CN117792482A - Big dipper short message communication recovery method based on control of large unmanned aerial vehicle - Google Patents
Big dipper short message communication recovery method based on control of large unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a Beidou short message communication recovery method based on large unmanned aerial vehicle control, which comprises the steps that an unmanned aerial vehicle acquires the intensity of a received Beidou satellite wave beam signal in real time, judges that a beam crossing phenomenon occurs according to the intensity level of the Beidou satellite wave beam signal, and enters a Beidou short message communication recovery step; the unmanned aerial vehicle actively transmits a positioning application instruction to the Beidou system space section, the Beidou system space section transmits a positioning query result to the gateway station after receiving the positioning application instruction, and the gateway station updates the locally stored position information of the unmanned aerial vehicle according to the received positioning query result. The unmanned aerial vehicle initiatively judges whether the unmanned aerial vehicle is in a beam crossing state through the current received Beidou satellite beam signal intensity, if so, the information gateway station can timely refresh the position information of the unmanned aerial vehicle through carrying out positioning application, the information gateway station is ensured to forward control information to the unmanned aerial vehicle through a correct coverage beam, and the Beidou remote control short message can be transmitted to the unmanned aerial vehicle more reliably.
Description
Technical Field
The invention relates to a satellite communication technology, in particular to a Beidou short message communication recovery technology based on control of a large unmanned aerial vehicle.
Background
The large unmanned aerial vehicle has the characteristics of long flight time, long flight distance and the like, and is often required to fly beyond the visual range for completing task operation. In order to realize the beyond-view-range monitoring of a large unmanned aerial vehicle, the current mainstream beyond-view-range communication means comprise Ku/Ka band communication satellite relay, beidou short messages and the like.
The Beidou short message has the characteristics of low use cost, good communication concealment and the like, and is often used as an emergency instant messaging mode. The system comprises a space section, a gateway station of a ground section and a Beidou terminal of a user section, wherein the space section, the gateway station of the ground section and the Beidou terminal are formed by a plurality of geostationary orbit satellites, inclined geostationary orbit satellites, middle circular geostationary orbit satellites and the like. Taking the currently used Beidou No. two system as an example, as shown in fig. 1, the principle of the Beidou short message is as follows: the Beidou terminal sends a communication application to a space section of the Beidou second-number navigation system, after the communication application is forwarded to the gateway station through the satellite in the system, the gateway station sends the communication application to the satellite covering the area according to the position of the communication object, and then the communication application is forwarded to the communication object through the satellite. The big Dipper short message is used for the fields of outdoor rescue, sea navigation communication and the like, and is mostly used for sending information to the gateway station in one direction, so that the big Dipper short message is more suitable for big Dipper terminals with single demand communication direction and low movement speed.
The large unmanned aerial vehicle needs to complete two-way communication with an unmanned aerial vehicle control station on the ground. Big unmanned aerial vehicle and unmanned aerial vehicle control station all need to be as big dipper terminal sending big dipper short message. The unmanned aerial vehicle control station needs to send the big dipper remote control short message that contains the control information to unmanned aerial vehicle. The unmanned aerial vehicle needs to send the big Dipper telemetering short message that contains the positional information and the status parameter to unmanned aerial vehicle control station. When large unmanned aerial vehicle is regarded as big dipper terminal, because large unmanned aerial vehicle's flight speed is faster, for example piston power unmanned aerial vehicle's speed is 4~10 times of large cargo ship. The problem that the gateway station cannot judge the unmanned aerial vehicle position in the actual application scene of the large unmanned aerial vehicle, so that the unmanned aerial vehicle control station cannot send control information to the unmanned aerial vehicle, and the Beidou short message communication between the unmanned aerial vehicle control station and the unmanned aerial vehicle is interrupted is caused.
Disclosure of Invention
The invention aims to solve the technical problem of the interruption of Beidou short message communication between an unmanned aerial vehicle control station and an unmanned aerial vehicle, and particularly provides a Beidou short message communication recovery method for the interruption of Beidou remote control short message communication.
The applicant firstly carries out analysis based on the big unmanned aerial vehicle limited by Beidou short message system design: each satellite in the space section of the Beidou II navigation system is responsible for a certain beam range. The unmanned aerial vehicle control station needs to periodically send a control instruction taking the Beidou short message as a carrier to the unmanned aerial vehicle. When the unmanned aerial vehicle is in a cross-satellite beam stage, the condition that Beidou short messages cannot be normally received easily occurs. The applicant finds through analysis and experimental verification that when the unmanned aerial vehicle is in the original satellite wave beam range, the unmanned aerial vehicle can normally receive the control instruction, when the unmanned aerial vehicle flies away from the wave beam, the unmanned aerial vehicle Beidou position information remained in the gateway station is not updated, the gateway station still can send the Beidou control information to the original satellite signal wave beam range, and therefore the unmanned aerial vehicle cannot receive the control instruction. Based on reasons analyzed by the applicant, the technical scheme adopted by the invention for solving the prior technical problems is that the Beidou short message communication recovery method based on the control of the large unmanned aerial vehicle specifically comprises the following steps:
the step of Beidou remote control short message receiving and transmitting: generating and sending a Beidou remote control short message to a Beidou system space segment by the unmanned aerial vehicle control station, forwarding the Beidou remote control short message to a gateway station by the Beidou system space segment, forwarding the Beidou remote control short message to a communication satellite of the Beidou system space segment, which covers the position of the unmanned aerial vehicle, by a satellite wave beam according to the locally stored position information of the unmanned aerial vehicle by the gateway station, and forwarding the Beidou remote control short message to the unmanned aerial vehicle by the communication satellite; the Beidou remote control short message comprises control information for the unmanned aerial vehicle;
a beam cross-region judging step: the unmanned plane acquires the intensity of the received Beidou satellite beam signals in real time, and judges whether a beam crossing phenomenon occurs according to the intensity level of the Beidou satellite beam signals; if yes, entering a Beidou short message communication recovery step, and if not, not processing;
and the Beidou short message communication recovery step: the unmanned aerial vehicle actively transmits a positioning application instruction to the Beidou system space section, the Beidou system space section transmits a positioning query result to the gateway station after receiving the positioning application instruction, and the gateway station updates the locally stored position information of the unmanned aerial vehicle according to the received positioning query result.
The invention purposefully analyzes the interruption of the unmanned aerial vehicle to receive the Beidou remote control short message because of the task execution of the cross beam, thereby proposing to actively judge that the unmanned aerial vehicle is in the cross beam state through the intensity of the currently received Beidou satellite beam signal. When the unmanned aerial vehicle is in a beam-crossing state, the unmanned aerial vehicle automatically performs positioning application, so that the gateway station can timely refresh the position information of the unmanned aerial vehicle, and the gateway station can forward control information to the unmanned aerial vehicle through a correct coverage beam.
The invention has the beneficial effects that the Beidou remote control short message sent by the unmanned aerial vehicle control station can be more reliably transmitted to the unmanned aerial vehicle, the availability and reliability of the Beidou short message for unmanned aerial vehicle monitoring are improved, and the flight task requirements of the unmanned aerial vehicle are better met.
Drawings
Fig. 1 is a schematic diagram of beidou short message transmission of the beidou second system shown in fig. 1.
Fig. 2 is a schematic diagram of transmission and recovery of Beidou short messages according to an embodiment.
Description of the embodiments
The present invention will be further described with reference to the accompanying drawings and examples, wherein it is apparent that the examples described are only some, but not all, of the examples of the present invention. All other embodiments obtained by those skilled in the art are intended to fall within the scope of the embodiments of the present invention.
Taking the Beidou No. two system in use at present as an example, the space section of the Beidou No. two system comprises 5 static orbit satellites and a plurality of non-static orbit satellites. Wherein 5 stationary orbit satellites provide short message communication functions, and other satellites provide navigation and positioning functions. Each stationary orbiting satellite contains 2 independent beam signals, i.e. a total of 10 independent beam signals, providing short message communication services.
The normal big Dipper short message communication between unmanned aerial vehicle and unmanned aerial vehicle control station includes: unmanned aerial vehicle to unmanned aerial vehicle control station sending big dipper telemetry short message, unmanned aerial vehicle control station to unmanned aerial vehicle sending big dipper remote control short message. The Beidou short message and the positioning application instruction both follow the RDSS protocol. The Beidou remote control short message comprises control information for the unmanned aerial vehicle. The Beidou telemetry short message comprises state parameters of the unmanned aerial vehicle.
The unmanned aerial vehicle includes unmanned aerial vehicle flight tube computer and airborne big dipper communication host computer. The airborne Beidou communication host comprises a Beidou airborne host and a Beidou airborne antenna. The Beidou airborne host is mainly used for communicating control and return information with the unmanned aerial vehicle flight management computer and simultaneously completing the functions of data analysis, modulation and demodulation, radio frequency signal processing and the like of the Beidou second short message; the big Dipper airborne antenna mainly completes big Dipper short message transmitting and receiving. The unmanned aerial vehicle flight tube computer is mainly responsible for flight control and all-plane state monitoring of the unmanned aerial vehicle, receives control instructions through a communication interface of the Beidou airborne host, and simultaneously sends state parameter returns of the unmanned aerial vehicle to the Beidou airborne host.
The unmanned aerial vehicle control station includes flight monitoring computer, ground big dipper communication host computer and big dipper ground antenna. The ground Beidou communication host comprises a Beidou ground host and a Beidou ground antenna. The Beidou ground host is mainly used for communicating control and return information with the flight monitoring computer and simultaneously completing the functions of data analysis, modulation and demodulation, radio frequency signal processing and the like of the Beidou short message; the Beidou ground antenna mainly completes signal transmission and reception of Beidou short messages. The unmanned aerial vehicle flight monitoring computer is used for remotely monitoring the unmanned aerial vehicle, sending a control instruction of the unmanned aerial vehicle to the communication interface of the north fight ground host, and receiving and displaying state parameter returns of the unmanned aerial vehicle through the communication interface of the Beidou ground host. The flight monitoring computer is used for remotely monitoring the unmanned aerial vehicle and displaying the feedback state information of the unmanned aerial vehicle.
The transmission process of the Beidou short message is shown in fig. 2:
the Beidou remote control short message receiving and transmitting process comprises the following steps: the flight monitoring computer in the unmanned aerial vehicle control station generates a Beidou remote control short message, the Beidou remote control short message is sent to a Beidou system space section through a Beidou ground antenna after being modulated by a Beidou ground host computer, the Beidou system space section forwards the Beidou remote control short message to the gateway station, the gateway station forwards the Beidou remote control short message to a communication satellite of which the position of the unmanned aerial vehicle is covered by a satellite beam in the Beidou system space section according to the locally stored position information of the unmanned aerial vehicle, and the Beidou remote control short message is forwarded to the unmanned aerial vehicle by the communication satellite; and the Beidou airborne antenna on the unmanned aerial vehicle receives the Beidou remote control short message, demodulates the Beidou remote control short message by the Beidou airborne host computer and then sends the Beidou remote control short message to the unmanned aerial vehicle flight tube computer, and the unmanned aerial vehicle flight tube computer obtains a control instruction from the received Beidou remote control short message.
The Beidou telemetry short message receiving and transmitting process comprises the following steps: generating a Beidou telemetry short message by an unmanned aerial vehicle flight tube computer in the unmanned aerial vehicle, modulating by a Beidou airborne host computer, transmitting the Beidou telemetry short message to a Beidou system space section through a Beidou airborne antenna, forwarding the Beidou telemetry short message to a gateway station by the Beidou system space section, forwarding the Beidou telemetry short message to a communication satellite of which the position of the unmanned aerial vehicle control station is covered by a satellite beam in the Beidou system space section according to the locally stored position information of the unmanned aerial vehicle control station by the gateway station, and forwarding the Beidou telemetry short message to the unmanned aerial vehicle control station by the communication satellite; the Beidou ground antenna in the unmanned aerial vehicle control station receives the Beidou telemetry short message, demodulates the Beidou telemetry short message through the Beidou ground host, and sends the Beidou telemetry short message to the flight monitoring computer, and the flight monitoring computer obtains and displays the state parameters of the unmanned aerial vehicle from the received Beidou remote telemetry short message.
In order to avoid interruption of Beidou remote control short message communication, the unmanned aerial vehicle flight management computer monitors the beam intensity in real time through the Beidou airborne terminal and automatically judges whether the unmanned aerial vehicle has a exaggeration beam condition, if the exaggeration beam condition occurs, the unmanned aerial vehicle flight management computer automatically initiates a positioning application, thereby refreshing the position information of the Beidou airborne terminal in the gateway station, enabling the gateway station to send Beidou control information to a satellite beam which is correctly covered, solving the problem that outbound short messages caused by the space section beam of the Beidou II navigation system of the unmanned aerial vehicle cannot be correctly received, and meeting the Beidou short message monitoring communication requirement when the unmanned aerial vehicle flies beyond sight.
The on-board Beidou communication host receives 10 beam signals used by the Beidou second short message in real time, and reports the received beam signal strength to an unmanned aerial vehicle flight management computer in real time according to a Beidou satellite navigation system user terminal universal data interface (pre) (Beidou 2.1 version communication protocol for short), wherein the beam signal strength grade specification is shown in a table 1:
| sequence number | Beam intensity level (hex) | Signal strength (dBW) |
| 1 | 00 | ＜-158 |
| 2 | 01 | -156~-157 |
| 3 | 02 | -155~-154 |
| 4 | 03 | -152~-153 |
| 5 | 04 | ＞-152 |
TABLE 1 Beam Signal Strength level specification
The unmanned aerial vehicle flight management computer acquires the attitude and navigation parameters of the unmanned aerial vehicle in real time through an unmanned aerial vehicle navigation system as the state parameters of the unmanned aerial vehicle, and preloaded route information is stored.
The unmanned aerial vehicle flight tube computer judges whether the unmanned aerial vehicle has the situation of the wave beam cross zone in real time according to the current received Beidou satellite wave beam signal intensity level: and when the certain beam intensity level is changed from 03 or 04 to 02 and lasts for more than 30 seconds, or the certain beam intensity level is changed from 02 to 03 or 04 and lasts for more than 30 seconds, and the course information indicates that the unmanned aerial vehicle course does not belong to a state of spiraling in the current beam area, determining that the unmanned aerial vehicle generates the Beidou beam cross-section.
When the unmanned aerial vehicle judges that the wave beam is in cross-zone, the unmanned aerial vehicle Beidou short message communication recovery step:
the unmanned aerial vehicle flight management computer actively transmits a positioning application instruction to the Beidou system space section through the airborne Beidou communication host computer. The positioning application instruction can complete one-time positioning inquiry in the space section of the Beidou system. The Beidou onboard host computer card number is packaged in the positioning application instruction format. The Beidou system space segment receives the positioning application instruction and then sends a positioning query result to the gateway station, and the gateway station updates the locally stored position information of the unmanned aerial vehicle according to the received positioning query result, so that the gateway station can transmit Beidou remote control short messages to the airborne Beidou communication host computer from a correct coverage beam.
Furthermore, when the unmanned aerial vehicle flight management computer does not detect that the beam is in cross-zone, but the Beidou remote control short message is abnormal in receiving, the unmanned aerial vehicle Beidou short message communication recovery step can be triggered.
The condition for judging the abnormal receiving of the Beidou remote control short message is as follows: and when the unmanned aerial vehicle flight management computer does not receive the Beidou remote control short message in 5 preset receiving periods, judging that the Beidou remote control short message is abnormal in receiving.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (7)
1. A Beidou short message communication recovery method based on control of a large unmanned aerial vehicle is characterized by comprising the following steps:
the step of Beidou remote control short message receiving and transmitting: generating and sending a Beidou remote control short message to a Beidou system space segment by the unmanned aerial vehicle control station, forwarding the Beidou remote control short message to a gateway station by the Beidou system space segment, forwarding the Beidou remote control short message to a communication satellite of the Beidou system space segment, which covers the position of the unmanned aerial vehicle, by a satellite wave beam according to the locally stored position information of the unmanned aerial vehicle by the gateway station, and forwarding the Beidou remote control short message to the unmanned aerial vehicle by the communication satellite; the Beidou remote control short message comprises control information for the unmanned aerial vehicle;
a beam cross-region judging step: the unmanned plane acquires the intensity of the received Beidou satellite beam signals in real time, and judges whether a beam crossing phenomenon occurs according to the intensity level of the Beidou satellite beam signals; if yes, entering a Beidou short message communication recovery step, and if not, not processing;
and the Beidou short message communication recovery step: the unmanned aerial vehicle actively transmits a positioning application instruction to the Beidou system space section, the Beidou system space section transmits a positioning query result to the gateway station after receiving the positioning application instruction, and the gateway station updates the locally stored position information of the unmanned aerial vehicle according to the received positioning query result.
2. The method of claim 1, wherein the specific method for judging whether the beam crossing phenomenon occurs according to the signal intensity level of the Beidou satellite beam is as follows:
when the signal intensity level of the Beidou satellite wave beam meets the low level that the high level capable of normally communicating is changed into the low level incapable of normally communicating, and the duration after the high level is changed into the low level is set for a time length;
or when the signal intensity level of the Beidou satellite wave beam meets the requirement that the low level which cannot be normally communicated is changed into the high level which can be normally communicated, and the duration of the high level is set to be longer;
and judging that the unmanned aerial vehicle has a beam crossing phenomenon.
3. The method of claim 1, wherein the beidou system is a beidou No. two system.
4. The method of claim 3, wherein the beidou satellite beam signal strength levels include levels 00, 01, 02, 03 and 04, with signal strength < -158dBW being 00, with signal strength being-156 dBW to-157 dBW being 01, and with signal strength being-155 dBW to-154 dBW being 02; the signal strength is at-152 dBW to-153 dBW at stage 03, and the signal strength is at-152 dBW at stage 04.
5. The method of claim 4, wherein the specific method for judging whether the beam crossing phenomenon occurs according to the signal intensity level of the Beidou satellite beam is as follows: and when the intensity level of the Beidou satellite beam is changed from 03 or 04 to 02 and lasts for more than 30 seconds, or the intensity level of the Beidou satellite beam is changed from 02 to 03 or 04 and lasts for more than 30 seconds, judging that the unmanned aerial vehicle has a beam crossing phenomenon.
6. The method of claim 2 or 5, wherein in making the determination of whether a cross-beam phenomenon is occurring, the unmanned aerial vehicle is required to satisfy a hover state that is not within the current satellite beam coverage in addition to the change in the beidou satellite beam signal strength level satisfying the condition.
7. The method of claim 1, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle flight tube computer and an onboard Beidou communication host; judging whether a beam crossing phenomenon occurs or not by an unmanned aerial vehicle flight tube computer according to the Beidou satellite beam signal intensity level; when the unmanned aerial vehicle flight tube computer judges that the unmanned aerial vehicle has a beam crossing phenomenon, a positioning application instruction is sent to the airborne Beidou communication host computer, and then the airborne Beidou communication host computer modulates the positioning application instruction and then sends the positioning application instruction to the space section of the north bucket system.
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| 李英成: "北斗短报文的无人机飞行监管技术与装备研究", 《测绘科学》, 3 July 2019 (2019-07-03) * |
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