenient for subsequent blind area calculation;
step four: the blind area comprehensive intelligent analysis module is used for solving the communication coverage blind area situation of a single antenna at each position point in the flying platform movement profile based on the antenna comprehensive three-dimensional radiation pattern, the flying platform vision movement profile model and the flying platform movement gesture model;
step five: the blind area comprehensive intelligent analysis module comprehensively evaluates the communication blind area range of the single link according to the communication coverage conditions of all antennas on the single measurement and control link;
step six: and the blind area comprehensive intelligent analysis module comprehensively evaluates the communication blind area range and the safety redundancy indication under the redundancy backup of the multi-measurement and control link on the flight platform according to the communication coverage condition of each redundancy measurement and control link.
In the method for using the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, in the first step, the antenna in the antenna installation three-dimensional radiation pattern comprises an omnidirectional antenna, and the simulation method of the antenna installation three-dimensional radiation pattern of the omnidirectional antenna comprises the following steps: and setting a plurality of frequency points in the range of the link frequency band to simulate the three-dimensional radiation pattern of the antenna installation.
In the method for using the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, in the first step, the antenna in the antenna installation three-dimensional radiation direction diagram further comprises a directional antenna, and the simulation method of the antenna installation three-dimensional radiation direction of the directional antenna comprises the following steps: setting a plurality of directions in a directional servo rotation range and setting a plurality of frequency points in a link frequency range, and respectively carrying out three-dimensional radiation pattern simulation of an antenna installation according to the set frequency points in each direction.
In the use method of the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, in the second step, the unmanned aerial vehicle motion model is constructed specifically as follows:
in the range of the platform flying height and distance, according to a wireless vision calculation formula
Solving a section of a visual movement range of the flying platform, wherein h1 and h2 are heights of an airborne antenna and a ground antenna respectively, and d0 is a visual distance;
dividing the position grid of the flying platform relative to the ground station according to the set density based on the flying platform visual movement range profile, and forming a flying platform visual movement profile model by all the position points;
based on the rolling, pitching and heading intervals of the flying platform, a plurality of flying postures are taken according to set density, and all the flying postures form a flying platform movement posture model.
In the using method of the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, the third step is as follows,
for the omnidirectional antenna, solving intersection of three-dimensional radiation patterns of all frequency point assembling machines, trimming to obtain an integrated three-dimensional radiation pattern of the omnidirectional antenna, and representing the worst three-dimensional radiation gain condition of the antenna in a frequency range;
in the using method of the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, the third step is as follows,
for the directional antenna, solving intersection of radiation patterns of all frequency point packaging machines in the same servo direction, trimming to obtain an antenna packaging machine comprehensive radiation pattern in the servo direction, and representing the worst radiation gain condition of the antenna in the servo direction in a frequency range; and further solving and integrating the installed integrated radiation patterns of the antennas in each servo direction, properly interpolating, and trimming to obtain the installed integrated three-dimensional radiation patterns of the directional antenna servo full range.
In the application method of the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, the fourth step is specifically as follows:
(1) solving the distance and elevation angle degrees of the flying platform relative to the ground station at a certain position point in the apparent motion profile;
(2) based on a flying platform motion attitude model and a single antenna comprehensive three-dimensional radiation pattern, extracting antenna gain values of the unmanned plane at the position point relative to the ground station direction under various attitudes;
(3) solving downlink margins under various postures at a certain position point according to a link level margin calculation formula P=P+Gt-PL+Gr-Lc-Pr, wherein Pt transmitting power, gr opposite-end receiving antenna gain, lc comprehensive loss and Pr opposite-end receiving receiver sensitivity are link known attributes, the Gt transmitting antenna gain is calculated in the substep (2), and the PL free space loss is calculated according to the communication distance in the substep (1); the uplink margin can be calculated in the same way;
(4) the uplink and downlink level allowance calculated under various postures at the position point is larger than Yu Guojun by 6dB, the position is judged to be a normal communication point, otherwise, the position is judged to be a blind point, and the blind degree and the flying avoidance posture suggestion of the position point can be given according to the posture percentage and the specific posture of the position point, wherein the link level allowance of the posture percentage is smaller than 6 dB;
(5) according to the sub-steps (1) - (4), traversing and calculating blindness of all position points in the flight platform apparent motion profile model, solving a set of all blind points to obtain a blind area of the antenna on the apparent motion profile, wherein the rest areas are normal communication coverage areas;
(6) and visually presenting the blind area and the normal communication coverage area of the antenna in the platform visual movement profile.
The beneficial effects are that: according to the invention, the comprehensive three-dimensional radiation pattern, the line-of-sight communication range, the movement profile range, the movement gesture range and the like of the comprehensive unmanned aerial vehicle antenna loader are subjected to blind area analysis, so that whether the link margin in the full movement range and the gesture range of the unmanned aerial vehicle meets the minimum limit requirement can be accurately, comprehensively and rapidly estimated, the signal blind area range of the real equipment is reflected to the greatest extent, the optimization iteration of the layout design of the antenna and the link index design in the initial stage of the unmanned aerial vehicle scheme design is guided, and the blind area is controlled to the acceptable range to the greatest extent; meanwhile, the blind area attitude gauge suggestion, the antenna switching suggestion and the link redundancy indication provided by the invention can provide effective basis for compiling related instruction manuals of unmanned aerial vehicles, planning the routes of operators and the like. The effect comparison analysis of the invention with the traditional blind area analysis method is as follows:
(1) the electromagnetic simulation pattern in the direction of 0 degree of the servo horizontal rotation angle of a directional antenna in the figure 1 is used for example analysis, the blind area is judged only according to the distortion degree of the installed three-dimensional electromagnetic radiation pattern of the antenna, the antenna pattern distortion is considered to be larger under the condition of a in the figure, the communication is not good, the antenna pattern distortion is considered to be smaller under the condition of b in the figure, and the communication influence is not great. However, in practice, because the elevation angle of the unmanned aerial vehicle relative to the ground control station is higher under the condition a, the elevation angle is limited by the maximum flying height of the unmanned aerial vehicle, the ground distance under the elevation angle is relatively short, the PL free space loss is relatively small, whereas the elevation angle shown under the condition b is relatively far, the PL free space loss is relatively large, the link level allowance under the condition a is far more than 6dB and can be normally communicated according to the link level allowance calculation formula p=p+gt-pl+gr-Lc-Pr, and the link level allowance under the condition b is less than 6dB, and the communication can be influenced, so that the dead zone is roughly judged only by the antenna installation three-dimensional electromagnetic radiation pattern, and an erroneous conclusion can be obtained; if the formula is further introduced for manual calculation, the level allowance of the unmanned aerial vehicle on all main distortion elevation angles within the range of 0-90 degrees relative to the elevation angle of the ground control station is calculated, the antenna gains of all distortion directions on the directional diagram are needed to be manually identified in the calculation process, the maximum possible distance of all distortion directions is calculated by combining the rising limit of the unmanned aerial vehicle, the free space loss is further calculated according to the relation formula of the free space loss and the distance, and then the antenna gains and the space loss are substituted into the level calculation formula for calculation.
(2) The measurement and control link works in a certain frequency range and comprises a plurality of working frequency points, and the simulation patterns of the antenna installation on different frequency points are different; in addition, when the servo azimuth angles of the directional servo antennas are different in direction, the influence degree of the machine body on the radiation characteristics of the antennas is different, the simulation patterns of the antenna are also greatly different, the dead zone calculation of the directional antennas on specific servo directions and specific frequency points is described in the above (1), all dead zone conditions of all frequency points and all servo angles are calculated, and manual calculation is difficult to realize.
(3) The traditional blind area analysis basically does not consider the gesture of the flying platform, and the analysis is carried out under the condition of flat flight by default, but the pitching and rolling gesture actions of the flying platform drive the antenna to synchronously move, the gain of the antenna on the ground communication angle changes, and the blind area situation also changes along with the change, the invention adopts the method of the step two, and builds the flying platform movement gesture model integrating the vision communication range, the movement profile range and the movement gesture range so as to comprehensively calculate the blind area situation of the full movement domain of the unmanned aerial vehicle;
thanks to the comprehensiveness of machine calculation, the invention derives the functions of blind area attitude gauge suggestion, antenna switching suggestion, link redundancy indication and the like on the basis of basic blind area analysis, so as to guide a user using manual to explain the position and attitude of the communication blind area which possibly occur in the unmanned helicopter, and the user can avoid or formulate a corresponding treatment plan as much as possible, thus providing sufficient preparation for predictable communication failure.
Drawings
FIG. 1 is a schematic diagram of an application scenario of the present invention;
fig. 2 is a system architecture diagram of the present invention.
Detailed Description
Example 1. Referring to fig. 2, the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system comprises an antenna electromagnetic simulation module, an unmanned aerial vehicle motion modeling module and a blind area comprehensive intelligent analysis module. The electromagnetic simulation module of the antenna has the functions that: based on the body structure model, the antenna layout position, the antenna electromagnetic model and the servo characteristic model, simulating to obtain an antenna installation three-dimensional radiation pattern; the unmanned aerial vehicle motion modeling module has the functions that: constructing a flight platform apparent motion profile model and a flight platform motion attitude model based on an unmanned aerial vehicle flight platform height interval, a flight distance interval and a flight platform roll, pitch and course attitude interval; the function of the blind area comprehensive intelligent analysis module is as follows: based on the antenna installation three-dimensional radiation pattern, the flying platform visual motion profile model and the flying platform motion attitude model, resolving the communication coverage blind area condition of a single antenna at each position point in the flying platform motion profile; according to the communication coverage blind area conditions of a single antenna at each position point in the motion profile of the flying platform, the communication coverage conditions of all antennas on a single measurement and control link are solved, and the communication blind area range of the single link is comprehensively evaluated; according to the communication coverage conditions of all antennas on a single measurement and control link, the communication coverage conditions of all redundancy measurement and control links are solved, and further the communication blind area range and the safety redundancy indication under redundancy backup of multiple measurement and control links on a flight platform are comprehensively evaluated. The using method of the system is as follows:
step one: the antenna electromagnetic simulation module is used for obtaining a three-dimensional radiation direction diagram of an antenna installation based on a machine body structure model, an antenna layout position, an antenna electromagnetic model and a servo characteristic model in a simulation mode, the distortion degree of the direction diagram represents the influence of the installation platform on the antenna direction diagram, and the antenna electromagnetic simulation module is used for performing specific practice on various antennas:
(1) for an omnidirectional antenna, setting a plurality of frequency points in a link frequency range to simulate an antenna installation three-dimensional radiation pattern;
(2) for the directional antenna, a plurality of directions are set in a directional servo rotation range, a plurality of frequency points are set in a link frequency range, and each direction is used for simulating an antenna installation three-dimensional radiation pattern according to the set frequency points.
Step two: the unmanned aerial vehicle motion modeling module constructs an unmanned aerial vehicle motion model based on an unmanned aerial vehicle flight platform height interval, a flight distance interval, a flight platform roll, a pitching, a heading gesture interval and the like, and the unmanned aerial vehicle motion model is specifically as follows:
(1) in the range of the platform flying height and distance, according to a wireless vision calculation formula
Solving a section of a visual movement range of the flying platform, wherein h1 and h2 are heights of an airborne antenna and a ground antenna respectively, and d0 is a visual distance;
(2) dividing the position grid of the flying platform relative to the ground station according to the set density based on the flying platform visual movement range profile, and forming a flying platform visual movement profile model by all the position points;
(3) taking a plurality of flight gestures according to set density based on the rolling, pitching and heading intervals of the flight platform, wherein all the gestures form a flight platform movement gesture model;
step three: the blind area comprehensive intelligent analysis module is used for trimming the simulation pattern of the antenna installation, so that the blind area comprehensive intelligent analysis module is convenient for subsequent calculation of the blind area, and specifically comprises the following steps:
(1) for the omnidirectional antenna, solving intersection of three-dimensional radiation patterns of all frequency point assembling machines, trimming to obtain an integrated three-dimensional radiation pattern of the omnidirectional antenna, and representing the worst three-dimensional radiation gain condition of the antenna in a frequency range;
(2) for the directional antenna, solving intersection of radiation patterns of all frequency point packaging machines in the same servo direction, trimming to obtain an antenna packaging machine comprehensive radiation pattern in the servo direction, and representing the worst radiation gain condition of the antenna in the servo direction in a frequency range; and further solving and integrating the installed integrated radiation patterns of the antennas in each servo direction, properly interpolating, and trimming to obtain the installed integrated three-dimensional radiation patterns of the directional antenna servo full range.
Step four: the blind area comprehensive intelligent analysis module is used for solving the situation of communication coverage blind areas of a single antenna at each position point in the movement profile of the flying platform based on the antenna comprehensive three-dimensional radiation pattern, the flying platform vision movement profile model and the flying platform movement gesture model, and specifically comprises the following steps:
(1) solving the distance and elevation angle degrees of the flying platform relative to the ground station at a certain position point in the apparent motion profile;
(2) based on a flying platform motion attitude model and a single antenna comprehensive three-dimensional radiation pattern, extracting antenna gain values of the unmanned plane at the position point relative to the ground station direction under various attitudes;
(3) according to a link level margin calculation formula P (dB) =Pt (dBm) +Gt (dBi) -PL (dB) +Gr (dBi) -Lc (dB) -Pr (dBm), solving downlink margins under various postures at a certain position point, wherein Pt transmitting power, gr opposite-end receiving antenna gain, lc comprehensive loss and Pr opposite-end receiving receiver sensitivity are link known attributes, gt transmitting antenna gain is calculated from the substep (2), and PL free space loss is calculated according to the substep (1) communication distance; the uplink margin can be calculated in the same way;
(4) the uplink and downlink level allowance calculated under various postures at the position point is larger than Yu Guojun by 6dB, the position is judged to be a normal communication point, otherwise, the position is judged to be a blind point, and the blind degree and the flying avoidance posture suggestion of the position point can be given according to the posture percentage and the specific posture of the position point, wherein the link level allowance of the posture percentage is smaller than 6 dB;
(5) according to the sub-steps (1) - (4), traversing and calculating blindness of all position points in the flight platform apparent motion profile model, solving a set of all blind points to obtain a blind area of the antenna on the apparent motion profile, wherein the rest areas are normal communication coverage areas;
(6) and visually presenting the blind area and the normal communication coverage area of the antenna in the platform visual movement profile.
Step five: the blind area comprehensive intelligent analysis module comprehensively evaluates the communication blind area range of a single link according to the communication coverage conditions of all antennas on the single measurement and control link, and specifically comprises the following steps:
(1) according to the fourth step, solving blind areas and normal communication coverage areas of all the airborne antennas of a certain link on the apparent motion profile;
(2) solving the blind area intersection of all the airborne antennas of the link on the view movement section, wherein the obtained area is the communication blind area of the link;
(3) solving the intersection of normal communication coverage areas of all the airborne antennas of the link on the apparent motion profile, wherein the obtained area is the optimal antenna switching area of the link;
(4) and visually presenting blind areas and normal communication coverage areas of the single link in the platform visual motion profile.
Step six: the blind area comprehensive intelligent analysis module comprehensively evaluates the communication blind area range and the safety redundancy indication under the redundancy backup of the multi-measurement and control link on the flight platform according to the communication coverage condition of each redundancy measurement and control link, and specifically comprises the following steps:
(1) solving communication blind areas and normal communication coverage areas of all redundancy measurement and control links according to the first step to the fifth step;
(2) solving blind area intersections of a plurality of redundancy measurement and control links on the universal motion profile, wherein the obtained areas are comprehensive communication blind areas of the platform;
(3) solving the intersection of normal communication coverage areas of a plurality of redundancy measurement and control links on the universal motion profile, wherein the obtained area is the redundancy communication area of the platform;
(4) and visually presenting the comprehensive communication blind area and the redundancy communication area of the redundancy measurement and control link in the platform visual movement profile.
The invention comprises the following key points:
(1) a construction strategy of the unmanned aerial vehicle motion model;
(2) an antenna loader synthesizes a trimming strategy of a three-dimensional radiation pattern;
(3) and combining an antenna installation comprehensive radiation direction diagram, a line-of-sight communication range, a motion profile range and a motion gesture range of the unmanned aerial vehicle, and quantitatively calculating a blind area in the full motion domain of the unmanned aerial vehicle.
(4) And providing unmanned aerial vehicle measurement and control communication blind spot gesture avoidance suggestions.
(5) And providing antenna switching suggestions of the unmanned aerial vehicle measurement and control system.
(6) Providing an indication of link redundancy for the drone in different areas of the through motion profile.
(7) The application range of the system and the method is not limited to unmanned aerial vehicles, and the system and the method comprise various wireless data link equipment installation carriers such as unmanned ships, unmanned vehicles, unmanned underwater vehicles, aerospace vehicles and the like.
Example 2. The unmanned aerial vehicle measurement and control system is provided with a main data chain and an auxiliary data chain, a main chain ground end antenna frame and an auxiliary chain ground end antenna frame are arranged at the top end of a fixed station non-shielding tower, a main chain machine-mounted end is provided with 1 auxiliary directional antenna and is arranged at a machine belly, an auxiliary chain machine-mounted end is provided with 2 auxiliary omnidirectional antennas and is respectively arranged at a machine head and a tail, and the invention is used for analyzing a link blind area generated by the influence of a machine body on the machine-mounted end antenna, and the process is as follows:
(1) the antenna simulation module is loaded with and constructs a body structure model, layout positions of all antennas and electromagnetic models of all antennas;
(2) inputting a main chain directional antenna servo rotation range of 360 degrees into an antenna simulation module, and setting a simulation angle step of 30 degrees; inputting the frequency range 1600MHz-1640MHz of an antenna, setting a simulation frequency step of 10 MHz, combining all angles and frequency points selected by traversing, and respectively carrying out simulation on the three-dimensional radiation pattern of the antenna installation to obtain a group A simulation pattern;
(3) inputting the frequency range 701MHz-705MHz of the auxiliary chain omnidirectional antenna in the antenna simulation module, setting a simulation frequency step of 2MHz, and performing simulation on the installed three-dimensional radiation pattern of each frequency point antenna of the auxiliary chain antenna of the machine head to obtain a B group simulation pattern; performing simulation of the installed three-dimensional radiation pattern of each frequency point antenna of the tail auxiliary chain antenna to obtain a group C simulation pattern;
(4) the unmanned aerial vehicle motion modeling module is provided with an unmanned aerial vehicle height interval of 0-3000m and a flight distance interval of 0-150km, the position grid division density of the flight platform relative to the ground station is set to be 500m in the horizontal direction and 10m in the vertical direction, and the system builds a flight platform through motion profile model;
(5) the unmanned aerial vehicle motion modeling module is provided with an unmanned aerial vehicle roll attitude angle interval +/-10 degrees, a pitching attitude angle interval +/-10 degrees and a heading interval 360 degrees, the attitude grid division density of the flight platform relative to the ground station is set to be 1 degree of roll angle, 1 degree of pitch angle and 10 degrees of heading angle, and the system builds a flight platform motion attitude model;
(6) loading the three-dimensional radiation patterns of the antenna assembly machine of the group A obtained in the step (2) by the blind area comprehensive intelligent analysis module, solving the intersection of the radiation patterns of the antenna assembly machine of each frequency point in the same servo direction to obtain an antenna assembly comprehensive radiation pattern in the servo direction, and solving and integrating the antenna assembly comprehensive radiation patterns in each servo direction to obtain an assembly comprehensive three-dimensional radiation pattern of the directional antenna in a servo full range by proper insertion;
(7) the blind area comprehensive intelligent analysis module loads the B group antenna installation three-dimensional radiation pattern obtained in the step (3) to solve intersection, and the comprehensive three-dimensional radiation pattern of the machine head auxiliary chain omnidirectional antenna installation is obtained through trimming; loading the three-dimensional radiation pattern of the installed C-group antenna obtained in the step (3) to solve the intersection, and trimming to obtain the comprehensive three-dimensional radiation pattern of the installed tail auxiliary-chain omni-directional antenna;
(8) the blind area comprehensive intelligent analysis module loads the main chain directional antenna comprehensive three-dimensional radiation pattern obtained in the step (6), the flight platform apparent motion profile model obtained in the step (4), and the flight platform motion gesture model obtained in the step (5), calculates the level allowance condition of the flight platform under each gesture on each position point, and obtains the blind area range, the normal communication range and the gesture avoidance suggestion of the main chain directional antenna on the apparent motion profile, wherein the main chain is a single antenna link, and therefore the blind area range of the directional antenna is the communication blind area range of the main chain on the apparent motion profile;
(9) loading the comprehensive three-dimensional radiation pattern of the omni-directional antenna of the auxiliary chain of the aircraft nose obtained by the blind area comprehensive intelligent analysis module, (4) obtaining a visual motion profile model of the flying platform, and (5) obtaining a motion gesture model of the flying platform, calculating the level allowance condition of the flying platform at each gesture at each position point, and obtaining the blind area range, the normal communication range and the gesture avoidance suggestion of the omni-directional antenna of the auxiliary chain of the aircraft nose on the visual motion profile;
loading the comprehensive three-dimensional radiation pattern of the tail auxiliary chain omnidirectional antenna obtained in the step (7), the obtained flight platform visual motion profile model, and the obtained flight platform motion gesture model by the step (5), calculating the level allowance condition of the flight platform at each gesture on each position point, and obtaining the blind area range, the normal communication range and the gesture avoidance suggestion of the tail auxiliary chain omnidirectional antenna on the visual motion profile;
Example 3. An unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system, see fig. 1 and 2, comprises an antenna electromagnetic simulation module, an unmanned aerial vehicle motion modeling module and a blind area comprehensive intelligent analysis module; the electromagnetic simulation module of the antenna has the functions that: based on the body structure model, the antenna layout position, the antenna electromagnetic model and the servo characteristic model, simulating to obtain an antenna installation three-dimensional radiation pattern; the unmanned aerial vehicle motion modeling module has the functions that: constructing a flight platform apparent motion profile model and a flight platform motion attitude model based on an unmanned aerial vehicle flight platform height interval, a flight distance interval and a flight platform roll, pitch and course attitude interval; the function of the blind area comprehensive intelligent analysis module is as follows: based on the three-dimensional radiation pattern of the antenna loader, the flight platform visual motion profile model and the flight platform motion attitude model, the communication coverage blind area condition of a single antenna at each position point in the flight platform motion profile is calculated.
The effect of the aforesaid intelligent analysis module is synthesized to blind area still includes: according to the communication coverage blind area conditions of a single antenna at each position point in the motion profile of the flying platform, the communication coverage conditions of all antennas on a single measurement and control link are solved, and the communication blind area range of the single link is comprehensively evaluated.
The effect of the aforesaid intelligent analysis module is synthesized to blind area still includes: according to the communication coverage conditions of all antennas on a single measurement and control link, the communication coverage conditions of all redundancy measurement and control links are solved, and further the communication blind area range and the safety redundancy indication under redundancy backup of multiple measurement and control links on a flight platform are comprehensively evaluated.
The application method of the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system comprises the following steps:
step one: the antenna electromagnetic simulation module is used for obtaining a three-dimensional radiation direction diagram of the antenna installation based on the machine body structure model, the antenna layout position, the antenna electromagnetic model and the servo characteristic model in a simulation mode;
step two: the unmanned aerial vehicle motion modeling module constructs an unmanned aerial vehicle motion model based on an unmanned aerial vehicle flight platform height interval, a flight distance interval and a flight platform roll, pitch and course gesture interval, and comprises a flight platform universal motion profile model and a flight platform motion gesture model;
step three: the blind area comprehensive intelligent analysis module is used for trimming the simulation pattern of the antenna installation machine, so that the blind area comprehensive intelligent analysis module is convenient for subsequent blind area calculation;
step four: the blind area comprehensive intelligent analysis module is used for solving the communication coverage blind area situation of a single antenna at each position point in the flying platform movement profile based on the antenna comprehensive three-dimensional radiation pattern, the flying platform vision movement profile model and the flying platform movement gesture model;
step five: the blind area comprehensive intelligent analysis module comprehensively evaluates the communication blind area range of the single link according to the communication coverage conditions of all antennas on the single measurement and control link;
step six: and the blind area comprehensive intelligent analysis module comprehensively evaluates the communication blind area range and the safety redundancy indication under the redundancy backup of the multi-measurement and control link on the flight platform according to the communication coverage condition of each redundancy measurement and control link.
In the first step, the antenna in the installed three-dimensional radiation pattern of the antenna includes an omni-directional antenna, and the simulation method of the installed three-dimensional radiation pattern of the omni-directional antenna includes: and setting a plurality of frequency points in the range of the link frequency band to simulate the three-dimensional radiation pattern of the antenna installation.
In the first step, the antenna in the antenna installation three-dimensional radiation pattern further includes a directional antenna, and the simulation method of the antenna installation three-dimensional radiation direction of the directional antenna includes: setting a plurality of directions in a directional servo rotation range and setting a plurality of frequency points in a link frequency range, and respectively carrying out three-dimensional radiation pattern simulation of an antenna installation according to the set frequency points in each direction.
In the second step, the unmanned plane motion model is constructed as follows:
in the range of the platform flying height and distance, according to a wireless vision calculation formula
Solving a section of a visual movement range of the flying platform, wherein h1 and h2 are heights of an airborne antenna and a ground antenna respectively, and d0 is a visual distance;
dividing the position grid of the flying platform relative to the ground station according to the set density based on the flying platform visual movement range profile, and forming a flying platform visual movement profile model by all the position points;
based on the rolling, pitching and heading intervals of the flying platform, a plurality of flying postures are taken according to set density, and all the flying postures form a flying platform movement posture model.
The third step is specifically as follows,
for the omnidirectional antenna, solving intersection of three-dimensional radiation patterns of all frequency point assembling machines, trimming to obtain an integrated three-dimensional radiation pattern of the omnidirectional antenna, and representing the worst three-dimensional radiation gain condition of the antenna in a frequency range;
the third step is specifically as follows,
for the directional antenna, solving intersection of radiation patterns of all frequency point packaging machines in the same servo direction, trimming to obtain an antenna packaging machine comprehensive radiation pattern in the servo direction, and representing the worst radiation gain condition of the antenna in the servo direction in a frequency range; and further solving and integrating the installed integrated radiation patterns of the antennas in each servo direction, properly interpolating, and trimming to obtain the installed integrated three-dimensional radiation patterns of the directional antenna servo full range.
The fourth step is specifically:
(1) solving the distance and elevation angle degrees of the flying platform relative to the ground station at a certain position point in the apparent motion profile;
(2) based on a flying platform motion attitude model and a single antenna comprehensive three-dimensional radiation pattern, extracting antenna gain values of the unmanned plane at the position point relative to the ground station direction under various attitudes;
(3) solving downlink margins under various postures at a certain position point according to a link level margin calculation formula P=P+Gt-PL+Gr-Lc-Pr, wherein Pt transmitting power, gr opposite-end receiving antenna gain, lc comprehensive loss and Pr opposite-end receiving receiver sensitivity are link known attributes, the Gt transmitting antenna gain is calculated in the substep (2), and the PL free space loss is calculated according to the communication distance in the substep (1); the uplink margin can be calculated in the same way;
(4) the uplink and downlink level allowance calculated under various postures at the position point is larger than Yu Guojun by 6dB, the position is judged to be a normal communication point, otherwise, the position is judged to be a blind point, and the blind degree and the flying avoidance posture suggestion of the position point can be given according to the posture percentage and the specific posture of the position point, wherein the link level allowance of the posture percentage is smaller than 6 dB;
(5) according to the sub-steps (1) - (4), traversing and calculating blindness of all position points in the flight platform apparent motion profile model, solving a set of all blind points to obtain a blind area of the antenna on the apparent motion profile, wherein the rest areas are normal communication coverage areas;
(6) and visually presenting the blind area and the normal communication coverage area of the antenna in the platform visual movement profile.
The process of comprehensively evaluating the communication blind area range of the single link is specifically as follows:
(1) according to the fourth step, solving blind areas and normal communication coverage areas of all the airborne antennas of a certain link on the apparent motion profile;
(2) solving the blind area intersection of all the airborne antennas of the link on the view movement section, wherein the obtained area is the communication blind area of the link;
(3) solving the intersection of normal communication coverage areas of all the airborne antennas of the link on the apparent motion profile, wherein the obtained area is the optimal antenna switching area of the link;
(4) and visually presenting blind areas and normal communication coverage areas of the single link in the platform visual motion profile.
The comprehensive evaluation of the communication blind area range and the safety redundancy indication under the redundancy backup of the multi-measurement and control link on the flight platform is specifically as follows:
(1) solving communication blind areas and normal communication coverage areas of all redundancy measurement and control links according to the first step to the fifth step;
(2) solving blind area intersections of a plurality of redundancy measurement and control links on the universal motion profile, wherein the obtained areas are comprehensive communication blind areas of the platform;
(3) solving the intersection of normal communication coverage areas of a plurality of redundancy measurement and control links on the universal motion profile, wherein the obtained area is the redundancy communication area of the platform;
(4) and visually presenting the comprehensive communication blind area and the redundancy communication area of the redundancy measurement and control link in the platform visual movement profile.
Claims (10)
1. The unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system is characterized by comprising an antenna electromagnetic simulation module, an unmanned aerial vehicle motion modeling module and a blind area comprehensive intelligent analysis module; the electromagnetic simulation module of the antenna has the functions that: based on the body structure model, the antenna layout position, the antenna electromagnetic model and the servo characteristic model, simulating to obtain an antenna installation three-dimensional radiation pattern; the unmanned aerial vehicle motion modeling module has the functions that: constructing a flight platform apparent motion profile model and a flight platform motion attitude model based on an unmanned aerial vehicle flight platform height interval, a flight distance interval and a flight platform roll, pitch and course attitude interval; the function of the blind area comprehensive intelligent analysis module is as follows: based on the three-dimensional radiation pattern of the antenna loader, the flight platform visual motion profile model and the flight platform motion attitude model, the communication coverage blind area condition of a single antenna at each position point in the flight platform motion profile is calculated.
2. The unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system according to claim 1, wherein the function of the blind area comprehensive intelligent analysis module further comprises: according to the communication coverage blind area conditions of a single antenna at each position point in the motion profile of the flying platform, the communication coverage conditions of all antennas on a single measurement and control link are solved, and the communication blind area range of the single link is comprehensively evaluated.
3. The unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system according to claim 1, wherein the function of the blind area comprehensive intelligent analysis module further comprises: according to the communication coverage conditions of all antennas on a single measurement and control link, the communication coverage conditions of all redundancy measurement and control links are solved, and further the communication blind area range and the safety redundancy indication under redundancy backup of multiple measurement and control links on a flight platform are comprehensively evaluated.
4. A method of using the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system according to any one of claims 1 to 3, comprising the steps of:
step one: the antenna electromagnetic simulation module is used for obtaining a three-dimensional radiation direction diagram of the antenna installation based on the machine body structure model, the antenna layout position, the antenna electromagnetic model and the servo characteristic model in a simulation mode;
step two: the unmanned aerial vehicle motion modeling module constructs an unmanned aerial vehicle motion model based on an unmanned aerial vehicle flight platform height interval, a flight distance interval and a flight platform roll, pitch and course gesture interval, and comprises a flight platform universal motion profile model and a flight platform motion gesture model;
step three: the blind area comprehensive intelligent analysis module is used for trimming the simulation pattern of the antenna installation machine, so that the blind area comprehensive intelligent analysis module is convenient for subsequent blind area calculation;
step four: the blind area comprehensive intelligent analysis module is used for solving the communication coverage blind area situation of a single antenna at each position point in the flying platform movement profile based on the antenna comprehensive three-dimensional radiation pattern, the flying platform vision movement profile model and the flying platform movement gesture model;
step five: the blind area comprehensive intelligent analysis module comprehensively evaluates the communication blind area range of the single link according to the communication coverage conditions of all antennas on the single measurement and control link;
step six: and the blind area comprehensive intelligent analysis module comprehensively evaluates the communication blind area range and the safety redundancy indication under the redundancy backup of the multi-measurement and control link on the flight platform according to the communication coverage condition of each redundancy measurement and control link.
5. The method for using the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system according to claim 4, wherein in the first step, the antenna in the antenna installation three-dimensional radiation pattern comprises an omni-directional antenna, and the simulation method of the antenna installation three-dimensional radiation pattern of the omni-directional antenna is as follows: and setting a plurality of frequency points in the range of the link frequency band to simulate the three-dimensional radiation pattern of the antenna installation.
6. The method for using the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system according to claim 4, wherein in the first step, the antenna in the antenna installation three-dimensional radiation pattern further comprises a directional antenna, and the simulation method of the antenna installation three-dimensional radiation direction of the directional antenna is as follows: setting a plurality of directions in a directional servo rotation range and setting a plurality of frequency points in a link frequency range, and respectively carrying out three-dimensional radiation pattern simulation of an antenna installation according to the set frequency points in each direction.
7. The method for using the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system according to claim 4, wherein in the second step, the unmanned aerial vehicle motion model is constructed specifically as follows:
in the range of the platform flying height and distance, according to a wireless vision calculation formula
Solving a section of a visual movement range of the flying platform, wherein h1 and h2 are heights of an airborne antenna and a ground antenna respectively, and d0 is a visual distance;
dividing the position grid of the flying platform relative to the ground station according to the set density based on the flying platform visual movement range profile, and forming a flying platform visual movement profile model by all the position points;
based on the rolling, pitching and heading intervals of the flying platform, a plurality of flying postures are taken according to set density, and all the flying postures form a flying platform movement posture model.
8. The method for using the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system according to claim 5, wherein the third step is as follows,
for the omnidirectional antenna, solving intersection of three-dimensional radiation patterns of all frequency point assembling machines, trimming to obtain an integrated three-dimensional radiation pattern of the omnidirectional antenna, and representing the worst three-dimensional radiation gain condition of the antenna in a frequency band range.
9. The method for using the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system according to claim 6, wherein the third step is as follows,
for the directional antenna, solving intersection of radiation patterns of all frequency point packaging machines in the same servo direction, trimming to obtain an antenna packaging machine comprehensive radiation pattern in the servo direction, and representing the worst radiation gain condition of the antenna in the servo direction in a frequency range; and further solving and integrating the installed integrated radiation patterns of the antennas in each servo direction, properly interpolating, and trimming to obtain the installed integrated three-dimensional radiation patterns of the directional antenna servo full range.
10. The method for using the unmanned aerial vehicle measurement and control link blind area comprehensive intelligent analysis system according to claim 4, wherein the fourth step is specifically as follows:
(1) solving the distance and elevation angle degrees of the flying platform relative to the ground station at a certain position point in the apparent motion profile;
(2) based on a flying platform motion attitude model and a single antenna comprehensive three-dimensional radiation pattern, extracting antenna gain values of the unmanned plane at the position point relative to the ground station direction under various attitudes;
(3) solving downlink margins under various postures at a certain position point according to a link level margin calculation formula P=P+Gt-PL+Gr-Lc-Pr, wherein Pt transmitting power, gr opposite-end receiving antenna gain, lc comprehensive loss and Pr opposite-end receiving receiver sensitivity are link known attributes, the Gt transmitting antenna gain is calculated in the substep (2), and the PL free space loss is calculated according to the communication distance in the substep (1); the uplink margin can be calculated in the same way;
(4) the uplink and downlink level allowance calculated under various postures at the position point is larger than Yu Guojun by 6dB, the position is judged to be a normal communication point, otherwise, the position is judged to be a blind point, and the blind degree and the flying avoidance posture suggestion of the position point can be given according to the posture percentage and the specific posture of the position point, wherein the link level allowance of the posture percentage is smaller than 6 dB;
(5) according to the sub-steps (1) - (4), traversing and calculating blindness of all position points in the flight platform apparent motion profile model, solving a set of all blind points to obtain a blind area of the antenna on the apparent motion profile, wherein the rest areas are normal communication coverage areas;
(6) and visually presenting the blind area and the normal communication coverage area of the antenna in the platform visual movement profile.
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