CN207099260U - A kind of unmanned plane monitoring system - Google Patents
A kind of unmanned plane monitoring system Download PDFInfo
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- CN207099260U CN207099260U CN201721134950.9U CN201721134950U CN207099260U CN 207099260 U CN207099260 U CN 207099260U CN 201721134950 U CN201721134950 U CN 201721134950U CN 207099260 U CN207099260 U CN 207099260U
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Abstract
A kind of unmanned plane monitoring system, it is characterized in that, including N number of unmanned plane and management platform, N number of unmanned plane is in monitor area overhead composition cordless communication network and monitoring network, the N is more than or equal to 3 integers, unmanned plane, which comprises at least, determines processor, positioning subsystem, rangefinder and communication subsystem, the distance of target in positional information and the unmanned plane and monitor area of stadia surveying that the processor of at least part unmanned plane in N number of unmanned plane obtains positioning subsystem is sent to management platform by communication subsystem, management platform determines the position of target according to the positional information and range information of the unmanned plane received.System provided by the utility model can monitor to carrying out comprehensive long-time in monitor area.
Description
Technical field
A kind of unmanned plane monitoring system is the utility model is related to, belongs to technical field of target location.
Background technology
With developing rapidly for aircraft industry and information technology, unmanned plane obtains increasingly in military field and civil area
It is widely applied.Unmanned plane possesses the features such as cheap, maneuverability, long hang time, can be engaged in ground reconnaissance and mesh
Mark monitoring task.Under normal circumstances, the equipment such as photoelectric nacelle are equipped with unmanned plane, for obtaining ground real-time imaging, remote measurement
Data etc. monitor information, are equipped with the equipment such as Inertial Measurement Unit (IMU), global positioning system (GPS) and are used to obtain unmanned plane
Position and attitude information, and unmanned plane and the communication of ground handling operator are realized by Ground-to-Air Data Link.
Photoelectric nacelle is equipped with unmanned plane, by the airborne camera in photoelectric nacelle can obtain ground in real time can
See light or infrared image sequence.Followed by the mode detection image such as image tracking algorithm, motion detection algorithm, target identification
Existing maneuvering target, and obtain the information such as the image coordinate of target, target type.
The image coordinate for only obtaining maneuvering target is then only capable of identifying the maneuvering target of detection in unmanned plane real-time imaging
Picture position, and lasting tracking and positioning on a surface target can not be realized.Need to obtain by target location algorithm motor-driven
The true geographical position of target.Currently used target positioning method is to use attitude measurement/laser ranging location model, is utilized
Laser range finder is along camera optical axis orientation measurement unmanned plane range-to-go, with reference to the phase of UAV position and orientation parameter calculation target
To position.After the relative position for obtaining target, the ground that the latitude and longitude information that unmanned aerial vehicle onboard GPS is provided calculates target can be combined
Manage position.
In traditional ground surveillance task, it is necessary in UAV ground control station operating personnel participation.Operating personnel
The real-time imaging that can be shot by unmanned plane understands monitoring scene situation, it is necessary to identify target automatically in unmanned plane image
Particular location, in Two-dimensional electron map can also identify target bearing simultaneously, facilitate operating personnel to hold objectives
Row monitoring task.But because the visual field of separate unit unmanned plane limits, the periphery situation of monitoring scene can not be completely obtained, also can not be straight
Set up corresponding relation between Two-dimensional electron map and real-time imaging with seeing, scene it is complex or monitor simultaneously target compared with
When more, operating personnel will be unfavorable for and perceive scene situation and make reasonable judgement, once target is lost from unmanned aerial vehicle vision Yezhong, then
It is difficult to give for change again, and Two-dimensional electron map is only capable of providing the observation visual angle overlooked, and can not intuitively judge viewing area and week
The landform situation in collarette border.
Utility model content
To overcome technical problem present in prior art, purpose of utility model of the present utility model be to provide it is a kind of nobody
Machine monitoring system, it can not only be monitored to carrying out comprehensive long-time in monitor area, and can in monitor area shape
Into wireless network signal relaying is carried out for the wireless electron transceiver in region.
To realize the purpose of utility model, the utility model provides a kind of unmanned plane monitoring system, it is characterised in that bag
N number of unmanned plane and management platform are included, N number of unmanned plane is in monitor area overhead composition cordless communication network and monitoring network, the N
Determine processor, positioning subsystem, rangefinder and communication subsystem for more than or equal to 3 integers, unmanned plane comprises at least, it is N number of
Nobody of positional information that the processor of at least part unmanned plane in unmanned plane obtains positioning subsystem and stadia surveying
Machine and the distance of the target in monitor area are sent to management platform by communication subsystem, and management platform is according to the nothing received
Man-machine positional information and range information determines the position of target.
Preferably, the unmanned plane is multi-rotor unmanned aerial vehicle.
Preferably, communication subsystem comprises at least：One antenna assembly, the antenna assembly are used for for institute's monitor area
One or more interior mobile platforms provide wireless signal covering；One wireless receiver, the wireless receiver are used to demodulate simultaneously
Decode one or more first signals from one or more mobile platform receptions；One wireless transmitter, it is described wirelessly to transmit
Machine is used to modulate and transmit one or more secondary signals to one or more described mobile platforms；And switching subsystem, the friendship
Change the data Jiao Huanzhi that subsystem is configured to receive at each unmanned plane and be selected from the another of the group that includes following item
Receiving unit：One or more described mobile platforms and one or more described unmanned planes；And one or more mobile platforms, each
Mobile platform is used for：Demodulate and decode from described at least one reception in one or more corresponding described unmanned planes
One or more secondary signals；And modulate and transmit one or more described first signals into one or more described unmanned planes
It is at least one.
Preferably, the unmanned plane supplements the energy at least through solar energy.
Preferably, unmanned plane comprises at least servo control mechanism, and it comprises at least motor, and the motor comprises at least stator and turned
Son, the stator comprise at least according to the coil of the electric energy of offer generation kinetic energy and are used in rotor rotation process recovery section
The coil of energy, the rotor include the permanent magnet arranged in N polarity and S alternating polarities.
Preferably, unmanned plane comprises at least communication subsystem, and communication subsystem comprises at least high frequency power amplifier, described
High frequency power amplifier comprises at least temperature-compensation circuit.
Compared with prior art, unmanned plane monitoring system provided by the utility model, by the way that the rotation of multiple unmanned planes is parked in
Monitored area top, so as to in monitor area and entering the target of monitor area and being monitored, and in monitor area
Radio net is formed, relay wireless signals are provided for the mobile platform in monitor area.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of unmanned plane monitoring system provided by the utility model；
Fig. 2 is the composition schematic diagram of the control system of monitoring unmanned plane provided by the utility model；
Fig. 3 is the built-up circuit figure of the power section in unmanned plane provided by the utility model；
Fig. 4 is the composition frame chart of sender provided by the utility model；
Fig. 5 is the circuit diagram of high frequency power amplifier provided by the utility model.
Embodiment
The embodiment of utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning extremely
Same or similar label represents same or similar element or the element with same or like function eventually.Below with reference to
The embodiment of accompanying drawing description, the embodiment is exemplary, is only used for explaining utility model, and can not be construed to practical new
The limitation of type.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is individual ", " described " and "the" may also comprise plural form.It is to be further understood that used in the specification of utility model
Wording " comprising " refers to the feature, integer, step, operation, element and/or component be present, but it is not excluded that in the presence of or add
Add one or more other features, integer, step, operation, element, component and/or their groups.It should be understood that when we claim
Element is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also deposit
In intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or wireless coupling.It is used herein
Wording "and/or" includes whole or any cell and all combinations of one or more associated list items.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), there is the general understanding identical meaning with the those of ordinary skill in utility model art.Should also
It should be appreciated that those terms defined in such as general dictionary, it should be understood that have with the context of prior art
The consistent meaning of meaning, otherwise will not containing with idealization or overly formal and unless by specific definitions as here
Justice is explained.
Those skilled in the art of the present technique are appreciated that " terminal " used herein above, " terminal device " include wireless signal
The equipment of receiver, it possesses the equipment of the wireless signal receiver of non-emissive ability.
It will be appreciated by those skilled in the art that " application ", " application program " alleged by utility model and similar statement
Concept, it is the same concept well known to those skilled in the art, refers to be instructed by series of computation machine and related data resource is organic
The computer software for being suitable to electronics operation of construction.Unless specified, this name is not in itself by programming language species, level
Not, the operating system of operation of also not rely by it or platform are limited.In the nature of things, this genus is not also by any type of
Terminal is limited.
Fig. 1 is the composition schematic diagram of unmanned plane monitoring system provided by the utility model, as shown in figure 1, the utility model
One embodiment provide unmanned plane monitoring system comprise at least 3 unmanned planes and management platform, 3 unmanned planes are in surveillance zone
Domain overhead forms cordless communication network and monitoring network.
In Fig. 1, in unmanned plane monitors network, such as there is unmanned plane UAV, if entrained by unmanned plane BA1, BA2 and BA3
Camera photograph the image for including unmanned plane UAV, then the stadia surveying that unmanned plane BA1, BA2 and BA3 are carried by it
Their target UAV with monitoring respectively distance is respectively L1, L2 and L3, and unmanned plane BA1, BA2 and BA3 pass through its navigation
System determines that the position of their own is respectively respectively（x1,y1,z1）, (x2, y2, z2) and（x3,y3,z3）, then measured target
UAV's solves to obtain by following equations：
According to this bright one embodiment, due to needing the image pair captured by the camera according to entrained by three unmanned planes
Target is identified, therefore, needed before measurement unmanned plane and target range the target in three width images carry out characteristic matching with
Determine that the range measurement that three monitoring unmanned planes are done is the measurement carried out to same target.
According to one embodiment of the present utility model, monitoring unmanned plane provided by the utility model includes frame, dynamical system
System and control system, describe the control system of monitoring unmanned plane provided by the utility model in detail with reference to Fig. 2.
As shown in Fig. 2 according to the utility model one embodiment, monitor unmanned plane control system include processor 405,
MEMS402, memory 401, memory 408 and winged control device 406, fly the servo control mechanism offer that control device 406 is configured to unmanned plane
Control signal, the servo control mechanism of unmanned plane exemplarily include four electric machine controllers and four motors, such as electric machine controller
CON11, electric machine controller CON2, electric machine controller CON3, electric machine controller CON4, such as motor M1, motor M2, motor M3, electricity
Machine M4, four electric machine controllers control four motors respectively.Memory 408 is used for the operation program and number for storing controlled motor
According to.MEMS402 is used to obtain the course information of unmanned plane and is supplied to processor 405, and course information includes the angle of pitch, roll
Angle, angle of heel etc..
According to the utility model one embodiment, monitoring the control system of unmanned plane also includes navigator fix subsystem 403,
It receives the positional information and temporal information on monitoring unmanned plane of navigation positioning satellite by antenna A1, and data are transmitted
To processor.Navigator fix subsystem may also include determining that other sensor devices of unmanned plane positioning.
According to the utility model one embodiment, monitoring unmanned plane is taken radio subsystem and revolved and is parked in by rotor craft
Go up constant position in the air and formed.Radio subsystem includes sender TX, receiver RX, switching switch 405 and antenna
Device A 2.Sender TX and receiver RX is connected to antenna equipment A2 by switching switch 405.The antenna equipment A2 is used for will
Electric signal to be launched is converted to electromagnetic wave and radiated to certain space, is also used for spatial electromagnetic ripple being converted to electric signal then
Receiver RX is supplied to through switching switch；Receiver RX be configured to demodulate and solve frame antenna equipment A2 transmission come electric signal and
After send conversion subsystem to；Sender be configured to will the conversion subsystem data-signal to be sent composition data frame and adjust
Make on another radio frequency, and after open 404 through switching and be sent to antenna equipment A2.
Antenna assembly A2 may include various filters, multiplexer, duplexer etc..The radio signal of different frequency may need
Want different types of antenna and the electronic circuit of the radio signal for handling different frequency.Receiver in the utility model
RX and sender TX can be realized using existing radio technology.For example with being based on but be not limited to cellular radio technology or defend
The star communication technology is realized.The Common examples of cellular radio technology include but is not limited to：Universal Mobile Telecommunications System (UMTS),
CDMA 2000 etc..Coding techniques can be based on time division multiple acess (TDMA), frequency division multiple access (FDMA), CDMA (CDMA), orthogonal frequency
Divide multiple access (OFDMA) etc..In the case where providing content of the present utility model, person of ordinary skill in the relevant is readily understood by can
Suitable for a variety of possible radiotechnics of described application.
Another transceiver that the data that monitoring unmanned plane receives are routed in the covering space of monitoring unmanned plane.It is if another
The data of transceiver are used for visiting from outside (for example, internet), then and turn monitoring unmanned plane and data are routed into gateway, and
And data are routed to external network by gateway.Such as, when its data is sent to monitoring unmanned plane for unmanned plane UAV, nothing is monitored
It is man-machine to forward the data to gateway, the gateway and then data are sent to ground control terminal through internet and/or management is flat
Platform, ground control terminal are also sent to gateway through internet, and monitoring unmanned plane, which receives data and transfers to instruction hair, performs certain
The unmanned plane of one task.
According to the utility model one embodiment, monitoring unmanned plane detects control terminal and/or unmanned plane UAV sends
During signaling information, signaling information is sent to management platform, data management module query communication the opposing party of management platform by base station
Position, and communication link is established so as to be communicated for communicating pair in both sides.
In an illustrative embodiments, in wireless network, each monitoring equal pilot signal transmitted of unmanned plane is described to lead
All transceivers that frequency signal can be covered in space by monitoring unmanned plane receive.What the utility model preferred embodiment provided
Wireless network is made up of monitoring unmanned plane, to avoid the pilot tone of the boundary in monitoring unmanned plane and base station institute overlay area from doing
Disturb, time division multiplexing mode can be adopted, i.e., adjacent monitoring unmanned plane is adjacent to avoid in the pilot signal transmitted in different time-gap
Interference at cell boarder.Frequency division multiplexing mode can also be used, i.e. the frequency for the pilot signal that i.e. adjacent monitoring unmanned plane is sent
Rate is different.
According to the utility model one embodiment, monitoring unmanned plane may include that camera subsystem also includes camera subsystem,
It is used for the image information for obtaining test environment, and sends image information to processor 405.Camera subsystem includes camera
412 and video encoder 413, the camera 412 is used for the video image for obtaining monitored environment, and image information is transmitted
To video encoder 413, the video encoder 413 is used to encode the video signal of input, then sends to
Processor 405.
According to the utility model one embodiment, monitoring unmanned plane may also include rangefinder, and it is used for measurement and monitors nobody
Machine and aerial or ground purpose distance, the rangefinder can be radar, laser range finder etc., exemplarily show in Fig. 2
Go out laser range finder, laser range finder includes laser driver 415, optical transmitting set 414, optical receiver 416 and signal condition electricity
Road 417, the order-driven optical transmitting set 414 that laser driver 415 provides according to processor 405 connect to objective emission laser, light
Receive the laser of the reception target reflection of device 416 and be converted to electric signal and be then supplied to signal conditioning circuit 417, signal conditioning circuit
417 are used to be amplified, calculate number etc. and be supplied to processor 405, processor root to the laser signal that optical receiver 416 receives
Laser is calculated from monitoring unmanned plane range-to-go according to the time of transmitting laser and the time of reception laser and the light velocity.
In the utility model, monitoring unmanned plane refers to be configured what is sent according to setting program or ground control terminal
Instruction is autonomous to grasp and can revolve any unmanned rotor wing unmanned aerial vehicle for stopping the long period in the air, and the rotor wing unmanned aerial vehicle is in the air
It can be powered using solar energy.Monitoring unmanned plane can be run at lower height more notable than satellite, preferably；Monitor nothing
Man-machine substantially rotation stops several kms as at dry km.Compared with satellite, monitoring unmanned plane closer on ground or low latitude, because
Antenna entrained by this unmanned plane is more much smaller than the antenna entrained by satellite, monitors unmanned plane constructions cost and maintenance cost
It is more much lower than telecommunication satellite.Below in conjunction with the accompanying drawings 3 describe in detail according to the utility model one embodiment provide monitoring nobody
The power section of machine.
Fig. 3 is the built-up circuit figure of the power section in monitoring unmanned plane provided by the utility model, as shown in figure 3, root
According to one embodiment, the monitoring unmanned plane that utility model provides is provided the energy by solar energy, rotated with motor, so as to band
Dynamic rotor wing rotation.The solar-electricity source circuit includes：Photovoltaic cell SE, charger CH1, battery pack E1 and MPPT control mould
Block, photovoltaic cell SE are used to convert light energy into electric energy, and photovoltaic cell film, which can be attached at antenna, one piece of upper surface or carrying
Photovoltaic panel, photovoltaic cell SE cathode output end are connected to the first input end of charger, and cathode output end is through resistance R3 connections
In the second input of charger；Resistance R1 and R2, which are in series, is then parallel to photovoltaic cell SE both ends, and wherein intermediate node is used for
Take out the sampling voltage of photovoltaic cell；R3 is current sampling resistor, and MPPT control modules are according to sampled voltage and sample rate current
It is worth and provides control signal to charger CH1；According to photovoltaic cell SE output voltages, the sampled value of output current, charger is adjusted
Power, when environment temperature, light intensity change, solar cell is always in maximum power output state, improve solar energy
The service efficiency of battery.Monitor that the power section in unmanned plane also includes straight feedback and switchs K1, the first end for switching K1 is connected to SE
Cathode output end, the second end is connected to diode D1 anode, and diode D1 negative terminal is provided out electric energy, MPPT control moulds
Break-make of the block always according to the straight feedback switch K1 of sampled value control of too photovoltaic cell output voltage, output current.The first of charger
The positive terminal for being connected to diode D2 is brought out, diode D2 negative pole end is connected to battery pack E1 positive terminal, battery pack E1
Negative pole end be connected to the second output end of charger, i.e., male end, the utility model are arranged such circuit altogether, are in order in sunlight
When abundance is enough, provides electric energy directly to the drive circuit of motor using photovoltaic cell SE and charge a battery, do not filled in sunlight
When sufficient, electric energy is provided using drive circuit of the battery to motor.
According to the utility model one embodiment, monitoring unmanned plane includes the control circuit of four motors and four motors,
Their composition is identical, is illustrated by taking first motor M1 and its drive circuit as an example, and motor M1 includes shell, is placed in shell
Interior stator and rotor, in addition to the speed encoder and rectification encoder rotated together with the axle of rotor, speed encoder is such as
VS1, rectification encoder such as CD1, circuit for controlling motor include motor driver, such as DR1, in addition to Polarity Control unit PC1, speed
Spend control unit VC1 and pulse width modulation controlled unit PWM1, motor driver DR1 in response to control signal switch power half
Conductor device, by the first stator coil of DC power transmission to stator.Herein, because electric-motor drive unit DR1 is set
Into the first stator to stator（Motor）Winding M supplies direct current, therefore its structure can be according to the type (stator of motor
The number of phases of winding) and change.In order to drive a phase, it is necessary to 2N switch element.This 2N switch element bridge shape, crystalline substance can be used
Body pipe, IGBT, MOSFET and FET are as switch element.
Polarity Control unit PC1 receives the photosensor signal of the rectification encoder CD1 from motor, and is driven to motor
Cells D R1 sends the control signal for realizing electric rectification device, so as to realize electric rectification device.Speed control unit VC1, which is received, to be come
From the encoder VS1 signals of the speed encoder of motor, and to pulse width modulation controlled unit member PWM1 transmission speed control signals.
Fly the control signal that control device 406 sends rotating speed according to the instruction that processor 405 is sent to pulse width modulation controlled unit PWM1.Pulsewidth
Modulation control unit PWM1 is sent for being controlled to motor M1 rotating speed according to control signal to motor driver DR1
Pwm signal.
Circuit for controlling motor DR1 also DC rectifier H1, the DC rectifier is to the second stator winding from motor（Generate electricity
Machine coil）Alternating current caused by G carries out rectification and produces Rectified alternating current, and the filtered device C1 filtering of direct current produces straight
Stream electricity.Similarly, induction electric energy, the rectified device H2 of the induction electric energy and filtered electric capacity C2 filters are produced in M2 the second stator winding
Ripple is producing DC voltage；Induction electric energy is produced in M3 the second stator winding, the rectified device H3 of the induction electric energy is simultaneously filtered
Electric capacity C3 filtering is producing DC voltage；Induction electric energy, the rectified device H3 of the induction electric energy are produced in M4 the second stator winding
And filtered electric capacity C3 filtering is producing DC voltage, and all caused DC voltages are added up and are connected to charger CH2's
Input, charger CH2 will be due in power storage battery E1 caused by motor.
According to the utility model one embodiment, the stator of motor includes multiple annular silicon chips stacked on top of each other, Duo Gefa
Machine winding groove, multiple motor slot for windings, multiple magnetic flux slot segmentations, it is multiple offset eliminate groove, be wrapped in corresponding generator around
Organize multiple generator windings around groove and the multiple motor windings being wrapped in around phase induction motor slot for winding.
Motor winding M is used as making the motor of rotor rotation by receiving come the electric power of motor circuit.Generator around
Group is used as producing electric power using by the electric current that rotor rotary inductive goes out.In this embodiment, the sum of slot for winding and winding is
6, it is in 3 regions.M, G, M, G, M and G (that is, 3 motor winding M and 3 are arranged as follows along stator is circumferential
Generator windings G).Motor winding M is connected to motor driver.Generator windings G is connected to corresponding DC rectifier
Device.When the winding parallel winding of each phase, these windings are distributed by phase and polarity and are wound and be connected to corresponding
Wire on, each other without any connection.
Further, since the magnetic flux point between motor slot for winding and generator windings groove provided with width equalization relative narrower
Cut groove, therefore magnetic flux is divided, so as to blocked can electric motor winding M magnetic flux flow to generator windings G path so that
Motor winding M magnetic flux only flows to the magnetic field of stator, so that electronic function more effectively drives.In addition, magnetic flux is split
Groove makes the excitation width around motor slot for winding keep constant, so that motor slot for winding can not influence in driving period
Adjacent winding slots are not operated with being influenceed by adjacent winding slots.
The counteracting that width equalization and relative narrower are provided between generator windings groove and adjacent generator slot for winding eliminates
Groove, offseted with eliminating magnetic flux, so as to improve generating efficiency.
The rotor of generator unit includes multiple silicon chips stacked on top of each other and multiple flat permanent magnets, and these are forever
Magnet is radially embedded in stacked silicon chip.Thus, permanent magnet is designed to have strong magnetic force, so that phase can be formed
To wider magnetic field surface, therefore magnetic flux can be made to be gathered on the magnetic field surface, increase the magnetic flux density on magnetic field surface.Rotor
Number of poles is depending on the number of poles of stator.
Rotor is described in detail below, six permanent magnets are spaced equally from each other by be opened and be embedded in stacked circular silicon chip
In.Non- magnetic core is provided with the center of stacked circular silicon chip, with supports permanent magnets and silicon chip, and passes through the center of non-magnetic core
Provided with axle.Permanent magnet is formed as even shape, and formed with idle space between permanent magnet.
It is designed to have using the motor of permanent magnet and is mutually tied with the active energy of stator by energy by rotor
The revolving force for closing and being formed.In order to realize the super efficiency in motor, strengthen rotor is very important by energy.Cause
This, uses " neodymium (neodymium, iron, boron) " magnet in the present embodiment.These magnets increase magnetic field surface and magnetic flux is gathered
On the magnetic field of rotor, so as to increase the magnetic flux density in magnetic field.
At the same time, rectification encoder and speed encoder is set to carry out the rotation of controlled motor.Rectification encoder CD1 and speed
Degree encoder VS1 is installed in the outer recess of motor body shell, is rotated together with the rotary shaft with rotor.
Power section in the monitoring unmanned plane provided in the utility model, in the case of having sunlight, photovoltaic can be supplemented
It is stored in battery E1, in rotor wing rotation, also produces part electric energy, the electric energy is also mended in battery, so as to improve
Battery uses duration, in this way, the rotation of monitoring unmanned plane long period can be made to be parked in aerial position substantially, so that monitoring nothing
It is man-machine to realize that communication relay is possibly realized.
Fig. 4 is the composition frame chart of sender provided by the utility model, as shown in figure 4, sender includes digital baseband electricity
Road 510, OFDM generators 527, modulator 523, carrier generator 524, high-frequency power amplifying circuit 525 and amplifier power supply 526,
OFDM generators 527 are used for digital baseband sequence serial to parallel conversion and are modulated to N number of subcarrier, then carry out IFFT conversion shapes
Into parallel time domain data, i.e., parallel OFDM symbol, the parallel time domain data progress parallel serial conversion is formed serial
OFDM symbol, protection interval is then inserted between each serial OFDM symbol and forms the serial OFDM for inserting protection interval
Symbol data streams；The modulator 523 is used for produced by the signal modulation that OFDM generators 527 are provided to oscillator 524
Carrier wave to produce modulating wave, the high-frequency power amplifying circuit 525 is used to carrying out power to modulating wave caused by modulator putting
Greatly and antenna is supplied to, radio subsystem provided by the utility model also includes delayer 522 and range detector 521, institute
Delayer 522 is stated to be used to be postponed modulated signal caused by OFDM generators 527 to be then supplied to modulator 523；Institute
Amplitude detector 521 is stated to be used to extract the amplitude of modulated signal caused by digital baseband generator 510 and be supplied to processor
405, the processor 405 controls the output voltage of amplifier power supply 526 according to the amplitude, to supply high-frequency power amplifying circuit
525。
The amplifier power supply 526 includes n level DC voltage units, each DC voltage unit through electronic switch be in series with to
High frequency power amplifier provides electric energy, and each DC voltage unit includes a battery pack（Such as E1, E2 and En）, an afterflow two
Pole pipe（Such as D1, D2 and Dn）With an electronic switch（Such as T1, T2 and Tn）, the positive pole of battery pack is connected to the negative of fly-wheel diode
Pole；The positive pole of fly-wheel diode is connected to the first end of electronic switch, and the second end of electronic switch is connected to the negative pole of battery pack,
The control terminal of electronic switch is connected to processor, and the signal that processor provides according to range detector controls the logical of electronic switch
Disconnected, the n is the integer more than or equal to 2.
More specifically, first DC voltage unit includes a battery pack E1, a sustained diode 81 and an electricity
Sub switch T1, electronic switch are CMOS tube, and the positive pole of the battery pack E1 is connected to the negative pole of sustained diode 81；Afterflow two
Pole pipe D81 positive pole is connected to CMOS tube T1 drain electrode, and CMOS tube T1 source electrode is connected to the negative pole of the battery pack E1, CMOS
Pipe T1 grid is connected to an output end of processor 405, and processor 405 controls CMOS tube T1 break-makes.CMOS tube T1 works
In on off state, when CMOS tube T1 grid inputs a high potential, CMOS tube T1 conductings, battery pack E1 negative pole equivalent to
It is connected to the positive pole of sustained diode 81.The voltage at the both ends of sustained diode 1 is E1, and upper end is just, lower end is negative.Work as CMOS tube
When T1 grid inputs a low potential, CMOS tube T1 cut-offs.The voltage at the both ends of sustained diode 81 is diode junction voltage.
Second DC voltage unit includes a battery pack E2, a sustained diode 82 and an electronic switch T2,
Electronic switch is CMOS tube, and the positive pole of the battery pack E2 is connected to the negative pole of sustained diode 2；Sustained diode 82 is just
Pole is connected to CMOS tube T2 drain electrode, and CMOS tube T2 source electrode is connected to the negative pole of the battery pack E2, CMOS tube T2 grid
An output end of processor 405 is connected to, processor 405 controls CMOS tube T2 break-makes.CMOS tube T2 works on off state,
When CMOS tube T2 grid inputs a high potential, CMOS tube T2 conductings, battery pack E2 negative pole is equivalent to being connected to afterflow two
Pole pipe D2 positive pole.The voltage at the both ends of sustained diode 82 is E2, and upper end is just, lower end is negative.When CMOS tube T2 grid is defeated
When entering a low potential, CMOS tube T2 cut-offs.The voltage at the both ends of sustained diode 82 is diode junction voltage.
The like, n-th of DC voltage unit includes a battery pack En, a sustained diode 8n and an electricity
Sub switch Tn, electronic switch are CMOS tube, and the positive pole of the battery pack En is connected to sustained diode n negative pole；The pole of afterflow two
Pipe Dn positive pole is connected to CMOS tube Tn drain electrode, and CMOS tube Tn source electrode is connected to the negative pole of the battery pack En, CMOS tube
Tn grid is connected to an output end of processor 405, and processor 405 controls CMOS tube Tn break-makes.CMOS tube Tn is worked in
On off state, when CMOS tube Tn grid inputs a high potential, CMOS tube Tn conductings, battery pack En negative pole is equivalent to connecing
To sustained diode 8n positive pole.The voltage at sustained diode n both ends is En, and upper end is just, lower end is negative.As CMOS tube Tn
Grid input a low potential when, CMOS tube Tn cut-off.The voltage at sustained diode 8n both ends is diode junction voltage.
In this way, in the case that if the electronic switch of each DC voltage unit simultaneously turns on, HVDC Modulation power supply is total
Output total voltage be Vcc1=E1+E2+ ...+En.The magnitude of voltage of each DC voltage unit output is identical in the utility model.
In the utility model, the signal that processor 405 provides according to amplitude detector controls the break-make of each electronic switch,
When amplitude is big, multiple electronic switches are turned on, high power supply is provided to power amplifier, when amplitude is small, made wherein
The conducting of several electronic switches, provide small central battery supply to power amplifier.As long as omit the out-put supply sum of corresponding
More than the range value detected can, so configured amplifier power supply greatlys save the energy, so as to further extending unmanned plane
Flight duration.
Fig. 5 is the circuit diagram of the high frequency power amplifier in communication subsystem provided by the utility model, as shown in figure 5,
High-frequency power amplifying circuit provided by the utility model include high-frequency signal input IN, input matching network 300, amplifier,
Output matching network 400, high-frequency signal output end OUT and biasing circuit, amplifier are made up of high power tube T44, high-frequency signal
Input IN carries out impedance matching through input matching network 300, and inputs a signal into high power tube T44 base stage, high power amplifier
The signal of pipe T44 colelctor electrode output carries out impedance matching through output matching network and antenna loop and then input a signal into day
Line loop, biasing circuit are made up of transistor T42, transistor T43 and resistance R45, and transistor T42 base stages are through resistance R41 connections
In control voltage Vcon, transistor T42 colelctor electrode is connected to power Vcc 1, and emitter stage is connected to transistor T43 colelctor electrode,
Transistor T43 base stage is connected to transistor T42 emitter stage through resistance R45, and transistor T42 emitter stage is given through resistance R47
High power tube T44 base stage provides electric current.
Preferably, high-frequency power amplifying circuit also includes temperature-compensation circuit, temperature-compensation circuit include transistor T45,
Transistor T41, resistance R43 and resistance R44, wherein, transistor T45 base stage is connected to resistance R42 first end, resistance R42
The second end be connected to resistance R41 first end, resistance R41 the second end is connected to control voltage Vcon, the first of resistance R41
End is connected to transistor T41 colelctor electrode and transistor T42 base stage simultaneously；Transistor T45 colelctor electrodes are connected to through resistance R43
Power Vcc 1, emitter stage is connected to ground through resistance R44, and is connected to transistor T41 base stage；Transistor T41 emitter stage connects
Ground, colelctor electrode are connected to electricity group R41 first end.The utility model makes as a result of the temperature-compensation circuit of such structure
The temperature compensation capability for obtaining high-frequency power amplifying circuit greatly improves.
Processor in utility model may include digital signal processor (DSP), microprocessor, programmable logic device
(PLD), gate array or multiple processing components and power management subsystem.Processor may also include internally cached storage
Device, the internal cache memory are configured to store the calculating for being used to perform obtained from memory or control card
Machine readable instruction.The memory includes non-transient computer medium, the medium for example including SRAM, quick flashing, SDRAM and/
Or hard disk drive (HDD) etc..Memory is configured to store computer-readable instruction to be performed by processor.
Although above with reference to accompanying drawing to being elaborated according to the design and example of the utility model purpose, ability
Field technique personnel are any to be made based on the utility model it should be appreciated that on the premise of conceiving without departing from the utility model
Modifications and variations still fall within content in scope of protection of the utility model.
Claims (6)
1. a kind of unmanned plane monitoring system, it is characterised in that including N number of unmanned plane and management platform, N number of unmanned plane is in surveillance zone
Domain overhead forms cordless communication network and monitoring network, and the N is more than or equal to 3 integers, and unmanned plane comprises at least fixed place
Manage device, positioning subsystem, rangefinder and communication subsystem, the processor of at least part unmanned plane in N number of unmanned plane will position
The positional information and the unmanned plane of stadia surveying that subsystem obtains pass through the subsystem that communicates with the distance of the target in monitor area
System is sent to management platform, and management platform determines the position of target according to the positional information and range information of the unmanned plane received
Put.
2. unmanned plane monitoring system according to claim 1, it is characterised in that the unmanned plane is multi-rotor unmanned aerial vehicle.
3. unmanned plane monitoring system according to claim 2, it is characterised in that communication subsystem comprises at least：
One antenna assembly, the antenna assembly are used to provide wireless signal for one or more mobile platforms in institute's monitor area
Covering；One wireless receiver, the wireless receiver are used to demodulate and decode from one or more mobile platform receptions
One or more first signals；One wireless transmitter, the wireless transmitter are used to modulate and transmit one or more secondary signals
To one or more described mobile platforms；And switching subsystem, the switching subsystem be configured to by it is described it is each nobody
The data Jiao Huanzhi received at machine is selected from another receiving unit for the group for including following item：One or more described mobile platforms and institute
State one or more unmanned planes；And one or more mobile platforms, each mobile platform are used for：
Demodulate and decode from described at least one reception in one or more corresponding described unmanned planes one or more
Binary signal；And modulate and transmit at least one in described one or more first signals to one or more described unmanned planes.
4. unmanned plane monitoring system according to claim 3, it is characterised in that the unmanned plane is mended at least through solar energy
Fill the energy.
5. unmanned plane monitoring system according to claim 4, it is characterised in that unmanned plane comprises at least servo control mechanism, its
Including at least motor, the motor comprises at least stator and rotor, and the stator is comprised at least to be produced according to the electric energy of offer and moved
The coil of energy and the coil for being used for recovery section energy in rotor rotation process, the rotor include handing in N polarity and S polarity
For the permanent magnet of arrangement.
6. unmanned plane monitoring system according to claim 5, it is characterised in that unmanned plane comprises at least communication subsystem,
Communication subsystem comprises at least high frequency power amplifier, and the high frequency power amplifier comprises at least temperature-compensation circuit.
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