CN207518623U - The hidden biography system for the information that unmanned plane obtains - Google Patents

Abstract

A kind of hidden biography system for the information that unmanned plane obtains,It includes UAV system control system and ground-based server,The UAV system control system includes first processor,The first processor is by Information hiding to be sent in rgb image,Ground-based server is then sent to by transmitter,Ground-based server includes second processor,The rgb image that the second processor is sent by receiver reception unmanned plane,Second processor takes out the information of unmanned plane transmission from the rgb image of reception,The transmitter includes encryption equipment,First binary pseudo-random sequence generator,First PN sequence generators and spread spectrum modulator,First binary pseudo-random sequence generator is connected to encryption equipment,The binary sequence that encryption equipment is generated using the first binary pseudo-random sequence generator is encrypted to sent clear data to be formed ciphertext data and then sends spread spectrum modulator to；First PN sequence generators are connected to spread spectrum modulator；Ciphertext data are modulated in PN sequences and obtain spread spectrum data by the spread spectrum modulator.System security and strong interference immunity provided by the utility model.

Description

The hidden biography system for the information that unmanned plane obtains

Technical field

The utility model is related to a kind of hidden biography systems for the information that unmanned plane obtains, and belong to technical field of data processing.

Background technology

The important information on ground, such as image can be obtained using unmanned plane, including static picture and video, therefrom obtain and When accurate field data and accurate location information, to capture strategic strike target, complete the tasks such as Hitting Effect Evaluation.But It is that the information that unmanned plane obtains is easy to be intercepted and captured by other people.To ensure the safety of information, the method taken have information encryption, Information hiding or by information encrypt and hide be combined, be first by information encryption be ciphertext, be then hidden in again In open carrier, to ensure that cipher-text information does not expose, the level security of information is improved.

Usually, Information hiding is using the redundancy section in hosted information with stochastic behaviour, and important information is embedded in In hosted information.Since the visual acuity degree of people is weaker, image becomes ideal Covers of Information Hiding, the information based on image Concealing technology has image point to deposit, image concealing or image point is deposited is combined together realization Information hiding with image concealing.

But information hiding system anti-interference is poor in the prior art.

Utility model content

To overcome technical problem in the prior art, the goal of the invention of the utility model is to provide a kind of unmanned plane and obtains The hidden biography system of the information taken, anti-interference is good, good confidentiality.

To realize the goal of the invention, the utility model provides a kind of hidden biography system for the information that unmanned plane obtains, packet Include UAV system control system and ground-based server, the UAV system control system includes first processor, at described first Information hiding to be sent in rgb image, is then sent to ground-based server, ground-based server by reason device by transmitter Including second processor, the second processor receives the rgb image that sends of unmanned plane, second processor by receiver The information that unmanned plane is sent is taken out from the rgb image of reception, the transmitter includes encryption equipment, the first binary system pseudorandom Sequence generator, the first PN sequence generators and spread spectrum modulator, the first binary pseudo-random sequence generator are connected to encryption Device, encryption equipment are carried out using the binary sequence that the first binary pseudo-random sequence generator generates to sent clear data Encryption forms ciphertext data and then sends spread spectrum modulator to；First PN sequence generators are connected to spread spectrum modulator；The expansion Ciphertext data are modulated in PN sequences and obtain spread spectrum data by converting modulator.

Preferably, receiver includes decipher, the second binary pseudo-random sequence generator, despreader and the 2nd PN sequences Generator, the 2nd PN sequence generators are connected to despreader, and the despreader utilizes PN caused by the 2nd PN sequence generators The spread spectrum data that sequence pair receives carries out correlation demodulation and obtains the ciphertext data of transmitter transmission；Second binary pseudo-random sequence Generator is connected to decipher, and decipher is obtained the ciphertext data deciphering of reception using the second binary pseudo-random sequence generator To clear data.

Preferably, the unmanned plane at least generator, the generator include stator and rotor, and the stator includes and ring The concentric hollow making toroidal coil frame of shape groove, the first-class apart windings of making toroidal coil frame have N number of coil；Making toroidal coil frame Rotor is provided in interior cavity, rotor includes at least permanent magnet and the gear of annular, the circular ring shape between adjacent windings The window portion that a part for the ring gear is made to be exposed to main duct is formed on bobbin and in rack；Engine passes through gear Mechanism with the gear of annular engages that rotor is made to rotate in the cavity in making toroidal coil frame through window portion.

Preferably, the hidden biography system for the information that unmanned plane obtains further includes engine and gear mechanism, and the engine leads to Cross gear mechanism driving rotor rotation.

System provided by the utility model has the following advantages that：（1）Confidentiality and strong interference immunity；（2）Unmanned plane flies The row time is long.

Description of the drawings

Fig. 1 is the top view of oil electric mixed dynamic fixed-wing unmanned plane provided by the utility model；

Fig. 2 is the composition frame chart of the control system of unmanned plane provided by the utility model；

Fig. 3 is the composition signal of the energy conversion apparatus of oil electric mixed dynamic fixed-wing unmanned plane provided by the utility model Figure；

Fig. 4 is the schematic cross-section represented along the energy conversion apparatus A-B directions in Fig. 3；

Fig. 5 is the schematic diagram of the power plant for the oil electric mixed dynamic rotor wing unmanned aerial vehicle that utility model provides；

Fig. 6 is the composition schematic diagram of motor provided by the utility model；

Fig. 7 is the composition frame chart of transmitter provided by the utility model；

Fig. 8 is the circuit diagram of power amplifier provided by the utility model；

Fig. 9 is the composition frame chart for the receiver that this hair provides；

Figure 10 is the schematic diagram of decryptor decryption process provided by the utility model；

Figure 11 be each byte provided by the utility model by ciphertext data C any bit deposit can variation deposit figure As T2 obtains the logic chart of hiding data image T3；

Figure 12 is the logic chart that hiding data are taken out in the T3 provided by the utility model from hiding data image.

Specific embodiment

Hereinafter, the embodiment of the utility model is explained in detail with reference to the accompanying drawings.In addition, to the portion in figure identically or comparably Divide and assign the same symbol, no longer carry out explanation repeatedly.

In this specification, term " horizontal plane " refers to the face intersected with gravity direction, is not to be defined in and gravity direction The face strictly intersected with 90 ° of angle.Wherein, the housing of unmanned plane is placed in and is connect as far as possible with gravity direction angulation Nearly 90 ° of face is preferred from the aspects of the action of energy conversion device 100.In addition, upper and lower directions is looked like in this specification It is gravity direction (vertical direction).

Fig. 1 is the top view of fixed-wing unmanned plane provided by the utility model.As shown in Figure 1, fixed-wing unmanned plane includes Rack 800,800 both sides of rack are respectively arranged with a flank, the front and back of rack 800 set respectively leading edge and Rear wing.The rear wing upper edge Z-direction of rack 800（Perpendicular to the direction of horizontal plane）Duct is provided with, stent is provided in the duct, Motor 200A is provided on stent, blade is provided on the output shaft of motor 200A.The rack both sides are respectively arranged with Flank is provided with stent in front of each flank, motor 200C, motor is provided on the stent on the left of unmanned plane Blade is provided on the output shaft of 200C, motor 200B is provided on the stent on the right side of unmanned plane, motor 200B's Blade is provided on output shaft.Generator 100 is additionally provided in unmanned plane rack 800, the generator 100 starts fuel oil The kinetic energy of machine is converted into electric energy to be set to other electricity consumptions in motor 200A, motor 200B, motor 200C and unmanned plane It is standby that electric energy is provided.The output shaft of the fuel engines sends kinetic energy to generator 100 by gear 400.After unmanned plane Empennage is set on the wing, and empennage is V-shaped, to increase flight stability.Anti-twisted power flow deflector is provided below in blade, to flat The rotating torque generated during weighing apparatus blade rotation.Thrust flow deflector is provided below in blade simultaneously, generates the thrust that moves ahead.

Rack, leading edge, rear wing and empennage use aluminum alloy framework, outer paving carbon fibre composite, in the same of proof strength When mitigate fuselage weight.

Fig. 2 is the composition frame chart of the control system of unmanned plane provided by the utility model, as shown in Fig. 2, according to this practicality A novel embodiment, the control system of unmanned plane include flying control device 406, the order-driven unmanned plane during flying according to flight processor Servo mechanism, communication subsystem, photograph subsystem and processor 405, wherein, fly instruction of the control device 406 according to processor 405 Control signal is provided to servo mechanism, so that servo mechanism is flown according to the instruction of preset path or ground control terminal Row, also by unmanned plane during flying when data send processor 405 to, servo mechanism illustratively include three electric machine controllers and Three motors, electric machine controller such as electric machine controller CON1, electric machine controller CON2 and electric machine controller CON3；Motor such as motor M1, motor M2 and motor M3, three electric machine controllers control three motors respectively.Unmanned plane further includes photograph subsystem, packet Camera 412 and camera controller 413 are included, the camera 412 is connected to camera controller 413, is used for monitored Region is taken photo by plane, and sends the image information taken photo by plane to camera controller 413, and camera controller 413 is connected to processing Device 405, is used to handle the image information of input and then sends processor 405 to.Communication subsystem includes digital base Tape cell 410, radio frequency unit 411 and communication card 414, communication card 414 are connected to digital baseband unit 410 by slot, transmit When, the digital baseband unit 410 is used for the information to be transmitted by processor and carries out source coding and channel coding, then transmits To radio frequency unit 411, the radio frequency unit 411 includes transmitter, and the transmitter is used for carry out digital baseband unit transmission Information be encrypted and be modulated to frequency with the PN that PN random sequence generators generate with and variation carrier signal on then carry out Power amplifier is emitted to space finally by antenna；Radio frequency unit 411 further includes receiver, and receiver is used for the letter for receiving antenna It number is demodulated and decrypts, then send the data to digital baseband unit 410, digital baseband unit 410 is used for digital base Band signal carries out channel decoding, source coding, takes out data or instruction that control terminal is sent.

In the utility model, camera is fixed on by universal joint on unmanned aerial vehicle platform, makes the photography axis of camera with nothing The OZ of man-machine body coordinate system is overlapped, and the axis for making the image plane of camera is parallel with the OX of the body coordinate system of unmanned plane, is shone The axis of the image plane of camera is parallel with the OY of the body coordinate system of unmanned plane, so installs, can be by measuring the appearance of unmanned plane State angle and extrapolate photography axis attitude angle.

According to the utility model first embodiment, the control system of unmanned plane further includes altimeter 415, is used to obtain nothing The man-machine elevation information with ground.According to one embodiment of the utility model, the control system of unmanned plane further includes memory 408, It is used to store the acquired data for flying control program and unmanned plane servo mechanism.The servo mechanism includes electric motor and controller Device.

The control system of unmanned plane further includes navigator fix receiver 403, and navigation positioning satellite is received by antenna A1 The location information and temporal information about unmanned plane, and transfer data to processor 405.Navigator fix receiver 403 It is such as GPS receiver, the Big Dipper positions time service receiver.According to one embodiment of the utility model, by the reception of navigator fix device The light shaft coaxle of antenna axis and camera is set, can so be connect according to navigator fix the location information of the unmanned plane that device determines according to The principle of coordinate transform determines the coordinate of the central point of image captured by camera.

The control system of unmanned plane further includes MEMS402, when installing MEMS402 on unmanned plane, makes its measurement that can survey Amount camera takes the photograph the attitude angle of phase axis.According to one embodiment of the utility model, the utility model provides unmanned plane by power module 100 provide the energy to all parts, can be turned off by switch and be controlled with connecting, power module 100 includes at least hair Motor.

According to one embodiment, the control system of unmanned plane further includes range unit 418, is used to measure unmanned plane and mesh The distance of mark etc., the distance measuring equipment 418 are, for example, laser range finder.The control system of unmanned plane further includes direction-finding device 418, it is used to measure the direction of monitored target and unmanned plane.The number that processor is provided according to range unit and direction-finding device According to position and speed for determining monitored target etc..The control system of unmanned plane further includes memory 401, is used to store application Program and the data obtained, application program include such as monitored position of target, the calculation procedure of speed, image procossing journey Sequence etc..

Fig. 3 is the composition schematic diagram of the energy conversion apparatus of fixed-wing unmanned plane provided by the utility model；Fig. 4 is to represent Along the schematic cross-section in the energy conversion apparatus A-B directions in Fig. 3, as shown in Figure 3-4, be provided in rack engine, Gear mechanism and generator, the engine are connected by gear mechanism with generator, and the generator includes stator and rotor, The stator includes hollow making toroidal coil frame 102, and the first-class apart windings of making toroidal coil frame have N number of coil 101；Circular ring shape Rotor is provided in cavity in bobbin 102, rotor includes at least permanent magnet and the gear 105 of annular, in adjacent windings Between making toroidal coil frame on be formed with the window portion 108 that a part for the ring gear is made to be exposed to making toroidal coil frame； Engine 600 engages to make rotor in making toroidal coil frame through window portion by gear mechanism 400 with the gear of annular It is rotated in cavity.Preferably, the rotor includes the magnet ring concentric with making toroidal coil frame 102, and the magnet ring includes：Ring Magnetic box 106, polylith permanent magnet, ring gear 105 and the multiple pulleys 104 of shape, cricoid magnetic box 106 are more for storing Block magnet, block magnet are to arrange that is, adjacent two pieces of magnet polarities are identical, the annular in N polarity, S polarity, S polarity, N polarity ... Gear 105 is concentric with cricoid magnetic box and is set on cricoid magnetic box；Multiple pulley 104 with the circular ring shape line The mode of 102 hollow cavity wall of coil contact is uniformly configured on the cricoid magnetic box.In the utility model, in adjacent lines The window portion that a part for the ring gear is made to be exposed to bobbin is formed on making toroidal coil frame 102 between circle 101 108, so that the part tooth of gear 400 can pass through window portion 108 and the tooth engagement of ring gear 105.As long as 105 tooth of gear can With the part tooth engagement of gear 400, the then unlimited position for being shaped as window portion 108.In addition, window portion 108, which does not limit, forms coil 1 position of frame, can also be formed in multiple positions.Permanent magnet 107 is accommodated in the magnetic box for being formed in magnetic box 106.Fig. 3 In be expressed as 10 permanent magnets and be accommodated in magnetic box 106.But this composition is only an example, is accommodated in the permanent of magnetic box 106 As long as number at least one of magnet 1.

It is preferable to use rare earth element magnets for permanent magnet 107.In general, compared with the ferrite magnet of same size, it is dilute Great soil group magnet has stronger magnetic force (coercivity).Such as samarium cobalt magnet or neodium magnet can be used as rare earth element magnet. Particularly preferred neodium magnet in the embodiment of the utility model.

For neodium magnet in general, compared with samarium cobalt magnet, when same size, has stronger magnetic force (coercivity).Therefore, For example small-sized permanent magnet can be used.Alternatively, compared with the situation of samarium cobalt magnet with using phase size, by using neodymium magnetic Iron can improve the output (can take out larger energy) of energy conversion device.But the embodiment of the utility model is simultaneously The permanent magnet being not excluded for other than rare earth element magnet.Permanent magnet 107 is certainly possible using ferrite magnet.

Magnetic box 106 is formed as cyclic annular, and middle and upper part is equipped with opening.Therefore, permanent magnet 107 is from the upper of magnetic box 106 Side is inserted into magnetic box.Annular is formed by the way that permanent magnet 107 is inserted into magnetic box, it can also be in segment magnet box It is inserted into permanent magnet.

Magnetic box 106 is made by non-magnetic material.As long as non-magnetic material, then the material of magnetic box 106 is not special It limits.In one embodiment, magnetic box 106 is formed by nonmagnetic metal (such as aluminium).If the temperature of permanent magnet 107 Too high, then permanent magnet 107 is it is possible that subtract magnetic.That is, the magnetic force of permanent magnet 107 is it is possible that die down.By using non magnetic gold Belong to forming magnetic box 106, heat caused by permanent magnet 107 can efficiently be discharged to outside, therefore, it is possible to reduce Generate the possibility of this problem.In another embodiment, magnetic box 106 is formed by resin material.By by resinous wood Material forms magnetic box 106, can mitigate the weight of magnetic box 106.

Gear 105 be mechanically fixed to on magnetic box 106.Gear 105 is formed as cyclic annular, and magnetic box 106 is concentric matches It puts.Screw is used for stationary annular gear 105.Screw runs through gear, and is fixed on magnetic box 106.

The upper surface of ring gear 105 is processed to：So that the head of screw does not highlight from the upper surface of gear 105. Ring gear 105 is formed with teeth to be meshed with the pinion gear 400 in main duct.Ring gear 105 is relative to magnetic box The center axis rotation of 106 main duct.

The width of ring gear 105 is wider than the width of magnetic box 106.Ring gear 105 is being installed on magnetic box 106 When, ring gear 105 extends from magnetic box 106 to the internal diameter direction of magnetic box 106.

Hollow toroidal cavity is formed in making toroidal coil frame 102, for storing magnet ring, i.e., stores and is accommodated with forever The long magnetic box 106 of magnet and gear 105.Making toroidal coil frame 102 be formed as with magnetic box 106, gear 105 have it is public in The ring-type of the heart, the convenience center are the axis of main duct.

Wheel 104 is spherical shape, is fixed on magnet retainer by wheel carrier.Multiple wheel is uniformly arranged on magnet guarantor It holds on frame, multiple wheels are contacted with the inner wall of bobbin inner cavity, when ring gear 105 under the action of pinion gear when rotating, magnetic The rotation of can 106, wheel 104 are rotated.With the rotation of wheel 104,106 smooth rotation of magnetic box can be made.

For the total weight disperseed the weight of magnet ring, disperse magnetic box 106 and gear 105, the number of wheel 104 It is The more the better.Therefore, the number of wheel 104 is preferably 3 or more.By 3 points of regulations, 1 plane.If the number of wheel 104 is 3, then by each wheel 104 and bobbin lumen contact, up-down vibration in the rotary course of magnetic box 105 can be prevented.

Wheel 104 is also required to the intensity with the weight for supporting magnetic box 106 and gear 105.Moreover, in magnetic box 105 During high speed rotation, the also high speed rotation of wheel 104.It is therefore preferable that the light weight as much as possible of wheel 104, so as to high speed rotation.Cause This, wheel 104 is formed by such as metal (such as aluminium).

During unmanned plane during flying, in order to make middle stable rotation of the magnet shape in bobbin 102, preferably protected in magnet It holds below frame 105, the left side and the right side are uniformly arranged multiple wheels 104 respectively, are also uniformly arranged above ring gear more A wheel 104.

N number of line coil 101 is uniformly wound on bobbin 102 at equal intervals.The wire rod of coil 101, the number of turn do not limit especially It is fixed.In addition, bobbin 102 play the role of it is following：As for energy conversion device to be set to the shape ring groove in rack 32 In, during unmanned plane during flying, the kinetic energy of motor output is converted to electric energy.

The rectangular cross-section of magnetic box 105 or circle.And the section of the annular groove of rack is also rectangle or circle Shape.Since the section of bobbin 102 is also rectangle or circle, magnetic box 105 and coil 101 can be shortened as much as possible The distance between.Thereby, it is possible to the reductions of the magnetic coupling force between suppression coil 101 and permanent magnet 107.

5 coils 101 are shown in Fig. 3.But as long as minimum 1 of the number of coil 101, does not limit especially It is fixed.When the number of coil 101 is multiple, preferably these multiple coils are equiangularly configured as defined in bobbin on circumference.

In Fig. 3 to Fig. 4, when being rotated by 600 drive gear 400 of engine, gear 400 is through the window portion on bobbin 102 It is engaged with ring gear 105 and ring gear is driven to rotate, ring gear is maintained at the cavity rotation in bobbin 102 with moving magnet Turn, since the magnet set by the utility model is to be arranged in N polarity, S polarity, S polarity, N polarity ..., so exist in magnet When being rotated in coil, the rotary magnetic place of alternation is produced in each of the coils, so as to produce electric energy in coil.It ties below Close the power plant that attached drawing 5-6 describes the utility model.

Fig. 5 is the schematic diagram of the power plant for the fixed-wing unmanned plane that utility model provides, as shown in figure 5, according to this reality With novel one embodiment, the rectified device 300 of electric energy that the generator 100 of fixed-wing unmanned plane generates is rectified into direct current, and It is filled into accumulator E1 by charger 500, three motors is given using electric power storage E1, such as motor 200A, motor 200B and electricity Machine 200C and other electrical equipments provide electric energy.According to the utility model one embodiment, to prevent accumulator from being fallen to charger Electric energy is provided, a diode D1, diode are provided between the positive electricity source output terminal of charger and the positive terminal of accumulator The anode of D1 is connected to the positive electricity source output terminal of charger 500, and cathode is connected to the anode of battery E1.The public affairs of charger 500 End is connected to the negative pole end of battery altogether.In accumulator E1 electric energy is provided to motor by diode D1.According to the utility model One embodiment, the blade of unmanned plane are driven by three motors, the rotating speed of each motor by circuit for controlling motor according to instruction come Control.

According to the utility model one embodiment, motor includes shell, the stator and rotor being placed in shell, the stator On be provided with first stator winding coil U1, V1 and W1, second stator winding coil U2, V2 and W2 and third stator winding coil U3, V3 and W3, first stator winding coil U1, V1 and W1 and second stator winding coil U2, V2 and W2 are motor winding wire Circle, their each single item are set respectively with slot, first stator winding coil U1, V1 and W1 and third stator winding coil U3, V3 It is staggered respectively with W3, as shown in Figure 6.Motor further includes the speed encoder VS1 rotated together with the axis of rotor and rectification Encoder CD1, circuit for controlling motor include motor driver DR1, further include polarity control unit PC1, speed control unit VC1 And the semiconductor of pulse width modulation controlled unit PWM1, motor driver DR1 to carry out switch control in response to control signal Device, by power transmission to the first stator winding.Herein, since electric-motor drive unit DR1 is arranged to the stator to stator Winding supplies direct current, therefore its structure can change according to the type (number of phases of stator winding) of motor..

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 being used to implement electric rectification device, so as to fulfill electric rectification device.Speed control unit VC1, which is received, to be come Signal is controlled from the encoder VS1 signals of the speed encoder of motor, and to pulse width modulation controlled unit PWM1 transmission speeds.Electricity Machine control circuit further includes DC rectifier H1, and the DC rectifier is to the third stator winding from motor（Portion of energy recycles Coil）The alternating current of generation carries out rectification and generates Rectified alternating current, and the filtered device C1 filtering of direct current generates direct current Electricity.Circuit for controlling motor further includes polarity control unit PC2, speed control unit VC2 and pulse width modulation controlled unit PWM2, Polarity control unit PC2 receives the photosensor signal of the rectification encoder CD1 from motor, and to electric-motor drive unit DR2 The control signal for being used to implement electric rectification device is sent, so as to fulfill electric rectification.Speed control unit VC2 receives the speed from motor The encoder VS2 signals of encoder are spent, and signal is controlled to pulse width modulation controlled unit PWM2 transmission speeds.The flight of unmanned plane Controller sends the control of rotating speed according to the instruction of transmission to pulse width modulation controlled unit PWM1 and pulse width modulation controlled unit PWM2 Signal processed.Pulse width modulation controlled unit PWM1 and pulse width modulation controlled unit PWM2 drives respectively to motor driver DR1 and motor Dynamic device DR2 sends the pwm signal for being controlled according to control signal the rotating speed of motor.

According to the utility model one embodiment, the stator of motor further includes multiple annular silicon chips stacked on top of each other, multiple Portion of energy recycling slot for winding, multiple motor slot for windings, multiple magnetic flux slot segmentations, multiple offset eliminate slot, are wrapped in accordingly Portion of energy recycles the multiple portions energy regenerating winding around slot for winding and is wrapped in around phase induction motor slot for winding Multiple motor windings.

Motor winding is used as the motor for making rotor rotation come the electric power of motor circuit by receiving.Portion of energy is returned Winding is received to be used as generating electric power using by the electric current that rotor rotary inductive goes out.In this embodiment, slot for winding and winding is total Number is 6, is in 3 regions.U1/U2, U3, V1/V2, V3, W1/W2, W3 are arranged as follows along stator is circumferential.First Stator winding is connected to motor driver DR1, and the second stator winding is connected to motor driver DR2.Second stator winding It is connected to corresponding DC rectifier CH1.When the winding parallel winding of each phase, these windings by phase and polarity into Row is distributed and winds and be connected on corresponding conducting wire, each other without any connection.

Further, since it is relatively narrow to be equipped with width equalization between motor slot for winding and portion of energy recycling slot for winding Magnetic flux slot segmentation, therefore magnetic flux is divided, so as to blocked can the magnetic flux of electric motor winding flow to portion of energy recycling winding Path so that the magnetic flux of motor winding only flows to the magnetic field of stator, so as to which electronic function be made more effectively to drive.This Outside, magnetic flux slot segmentation remains unchanged the excitation width around motor slot for winding, so as to drive motor slot for winding Dynamic period does not influence adjacent winding slots or is not operated with being influenced by adjacent winding slots.

Recycle that width is equipped between slot for winding and adjacent part energy regenerating slot for winding is impartial and relatively in portion of energy Slot is eliminated in narrow counteracting, is offseted with eliminating magnetic flux, so as to improve generating efficiency.

Rotor includes multiple silicon chips stacked on top of each other and multiple flat permanent magnets, these permanent magnets are radially embedded in In stacked silicon chip.In this regard, permanent magnet is designed to have strong magnetic force, so that relatively wide magnetic field table can be formed Face, therefore magnetic flux can be made to be gathered on the magnetic field surface, increase the magnetic flux density on magnetic field surface.The number of poles of rotor is according to stator Depending on number of poles.

Rotor is described in detail below, three permanent magnets are spaced equally from each other by be opened and be embedded in stacked round silicon chip In, and polarity is in N polarity and S poles interlaced arrangement.Non- magnetic core is equipped on the center of stacked round silicon chip, to support permanent magnetism Body and silicon chip, and it is equipped with axis across the center of non-magnetic core.Permanent magnet is formed as even shape, and is formed between permanent magnet There is idle space.

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 rotary force for closing and being formed.In order to realize the super efficiency in motor, enhance being very important by energy for rotor.Cause This, uses " neodymium (neodymium, iron, boron) " magnet in the present embodiment.These magnets increase magnetic field surface and magnetic flux are enable to gather 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 control the rotation of 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.

The power section of the unmanned plane provided in the utility model, by diesel engine export kinetic energy be converted to electric energy with It is supplied in the motor of unmanned plane, in the motor due to being provided with third stator winding on stator, in unmanned plane during flying Portion of energy is had collected in the process, and the energy of the collection is applied to the second stator winding, and the first stator winding is applied to change In electric power, so as to save energy, can so make the flight time of extension unmanned plane.

Unmanned plane communicates with ground-based server, is described in detail with reference to Fig. 7.

Fig. 7 is the composition frame chart of ground-based server, as shown in fig. 7, ground-based server provided by the utility model includes place Device 20, input/output interface, network adapter 23, communication module 23, dual-mode antenna 24 and memory 25 are managed, wherein, receive and dispatch day Line 24 is used to spatial electromagnetic wave signal being converted to electric signal, and be supplied to communication module 23, and communication module 23 includes digital base Tape cell, modulation unit and communication card, communication card are connected to digital baseband unit by slot, when transmitting, the digital baseband Unit is used for the information to be transmitted by processor and carries out source coding and channel coding, then sends modulation unit, the tune to Unit processed includes transmitter, and the transmitter is used to be spread the information that digital baseband unit transmission comes and is modulated to carrier wave Power amplifier is then carried out on signal, space is emitted to finally by antenna；Modulation unit further includes receiver, and receiver is used for day Line received signal is demodulated and de-spreads, and then sends the data to digital baseband unit, and digital baseband unit is used to count Word baseband signal carries out channel decoding, source coding, takes out data or instruction that control terminal is sent.Processor 20 is to nothing The data frame that man-machine borne control system is sent is unpacked and passes through input/output interface 21 and shown over the display, Processor is handled the acquired data that obtain according to user instruction, the position of ground target is judged, according to the position of ground target It puts and makes unmanned plane during flying instruction, unmanned plane during flying instruction is then packaged into flight directive frame, passes through communication module 14 and day Line 18 is sent to UAV system flight control system.Nobody figure for being sent with borne control system that ground-based server will be received As being printed by printer, can also store in memory 25, also by network adapter be sent to other users or At least be also stored in server memory ground receiver end include at least be stored with decryption program and gray-scale map.Input and output connect Mouth 21 can also connect keyboard and mouse, and for inputting instruction or performing certain operations, mouse is used to perform certain operations keyboard.

In the utility model, the communication module in communication subsystem and ground-based server in UAV system control system It forms identical, included transmitter and receiver composition is also identical, this detailed description is described with reference to Fig. 8-12.

Fig. 8 is the composition frame chart of transmitter provided by the utility model, as shown in figure 8, transmitter includes at least PN sequences The data that digital baseband unit provides are modulated to PN sequences by generator 802 and spread spectrum modulator 804, the spread spectrum modulator 804 Spread spectrum data is obtained on row.Transmitter further includes radio-frequency modulator 805 and r-f generator 806, and the radio-frequency modulator is used for Spread spectrum data is modulated on the radio frequency that r-f generator 806 generated and obtains high frequency modulated wave, and after put through power amplifier 807 Greatly, to be emitted in the air by antenna 809.

Fig. 9 is transmitter medium-high frequency power amplifier provided by the utility model（Power amplifier）Circuit diagram, as shown in figure 9, High-frequency power amplifying circuit provided by the utility model include high-frequency signal input terminal IN, input matching network 300, amplifier, Output matching network 400, high-frequency signal output terminal OUT and biasing circuit, amplifier are made of high power tube T44, high-frequency signal Input terminal IN carries out impedance matching through input matching network 300, and inputs a signal into the base stage of high power tube T44, high power amplifier The signal of the collector output of pipe T44 carries out impedance matching through output matching network and antenna loop and then inputs a signal into day Line loop, biasing circuit are made of transistor T43 and resistance R47, and transistor T43 base stages are connected to control voltage through resistance R41 The collector of Vcon, transistor T43 are connected to power Vcc 1, and emitter provides electricity through resistance R47 to the base stage of high power tube T44 Stream.

Preferably, high-frequency power amplifying circuit further includes temperature-compensation circuit, temperature-compensation circuit include transistor T41, Transistor T42, resistance R43, resistance R43 and resistance R44, wherein, the base stage of transistor T42 is connected to the first end of resistance R42, The second end of resistance R42 is connected to the first end of resistance R41, and the second end of resistance R41 is connected to control voltage Vcon, resistance The first end of R41 is connected to the collector of transistor T41 and the base stage of transistor T43 simultaneously；Transistor T42 collectors are through resistance R43 is connected to power Vcc 1, and emitter is connected to ground through resistance R44, and is connected to the base stage of transistor T41；Transistor T41's Emitter is grounded, and collector is connected to the first end of electricity group R41.The utility model is as a result of the temperature-compensating of such structure Circuit so that the temperature compensation capability of high-frequency power amplifying circuit greatly improves.

According to an embodiment, high-frequency power amplifying circuit further includes steady potential circuit, and the regulator circuit includes capacitance C41 With diode D41, one end of capacitance C41 is connected to the base stage of transistor T43, other end ground connection；The plus earth of diode is born Pole is connected to the base stage of transistor T43.

Figure 10 is the composition frame chart for the receiver that this hair provides, and the receiver includes frequency converter 811, this grade of oscillator 812nd, synchronizing indicator 813, extended frequency demodulator 814 and PN sequence generators 816, wherein, frequency mixer 811 will be received from antenna This grade of oscillator of signal and carrier wave 812 be mixed, and take out transmitter transmission modulated signal；Synchronizing indicator 813 from The synchronizing information that transmitter is sent is detected in modulated signal and is supplied to extended frequency demodulator 814, extended frequency demodulator 814 makes modulation Signal carries out correlation demodulation with the PN sequences that PN sequence generators 816 generate and obtains the data of transmitter transmission, and be supplied to number Word Base Band Unit.

In the utility model, the memory 401 in the control system of UAV system at least stores image procossing journey Sequence, the gray-scale map arranged jointly with ground based terminal and captured true coloured picture, the processor 405 call image processing program, And implementation procedure, with specific reference to attached drawing 11：

S100 takes out a width with the gray-scale map that ground based terminal or server are arranged jointly as fixation from memory 401 Divide and deposit image T1, can also send a width gray-scale map to unmanned plane by ground based terminal in the step deposit figure as fixed point；

S200 select a series of true color images as can variation deposit image T2, selection can variation deposit the frame number of image T2 by Data to be concealed or ciphertext number determine；

S300 is encrypted the clear data M that enciphering hiding is needed to transmit to obtain ciphertext data C, this practicality is new In type, due to data being dispersed in the multiple bytes for a frame for being hidden in rgb image or in the byte of multiple frames, until It in which kind of mode selected, is determined by the password inputted, therefore, to reduce operand, first will not can wait hiding clear data Place is encrypted；

S400 according to fixed point deposit image T1 by ciphertext data C deposits can variation deposit image T2 and obtain hiding data image T3 And be sent to ground based terminal or server, in the step, by ciphertext data C deposits can variation deposit image T2 and obtain hiding data The step of image T3, specifically includes：By the same position of each byte of ciphertext data be stored respectively in can variation deposit in image T2 In two positions of same byte；Or by the same position of each byte of ciphertext data be stored respectively in can variation deposit in image T2 Different bytes two positions in.According to one embodiment, each byte includes 8bit, the specific hidden method packet of the step It includes：

The 8bit positions of each bytes of ciphertext data C from high to low are denoted as data [n] in order；Fixed point deposit image T1, can Variation deposit image T2 and hiding data image T3 data fields since the 1st byte every 8M byte be a byte group, byte Group 8Mbit positions from low to high are denoted as fix [m, n], var [m, n] and cov [m, n] respectively in order, can variation deposit image T2 The kth of each byte and p bits convert according to the following rules respectively in the byte group of every 8 bytes composition of data field, other Bit invariant position obtains each byte of hiding data image T3 data fields：

cov[m,k]=data[n]fix[m,k]；

cov[d, p]=data[n]fix[d, p]

In formula：;,;

According to the instruction of ground based terminal, that is, the size of the password arrange parameter M sent and relationship.Preferably,.

Figure 12 deposits image T1 and hiding data image T3 using fixed point and restores to obtain ciphertext to be provided by the utility model The logic chart of any bit of each byte of data C as shown in figure 12, image is stored in the memory of ground-based server Processing routine and gray level image, processor 20 calls image processing program, and calculates each of ciphertext data C according to the following rules The value of 1st to the 8th bit of byte：

Data[n]=( fix[m,k] cov[m,k])+( fix[d, p] cov[d, p])。

Unmanned plane target tracking provided by the utility model can be made a kind of system, and the system comprises different soft Part module.Software module can include realizing any or all of component of the above method.In embodiment, software module includes regarding Frequency stream service module, coordinate transformation module, filter module, image zooming-out module, Feature Points Matching module, tracking module, user Interface module and visual console module, these modules can for example be run on one or more hardware processors.So The different software module of the system can be used to perform the method step afterwards.

In addition, method provided by the utility model can be by the computer program of computer usable program code come real Existing, computer usable program code is stored in the computer readable storage medium in data processing system, and computer Usable program code is downloaded by network from remote data processing system.In addition, in the embodiment of the utility model, computer The computer that program can include in the computer readable storage medium being stored in the data processing system of service station can use journey Sequence code, computer usable program code download to remote data processing system by network, so as in the calculating of remote system It is used in machine readable storage medium storing program for executing.

Those skilled in the art will appreciate that the various aspects of the utility model can be implemented as system or side Method.Therefore, the various aspects of the utility model can be with specific implementation is as follows, i.e.,：Complete hardware embodiment, completely Software Implementation（Including firmware, resident software, microcode etc.）Or the embodiment combined in terms of software and hardware, this In may be collectively referred to as " module " or " system ".

The embodiment of the utility model can realize that described device includes memory and at least one place in the form of device Manage device, at least one processor is coupled to the memory and operable to perform exemplary method steps.

The advantages of basic principle, main feature and the utility model of the utility model are described above in association with attached drawing.This The technical staff in field is retouched in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments That states only illustrates the principle of the utility model, and the utility model is also on the premise of not departing from the spirit and scope of the utility model Various changes and modifications are had, these various changes and improvements fall within the scope of the claimed invention.The utility model Claimed range is defined by appended claims and its equivalent.

Claims (4)

1. a kind of hidden biography system for the information that unmanned plane obtains, described including UAV system control system and ground-based server UAV system control system include first processor, the first processor by Information hiding to be sent in rgb image, Ground-based server is then sent to by transmitter, ground-based server includes second processor, and the second processor is by connecing It receives device and receives the rgb image that unmanned plane is sent, second processor takes out the letter of unmanned plane transmission from the rgb image of reception Breath, the transmitter include encryption equipment, the first binary pseudo-random sequence generator, the first PN sequence generators and band spectrum modulation Device, the first binary pseudo-random sequence generator are connected to encryption equipment, and encryption equipment is generated using the first binary pseudo-random sequence The binary sequence that device generates is encrypted to sent clear data to be formed ciphertext data and then sends spread spectrum modulator to； First PN sequence generators are connected to spread spectrum modulator；Ciphertext data are modulated in PN sequences by the spread spectrum modulator to be expanded Frequency evidence.

2. the hidden biography system for the information that unmanned plane according to claim 1 obtains, which is characterized in that receiver includes decryption Device, the second binary pseudo-random sequence generator, despreader and the 2nd PN sequence generators, the 2nd PN sequence generators are connected to Despreader, the despreader carry out related solution using the spread spectrum data that PN sequence pairs caused by the 2nd PN sequence generators receive It adjusts and obtains the ciphertext data of transmitter transmission；Second binary pseudo-random sequence generator is connected to decipher, and decipher utilizes The ciphertext data deciphering of reception is obtained clear data by the second binary pseudo-random sequence generator.

3. the hidden biography system of information obtained according to any unmanned planes of claim 1-2, which is characterized in that it is described nobody Machine includes at least generator, and the generator includes stator and rotor, and the stator includes and concentric hollow of annular recess Making toroidal coil frame, the first-class apart windings of making toroidal coil frame have N number of coil；It is provided with and turns in cavity in making toroidal coil frame Son, rotor include at least permanent magnet and the gear of annular, shape on the making toroidal coil frame between adjacent windings and in rack Into the window portion for thering is the part for making the ring gear to be exposed to main duct；Engine is by gear mechanism through window portion and annular Gear engage so as to which rotor be made to be rotated in the cavity in making toroidal coil frame.

4. the hidden biography system for the information that unmanned plane according to claim 3 obtains, which is characterized in that further include engine and Gear mechanism, the engine drive rotor to rotate by gear mechanism.