CN207603640U - A kind of unmanned plane - Google Patents

A kind of unmanned plane Download PDF

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Publication number
CN207603640U
CN207603640U CN201721422092.8U CN201721422092U CN207603640U CN 207603640 U CN207603640 U CN 207603640U CN 201721422092 U CN201721422092 U CN 201721422092U CN 207603640 U CN207603640 U CN 207603640U
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China
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unmanned plane
power amplifier
operating mode
power
distance
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朱剑
张向东
于振宇
罗志平
严栋
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Goertek Inc
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Goertek Inc
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00Reducing energy consumption in communication networks
    • Y02D30/70Reducing energy consumption in communication networks in wireless communication networks

Abstract

The utility model discloses a kind of unmanned planes.The unmanned plane includes:Processor, power amplifier, antenna and GPS module, processor are connected respectively with power amplifier and GPS module, and power amplifier is connected with antenna;GPS module obtains unmanned plane and the location information of earth station, and location information is sent to processor;Processor handles location information, determines the operating mode of the power amplifier on unmanned plane, and the control signal of corresponding operating mode is sent to power amplifier;Power amplifier corresponds to the gain parameter threshold value of operating mode according to control signal behavior, and power amplification is carried out to radio frequency transmissions according to gain parameter threshold value;Amplified signal is sent to earth station by antenna.As it can be seen that the utility model both can guarantee radio frequency transmissions transmission quality, while also reduce the power consumption of power amplifier, and improved the cruise duration of unmanned plane according to unmanned plane and the operating mode of the location information of earth station adjustment power amplifier.

Description

A kind of unmanned plane
Technical field
The utility model is related to unmanned air vehicle technique field, more particularly to a kind of unmanned plane.
Background technology
UAV referred to as " unmanned plane ", is usually used in aerial photographing, geographical mapping, traffic real time monitoring, supply lines Road inspection, pesticide spraying etc..With the development of unmanned air vehicle technique, the electronic device on unmanned plane also increasingly increases, more next More new electronic devices are added into unmanned plane, on the one hand improve the performance of unmanned plane, and are on the other hand increased The power consumption of unmanned plane reduces the cruise duration of unmanned plane.
On existing unmanned plane, arranged from high to low according to power consumption, main electronic device includes:(1) propeller electricity Machine;(2) radio communication transmitting module;(3) master control system chip;(4) camera;(5) sensor;(6) radio communication receives Module.
Radio communication transmitting module power consumption is larger in the various electronic devices of unmanned plane, is particularly operated in 5.8GHz's Number transmits frequency module (for emitting Flight Condition Data etc.) and figure transmits frequency module (for emitting the picture number of unmanned plane acquisition According to, video data etc.).Since the environmental signal attenuation of 5.8GHz is larger, and power amplifier asking there are power amplification efficiency in itself Topic, in order to ensure that image data, video data of the Flight Condition Data of unmanned plane and acquisition etc. can pass ground back at a distance Face station, it is often necessary to use the high power amplifier of 32dBm.Radio frequency is generated simultaneously when number transmits frequency module and schemes transmission frequency module When emitting signal, the power consumption that power amplifier carries out the radio frequency transmissions of the two power amplification consumption has reached 10W Left and right reduces the cruise duration of unmanned plane.
Such high-power amplifier, can make the communication distance of radiofrequency emitting module and earth station reach more than 1km.However In practical applications, unmanned plane also has the situation of near work (such as unmanned plane stand from the ground tens meters of operating personnel), herein In the case of kind near work, the radio-frequency emission power that figure passes, number passes only needs more than ten of dBm, and the power of actual consumption is not To 1W, if the waste of the energy still can be caused using high power amplifier.
Utility model content
In order to solve the problems, such as that the power cost of power amplifier of existing unmanned plane is big, unmanned plane is short cruise duration, this practicality is new Type provides a kind of unmanned plane, which includes:
Processor, power amplifier, antenna and GPS module, processor respectively with power amplifier and GPS module phase Even, power amplifier is connected with antenna;
GPS module obtains unmanned plane and the location information of earth station, and location information is sent to processor;
Processor handles the location information of unmanned plane and earth station, determines the work of the power amplifier on unmanned plane Operation mode, and the control signal for corresponding to operating mode is sent to power amplifier;
Power amplifier corresponds to the gain parameter threshold value of operating mode according to control signal behavior, according to gain parameter threshold value Power amplification is carried out to radio frequency transmissions;
Amplified radio frequency transmissions are sent to earth station by antenna.
Optionally, the operating mode of power amplifier includes the first operating mode, the second operating mode and third Working mould Formula;The gain parameter threshold value that the gain parameter threshold value of first operating mode is less than the second operating mode is less than third operating mode Gain parameter threshold value.
Optionally, power amplifier is adjustable gain power amplifier.
Optionally, adjustable gain power amplifier is indirect current feedback power adjustable amplifier.
Optionally, unmanned plane further includes the gain switch being connected with adjustable gain power amplifier, and processor is according to control Signal control gain switch control port different from adjustable gain power amplifier is connected, and different control ports corresponds to different Gain parameter threshold value.
Optionally, GPS module is differential GPS module.
Optionally, radio communication transmitting module is further included, the input terminal of radio communication transmitting module is connected with processor, penetrates The output terminal of frequency communication transmitting module is connected with power amplifier, and radio communication transmitting module is believed according to the control that processor is sent Number radio frequency transmissions are sent to power amplifier.
Optionally, the working frequency range of radio communication transmitting module is 5.8GHz.
Optionally, radio communication transmitting module includes number transmission frequency module and figure transmits frequency module.
Optionally, number transmits frequency module and figure is transmitted frequency module and distinguished in a manner of time-domain multiplexed under the control of a processor The Flight Condition Data of unmanned plane and the image data of unmanned plane acquisition are sent to power amplifier.
The beneficial effects of the utility model are that the utility model sets GPS module, processor, power to put in unmanned plane Big device and antenna are obtained the location information of unmanned plane and the location information of earth station by GPS module, location information are sent to Processor;Processor handles location information, determines the operating mode of the power amplifier on unmanned plane, and put to power Big device sends the control signal of corresponding operating mode;Power amplifier carries out power to radio frequency transmissions according to control signal and puts Greatly;Amplified signal is sent to earth station by antenna.Relative in the prior art, in order to ensure the state of flight number of unmanned plane Earth station can be passed back at a distance according to image data with acquisition etc., unification uses the technical solution of high power amplifier, this Utility model can adjust the operating mode of power amplifier according to unmanned plane and the location information of earth station dynamic so that unmanned plane When ground station transmits data, select most suitable gain parameter threshold value that radio frequency transmissions are carried out with power amplification, such as work as When the distance between unmanned plane and earth station are smaller, control power amplifier is run in the low power work mode, works as unmanned plane When the distance between earth station is larger, control power amplifier is run under high-power operation pattern, both can guarantee that radio frequency is sent out Signal transmission quality is penetrated, while also reduces the power consumption of power amplifier, improves the cruise duration of unmanned plane.
Description of the drawings
Fig. 1 is the functional block diagram of the unmanned plane of the utility model one embodiment;
Fig. 2 is the flow diagram of the UAV Communication method of the utility model one embodiment;
Fig. 3 is the structure diagram of the unmanned plane of the utility model one embodiment;
Fig. 4 is the flow diagram of the UAV Communication method of the utility model another embodiment.
Specific embodiment
The technical issues of in order to solve to propose in background technology, present inventor expect setting GPS in unmanned plane Module, processor, power amplifier and antenna obtain the location information of unmanned plane by GPS module and the position of earth station are believed Breath, processor is sent to by location information;Processor handles location information, determines power amplifier on unmanned plane Operating mode, and the control signal for corresponding to operating mode is sent to power amplifier;Power amplifier is according to control signal to penetrating It takes place frequently and penetrates signal progress power amplification;Amplified signal is sent to earth station by antenna.Relative in the prior art, in order to protect Earth station can be passed back at a distance by demonstrate,proving the Flight Condition Data of unmanned plane and the image data of acquisition etc., unified using high-power The technical solution of amplifier, the utility model can adjust power amplifier according to unmanned plane and the location information of earth station dynamic Operating mode so that unmanned plane selects most suitable gain parameter threshold value to believe radio-frequency transmissions when ground station transmits data Number carry out power amplification, such as when the distance between unmanned plane and earth station are smaller, control power amplifier in low-power operation It is run under pattern, when the distance between unmanned plane and earth station are larger, control power amplifier is under high-power operation pattern Operation, both can guarantee radio frequency transmissions transmission quality, while also reduce the power consumption of power amplifier, and had improved unmanned plane Cruise duration.
It is new to this practicality below in conjunction with attached drawing to make the purpose of this utility model, technical solution and advantage clearer Type embodiment is described in further detail.
Fig. 1 is the functional block diagram of the unmanned plane of the utility model one embodiment.As shown in Figure 1, the nothing of the utility model It is man-machine including:
Processor 13, power amplifier 12, antenna 11 and GPS module 14, processor 13 respectively with power amplifier 12 It is connected with GPS module 14, power amplifier 12 is connected with antenna 11;
GPS module 14 obtains unmanned plane and the location information of earth station, and location information is sent to processor 13;
Processor 13 handles the location information of unmanned plane and earth station, determines power amplifier on unmanned plane Operating mode, and the control signal for corresponding to operating mode is sent to power amplifier 12;
Power amplifier 12 corresponds to the gain parameter threshold value of operating mode according to control signal behavior, according to gain parameter threshold Value carries out power amplification to radio frequency transmissions;
Amplified radio frequency transmissions are sent to earth station by antenna 11.
Illustrate the operation principle of the unmanned plane of the utility model below in conjunction with Fig. 2, as shown in Fig. 2, for one embodiment The flow diagram of UAV Communication method, this method include:
S21:The location information of unmanned plane and the location information of earth station are obtained, wherein, earth station carries out with unmanned plane Wireless communication;
S22:According to the location information of unmanned plane and the location information of earth station, determine between unmanned plane and earth station away from From;
In practical applications, location information includes latitude and longitude information and altitude information, using the center of the earth as origin, to refer to To the arctic direction for Z axis, using be directed toward prime meridian and equatorial line intersection point direction as X-axis, with perpendicular to X-axis and Z axis Rectangular coordinate system in space is established in the direction of the plane at place for Y-axis.
The distance between unmanned plane and earth station are referred between unmanned plane and earth station in the utility model embodiment Air line distance is determined the first space coordinate of unmanned plane by the latitude and longitude information and altitude information of unmanned plane, passes through earth station Latitude and longitude information and altitude information determine the second space coordinate of earth station, according to the first space coordinate and second space coordinate Determine the air line distance between unmanned plane and earth station.
S23:According to distance and preset Distance Judgment rule, the Working mould of the power amplifier on unmanned plane is determined Formula;
It should be noted that it is corresponding with the operating mode of power amplifier that distance threshold is stored in Distance Judgment rule Relationship.
S24:The control signal of corresponding operating mode is sent to power amplifier, control power amplifier is according to control signal The gain parameter threshold value of the corresponding operating mode of selection carries out power amplification according to gain parameter threshold value to radio frequency transmissions, and Amplified signal is sent to earth station.
It should be noted that when distance threshold is bigger, the gain parameter threshold value that power amplifier corresponds to operating mode is got over Greatly, under the premise of input power is identical, the output power of power amplifier is bigger.
The utility model sets GPS module, processor, power amplifier and antenna in unmanned plane, is obtained by GPS module The location information of unmanned plane and the location information of earth station are taken, location information is sent to processor;Processor is to location information It is handled, determines the operating mode of the power amplifier on unmanned plane, and corresponding operating mode is sent to power amplifier Control signal;Power amplifier carries out power amplification according to control signal to radio frequency transmissions;Antenna is by amplified signal It is sent to earth station.Relative in the prior art, in order to ensure image data of the Flight Condition Data of unmanned plane and acquisition etc. Earth station can be passed back at a distance, the unified technical solution using high power amplifier, the utility model can be according to unmanned plane The operating mode of power amplifier is adjusted with the location information dynamic of earth station so that unmanned plane transmits data in ground station When, it selects most suitable gain parameter threshold value that radio frequency transmissions are carried out with power amplification, such as works as between unmanned plane and earth station It is in small distance when, control power amplifier run in the low power work mode, when the distance between unmanned plane and earth station When larger, control power amplifier is run under high-power operation pattern, both can guarantee radio frequency transmissions transmission quality, simultaneously The power consumption of power amplifier is also reduced, improves the cruise duration of unmanned plane.
In a kind of optional embodiment of the utility model embodiment, the operating mode of power amplifier includes first Operating mode, the second operating mode and third operating mode;The gain parameter threshold value of first operating mode is less than the second Working mould The gain parameter threshold value of formula is less than the gain parameter threshold value of third operating mode;
At this point, according to distance and preset Distance Judgment rule, the Working mould of the power amplifier on unmanned plane is determined Formula, including:
When distance is less than or equal to the first distance threshold, the operating mode for determining power amplifier is the first operating mode;
When distance, which is more than the first distance threshold, is less than second distance threshold value, it is the to determine the operating mode of power amplifier Two operating modes;
When distance is more than or equal to second distance threshold value, the operating mode for determining power amplifier is third operating mode.
The unmanned plane of the utility model embodiment, the operating mode of power amplifier are divided into the first operating mode (low-power Operating mode), the second power modes of operation (middle power modes of operation) and third power modes of operation (high-power operation pattern), After the distance between unmanned plane and earth station is got, the distance and preset distance threshold are compared, so that it is determined that The operating mode of power amplifier is realized and the operating mode of power amplifier is adjusted into Mobile state according to distance.
In practical applications, work of the Distance Judgment rule to power amplifier using the method in Fig. 2 in table 1 Pattern is adjusted.
1 Distance Judgment of table rule
Distance threshold Operating mode
0-100m Low-power
100-300m Middle power
≥300m High power
Specifically, when the distance between unmanned plane and earth station are 0-100m, then low-power is sent to power amplifier The control signal of operating mode;When the distance between unmanned plane and earth station are 100-300m, then sent to power amplifier The control signal of middle power modes of operation;When the distance between unmanned plane and earth station is >=300m, then to power amplifier Send the control signal of high-power operation pattern.
In practical applications, under the first operating mode power amplifier output power can be 12dBm, the second Working mould The output power of power amplifier can be 22dBm under formula, and the output power of power amplifier can be under third operating mode 32dBm, the output power difference 10dB (10 times of difference powers) under each level work pattern, 10 times of difference power be equivalent to 3 times with On coverage area.It should be noted that output power of the power amplifier under different operating modes may be arranged as Other numerical value, the utility model are not restricted this.
In practical applications, power amplifier 12 is adjustable gain power amplifier.
Further, adjustable gain power amplifier is indirect current feedback power adjustable amplifier.Processor 13 passes through The resistance value of the gain setting resistor of control signal change power amplifier 12 is sent to power amplifier 12, and then changes power and puts The gain parameter threshold value of big device 12.
Since GPS satellite, satellite-signal communication process etc. all can cause error to GPS satellite positioning measurement, in order to eliminate The error of GPS satellite positioning improves the accurate of unmanned plane positioning, and the GPS module of the unmanned plane of the utility model is preferably difference GPS module.As shown in figure 3, the unmanned plane of the utility model embodiment includes:Processor 33, adjustable gain power amplifier 32, Antenna 31 and the differential GPS module 34 being connected with processor;
For differential GPS module 34 for receiving GPS satellite location information, the GPS for being additionally operable to satellite receiver transmission corrects letter Breath, wherein, what GPS update informations were determined for earth station's GPS standard stations according to known to position, according to GPS update informations to GPS Satellite positioning information is modified, and obtains the location information of unmanned plane, and the location information information of unmanned plane is sent to processing Device 33.
The unmanned plane further includes the gain switch 36 being connected with adjustable gain power amplifier 32, and processor 33 is according to control Signal control gain switch 36 control port different from adjustable gain power amplifier 32 is connected, and different control ports corresponds to Different gain parameter threshold values.
The adjustable gain power amplifier 32 of the utility model embodiment include the first control port, the second control port and Third control port.When processor is connected by gain switch 36 with the first control port of adjustable gain power amplifier 32 When, the operating mode of adjustable gain power amplifier 32 is the first operating mode;When processor passes through gain switch 36 and gain When second control port of adjustable power amplifier 32 is connected, the operating mode of adjustable gain power amplifier 32 is the second work Pattern;When processor is connected by gain switch 36 with the third control port of adjustable gain power amplifier 32, gain can The operating mode of adjustable power amplifier 32 is third operating mode.
Further, also the unmanned plane further includes radio communication transmitting module 35, the input of radio communication transmitting module 35 End is connected with processor 33, and the output terminal of radio communication transmitting module 35 is connected with adjustable gain power amplifier 32, and radio frequency leads to Letter transmitting module 35 is put for radio frequency transmissions to be sent to adjustable gain power according to the control signal that processor 33 is sent Big device 32;
In practical applications, the working frequency range of radio communication transmitting module 35 is 5.8GHz.
Radio communication transmitting module 35 includes number and transmits frequency module and scheme to transmit frequency module.Number transmits frequency module for emitting The Flight Condition Data of unmanned plane, figure transmit the image data that frequency module is used to emit unmanned plane acquisition.In order to ensure earth station Flight Condition Data and the image data of unmanned plane acquisition can be isolated from the radio frequency transmissions received, number transmits frequency mould Block and figure transmit frequency module and send unmanned plane to power amplifier respectively in a manner of time-domain multiplexed under the control of a processor Flight Condition Data and the image data of unmanned plane acquisition.For example, in 1s, preceding 200ms numbers transmit frequency module to power prosperity Device sends the Flight Condition Data of unmanned plane, and 800ms figures later transmit frequency module to the transmission unmanned plane acquisition of power prosperity device Image data.
It should be noted that the wireless communication signals between unmanned plane and earth station, the sky under different flight environment of vehicle Between the dough softening it is different, such as under free environments, general environment and under the complex environment of city, the space attenuation of wireless communication signals Degree becomes larger.Specifically, under free environments, the wireless communication signals between unmanned plane and earth station are not blocked, the two Between wireless communications path be similar to straight line, the damage that wireless communication signals occur during being sent to earth station from unmanned plane Consume very little;Under the complex environment of city, the wireless communication signals between unmanned plane and earth station will be by screenings such as building, trees Gear, during being sent to earth station from unmanned plane a series of reflection and diffraction will occur for wireless communication signals, thus cause The loss that wireless communication signals occur is very big;And under general environment, wireless communication signals are sent to earth station from unmanned plane What is occurred in the process is lost the loss being more than in free environments, less than the loss under the complex environment of city.
Thus in order to be directed to the gain parameter threshold value that different flight environment of vehicle sets different power amplifiers, to ensure nothing The transmission quality of the man-machine radio frequency transmissions in different flight environment of vehicle, it is optional in one kind of the utility model embodiment In embodiment, environment attribute is further included in Distance Judgment rule, this method further includes:
Obtain the flight environment of vehicle information of unmanned plane;
According to flight environment of vehicle information, Distance Judgment rule corresponding with the environment attribute of flight environment of vehicle information is selected.
Flight environment of vehicle in the utility model embodiment refers to the flying field residing for unmanned plane, as spatial obstacle object is few (such as building is few) unobscured ward, the complicated city of spatial obstacle object more (such as building is intensive);This practicality The environment attribute of flight environment of vehicle information in new embodiment is referred to unmanned plane wireless communication signals in space propagation process In the environmental characteristics that impact of attenuation degree, such as free environments, to the space attenuation shadow of the wireless communication signals of unmanned plane Sound is smaller;City complex environment is affected to the space attenuation of wireless communication signals, general environment between free environments and Between the complex environment of city.
In practical applications, the intensity of signal can be sent according to unmanned plane and determines nothing with the intensity of ground station reception signal The space attenuation degree of line signal of communication, and then select Distance Judgment rule corresponding with space attenuation degree.
In addition, the image data that earth station can be also sent to according to unmanned plane determines the flight environment of vehicle information of unmanned plane, sentence Disconnected unmanned plane is to fly or fly in the complex environment of city in free environments, and then select corresponding with flight environment of vehicle information Distance Judgment rule.Alternatively, according to environment attribute input by user, Distance Judgment rule corresponding with environment attribute are directly selected Then, here, the input operation of user, can carry out remote input or in release nothing by the smart machine that user carries Before man-machine, control environmental selection switch on unmanned plane etc. manually, realize the setting of environment attribute, the utility model to this not It is construed as limiting.
Since unmanned plane is in flight course, the accuracy of the stability of flight and position positioning can all cause to calculate Distance generate error, at this point, the distance between unmanned plane and earth station may a certain distance threshold handoff threshold it is attached Closely change repeatedly, i.e. the door of the distance threshold of the operating mode switching of the distance between unmanned plane and earth station and power amplifier The difference of limit value is less than pre-determined distance difference, if according to the Distance Judgment rule shown in table 1, power amplifier may frequently be cut Change jobs pattern, generates ping-pong.For example, when the distance between unmanned plane and earth station are 98m, the work of power amplifier Operation mode is low-power working mode;When increasing to 101m from 98m, the operating mode of power amplifier is from low-power working mode Middle power modes of operation is switched to, when the distance between unmanned plane and earth station are reduced to 99m from 101m, power amplifier Therefrom power modes of operation is switched to low-power working mode to operating mode again, when changing repeatedly between 101m and 99m, nobody The operating mode of power amplifier also can be between two kinds of operating modes of low-power working mode and middle power modes of operation on machine Frequent switching repeatedly, this influences the service life of power amplifier, also brings along the energy consumption of bigger.
In order to avoid ping-pong, in a kind of optional embodiment of the utility model embodiment, Distance Judgment rule Distance change trend attribute is further included in then, this method further includes;
Obtain unmanned plane and distance change trend of the earth station in preset time;
According to distance change trend, Distance Judgment rule corresponding with distance change trend is selected.
Herein, distance change trend includes distance increase and apart from reduction;
According to distance and preset Distance Judgment rule, the operating mode of the power amplifier on unmanned plane, tool are determined Body includes:
Distance between unmanned plane and earth station is increased:
When distance is less than or equal to the first distance threshold, the operating mode for determining power amplifier is the first operating mode;
When distance, which is more than the first distance threshold, is less than second distance threshold value, it is the to determine the operating mode of power amplifier Two operating modes;
When distance is more than or equal to second distance threshold value, the operating mode for determining power amplifier is third operating mode;
In the case that distance between unmanned plane and earth station reduces:
When distance is less than or equal to third distance threshold, the operating mode for determining power amplifier is the first operating mode;
When distance, which is more than third distance threshold, is less than four distance thresholds, it is the to determine the operating mode of power amplifier Two operating modes;
When distance is more than or equal to four distance thresholds, the operating mode for determining power amplifier is third operating mode;
Wherein, the first distance threshold differs preset value, second distance threshold value and the 4th distance threshold with third distance threshold Differ preset value.
The utility model embodiment sets the increased feelings of the distance between unmanned plane and earth station in order to avoid ping-pong It is different from corresponding to the distance threshold under same operating mode in the case of the reduction of the distance between unmanned plane and earth station under condition, i.e., First distance threshold differs preset value with third distance threshold, and second distance threshold value differs preset value with the 4th distance threshold.
As shown in table 2, the Distance Judgment rule for being the utility model embodiment in order to avoid ping-pong is set.
2 Distance Judgment of table rule
In upper table 2, the utility model embodiment sets the distance between unmanned plane and earth station in the case that increased The distance threshold difference 5m under same operating mode is corresponded to in the case of reduction, to avoid the occurrence of above-mentioned ping-pong.Exist In the case of the distance between unmanned plane and earth station are increased, the distance threshold under corresponding low-power working mode is set as 0- 100m, the distance threshold in corresponding under power modes of operation are set as 100-300m;And between unmanned plane and earth station away from In the case of reduction, the distance threshold under corresponding low-power working mode is set as 0-95m, in corresponding under power modes of operation Distance threshold be set as 95-295m.When the distance between unmanned plane and earth station increase to 101m from 80m, power amplification The operating mode of device is switched to middle power modes of operation from low-power working mode;Unmanned plane continues to fly, when unmanned plane and ground When the distance between face station is reduced to 98m again, the operating mode of power amplifier will remain within middle power modes of operation;Only Have when the distance between unmanned plane and earth station decrease below 95m, the operating mode of power amplifier just therefrom power work Operation mode is switched to low-power working mode.
Similarly, the distance between unmanned plane and earth station is increased, set second distance threshold value as >= 300m in the case that distance between unmanned plane and earth station reduces, sets the 4th distance threshold as >=295m, i.e., second away from From threshold value 5m is differed with the 4th distance threshold.When the distance between unmanned plane and earth station increase above 300m from 280m, Therefrom power modes of operation is switched to high-power operation pattern to the operating mode of power amplifier;Unmanned plane continues to fly, and works as nothing When the distance between man-machine and earth station is reduced to 298m, the operating mode of power amplifier remains as high-power operation pattern, Only when the distance between unmanned plane and earth station decrease below 295m, the operating mode of power amplifier is just from high power Operating mode is switched to middle power modes of operation.
Fig. 4 is the flow diagram of the UAV Communication method of the utility model another embodiment.
As shown in figure 4, the method for the utility model embodiment includes:
S411:The flight environment of vehicle of unmanned plane is first confirmd that, including free environments, general environment and city complex environment.
When flight environment of vehicle information is free environments,
S421:Obtain unmanned plane and the location information of earth station;
S431:The distance between positional information calculation unmanned plane and earth station according to unmanned plane and earth station, and will The distance and the distance of last moment are compared the distance between determining unmanned plane and earth station variation tendency;
Specifically, it is assumed that the first space coordinate of unmanned plane is (X1, Y1, Z1), and the second space coordinate of earth station is (X2, Y2, Z2), then the distance between unmanned plane and earth station are:
S441:If the distance between unmanned plane and earth station variation tendency become larger for distance, S451 is performed;Otherwise, it holds Row S461;
S451:If the distance between unmanned plane and earth station are 0-100m, low work(is switched to power amplifier transmission The control signal of rate operating mode;If the distance between unmanned plane and earth station are 100-300m, sent to power amplifier The control signal of middle power modes of operation;If the distance between unmanned plane and earth station >=300m, sent to power amplifier The control signal of high-power operation pattern;
S461:If the distance between unmanned plane and earth station are 0-95m, low-power operation mould is sent to power amplifier The control signal of formula;If the distance between unmanned plane and earth station are 95-295m, into power amplifier transmission, power works The control signal of pattern;If the distance between unmanned plane and earth station >=295m, high-power operation is sent to power amplifier The control signal of pattern.
As shown in figure 4, when flight environment of vehicle information is general environment:
S422, S432 are identical with above-mentioned S421, S431, and details are not described herein;
S442:If the distance between unmanned plane and earth station variation tendency become larger for distance, S452 is performed;Otherwise, it holds Row S462;
S452:If the distance between unmanned plane and earth station are 0-50m, low-power operation mould is sent to power amplifier The control signal of formula;If the distance between unmanned plane and earth station are 50-150m, into power amplifier transmission, power works The control signal of pattern;If the distance between unmanned plane and earth station >=150m, high-power operation is sent to power amplifier The control signal of pattern;
S462:If the distance between unmanned plane and earth station are 0-45m, low-power operation mould is sent to power amplifier The control signal of formula;If the distance between unmanned plane and earth station are 45-145m, into power amplifier transmission, power works The control signal of pattern;If the distance between unmanned plane and earth station >=145m, high-power operation is sent to power amplifier The control signal of pattern.
As shown in figure 4, S423, S433 and above-mentioned S421, S431 phase when flight environment of vehicle information is city complex environment Together, details are not described herein;
S443:If the distance between unmanned plane and earth station variation tendency become larger for distance, S453 is performed;Otherwise, it holds Row S463;
S453:If the distance between unmanned plane and earth station are 0-50m, the power Working mould into power amplifier transmission The control signal of formula;If the distance between unmanned plane and earth station >=50m, high-power operation pattern is sent to power amplifier Control signal;
S463:If the distance between unmanned plane and earth station are 0-45m, the power Working mould into power amplifier transmission The control signal of formula;If the distance between unmanned plane and earth station >=45m, high-power operation pattern is sent to power amplifier Control signal.
The corresponding Distance Judgment rule of method of above-mentioned Fig. 4 is as shown in table 3.
3 Distance Judgment of table rule
It should be noted that as shown in table 3, when unmanned plane is in the complex environment of city, due to wireless communication signals Space attenuation it is larger, therefore, in order to ensure the normal transmission of Unmanned Aerial Vehicle Data, in this flight environment of vehicle, the power of unmanned plane Amplifier does not set low-power working mode, only sets middle power modes of operation and high-power operation pattern.
In UAV Communication method shown in Fig. 4, distance threshold, flight environment of vehicle information are stored in Distance Judgment rule The correspondence of the operating mode of environment attribute, distance change trend and power amplifier.
The utility model embodiment provide unmanned plane, can according between unmanned plane and earth station actual range, flight Environment attribute and distance change the trend dynamic of environmental information adjust the operating mode of power amplifier so that unmanned plane is to ground When data are transmitted at face station, most suitable gain parameter threshold value is selected to carry out power amplification to radio frequency transmissions, both can guarantee and penetrated It takes place frequently and penetrates signal transmission quality, while also dropped the power consumption of low power amplifier, improve the cruise duration of unmanned plane.
In the another embodiment of the utility model, in order to avoid ping-pong, this method further includes:
Judge the distance change trend of current time corresponding distance distance corresponding with the first moment, wherein, when first Quarter is some historical juncture that the first preset time is differed with current time;
If the distance change at the second moment opposite with the first moment with respect to the distance change trend at the first moment at current time Trend is on the contrary, wherein, the second moment was some historical juncture that the second preset time is differed with the first moment, then by the first distance Threshold value and second distance threshold value increase preset value or reduce preset value.
It should be noted that the utility model embodiment is in order to avoid ping-pong, if current time is with respect to the first moment Distance change trend and the first moment with respect to the second moment distance change trend it is opposite when, can be automatically original apart from threshold Increase preset value on the basis of value or reduce preset value.
It should be understood by those skilled in the art that, the embodiment of the utility model can be provided as method, system or computer Program product.Therefore, the utility model can be used complete hardware embodiment, complete software embodiment or with reference to software and hardware The form of the embodiment of aspect.Moreover, the utility model can be used wherein includes computer available programs in one or more Implement in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code The form of computer program product.
The utility model is produced with reference to according to the method, equipment (system) and computer program of the utility model embodiment The flowchart and/or the block diagrams of product describes.It should be understood that it can be realized by computer program instructions in flowchart and/or the block diagram Each flow and/or block and flowchart and/or the block diagram in flow and/or box combination.These meters can be provided Calculation machine program instruction is to the place of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices Device is managed to generate a machine so that pass through the instruction that computer or the processor of other programmable data processing devices perform and produce It is raw to be used to implement the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes Device.
It should be noted that term " comprising ", "comprising" or its any other variant are intended to the packet of nonexcludability Contain so that process, method, article or equipment including a series of elements not only include those elements, but also including It other elements that are not explicitly listed or further includes as elements inherent to such a process, method, article, or device. In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element Process, method, also there are other identical elements in article or equipment.
In the specification of the utility model, numerous specific details are set forth.Although it is understood that the utility model Embodiment can be put into practice without these specific details.In some instances, be not been shown in detail well known method, Structure and technology, so as not to obscure the understanding of this description.Similarly, it should be understood that disclosed to simplify the utility model And it helps to understand one or more of each utility model aspect, the retouching to the exemplary embodiment of the utility model above In stating, each feature of the utility model is grouped together into sometimes in single embodiment, figure or descriptions thereof.However, The method of the disclosure should not be explained and be intended in reflection is following:The requires of the utility model ratio i.e. claimed is in each power The more features of feature being expressly recited in profit requirement.More precisely, as the following claims reflect, it is practical new It is all features less than single embodiment disclosed above in terms of type.Therefore, it then follows the claim of specific embodiment Thus book is expressly incorporated in the specific embodiment, wherein each claim is in itself as the independent implementation of the utility model Example.
The above, only specific embodiment of the present utility model, under the above-mentioned introduction of the utility model, this field Technical staff can carry out other improvement or deformation on the basis of above-described embodiment.It will be understood by those skilled in the art that Above-mentioned specific descriptions only preferably explain the purpose of this utility model, and the scope of protection of the utility model should be with claim Protection domain subject to.

Claims (10)

1. a kind of unmanned plane, which is characterized in that including:Processor, power amplifier, antenna and GPS module, the processor It is connected respectively with the power amplifier and the GPS module, the power amplifier is connected with the antenna;
The GPS module obtains unmanned plane and the location information of earth station, and the location information is sent to processor;
The processor handles the location information of the unmanned plane and earth station, determines the power amplifier on unmanned plane Operating mode, and send to the power amplifier control signal of the corresponding operating mode;
The power amplifier corresponds to the gain parameter threshold value of the operating mode according to the control signal behavior, according to described Gain parameter threshold value carries out power amplification to radio frequency transmissions;
Amplified radio frequency transmissions are sent to the earth station by the antenna.
2. unmanned plane according to claim 1, which is characterized in that the operating mode of the power amplifier includes the first work Operation mode, the second operating mode and third operating mode;The gain parameter threshold value of first operating mode is less than described second The gain parameter threshold value of operating mode is less than the gain parameter threshold value of the third operating mode.
3. unmanned plane according to claim 1, which is characterized in that the power amplifier is adjustable gain power amplification Device.
4. unmanned plane according to claim 3, which is characterized in that the adjustable gain power amplifier is anti-for indirect current Present power adjustable amplifier.
5. unmanned plane according to claim 3, which is characterized in that the unmanned plane further includes and the adjustable gain power The gain switch that amplifier is connected, the processor control the gain switch and the adjustable gain according to the control signal The different control ports of power amplifier are connected, and different control ports corresponds to different gain parameter threshold values.
6. unmanned plane according to claim 1, which is characterized in that the GPS module is differential GPS module.
7. unmanned plane according to claim 1, which is characterized in that further include radio communication transmitting module, the radio frequency leads to The input terminal of letter transmitting module is connected with the processor, output terminal and the power amplification of the radio communication transmitting module Device is connected, and radio frequency transmissions are sent to institute by the control signal that the radio communication transmitting module is sent according to the processor State power amplifier.
8. unmanned plane according to claim 7, which is characterized in that the working frequency range of the radio communication transmitting module is 5.8GHz。
9. unmanned plane according to claim 7, which is characterized in that the radio communication transmitting module includes number and transmits frequency mould Block and figure transmit frequency module.
10. unmanned plane according to claim 9, which is characterized in that the number transmits frequency module and the figure transmits frequency mould Block sends the flight shape of unmanned plane to the power amplifier respectively under the control of the processor in a manner of time-domain multiplexed State data and the image data of unmanned plane acquisition.
CN201721422092.8U 2017-10-30 2017-10-30 A kind of unmanned plane Active CN207603640U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019085480A1 (en) * 2017-10-30 2019-05-09 歌尔股份有限公司 Uav communication method, device and uav
CN110518994A (en) * 2019-09-11 2019-11-29 中国联合网络通信集团有限公司 A kind of UAV TT & C's method and apparatus
WO2020173094A1 (en) * 2019-02-27 2020-09-03 珠海格力电器股份有限公司 Method and apparatus for adjusting output power of microwave radar device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019085480A1 (en) * 2017-10-30 2019-05-09 歌尔股份有限公司 Uav communication method, device and uav
US10852445B2 (en) 2017-10-30 2020-12-01 Goertek Inc. Unmanned aerial vehicle communication method and device and unmanned aerial vehicle
WO2020173094A1 (en) * 2019-02-27 2020-09-03 珠海格力电器股份有限公司 Method and apparatus for adjusting output power of microwave radar device
CN110518994A (en) * 2019-09-11 2019-11-29 中国联合网络通信集团有限公司 A kind of UAV TT & C's method and apparatus

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