CN219227583U

CN219227583U - Integrated comprehensive lead-through equipment for domestic unmanned equipment

Info

Publication number: CN219227583U
Application number: CN202222685986.3U
Authority: CN
Inventors: 郭成龙; 杜俭业; 鲍永亮; 范新革; 卢佳音
Original assignee: Aerospace Science and Industry Shenzhen Group Co Ltd
Current assignee: Aerospace Science and Industry Shenzhen Group Co Ltd
Priority date: 2022-10-12
Filing date: 2022-10-12
Publication date: 2023-06-20
Anticipated expiration: 2032-10-12

Abstract

The utility model discloses domestic unmanned equipment comprehensive conduction integrated equipment, which relates to the technical field of conduction integration, and comprises the following components: the device comprises an antenna, a duplexer, a communication unit, a navigation unit and an MCU unit; the communication unit includes: circulator, send passageway and receive passageway, wherein, the circulator includes: a bidirectional port, a transmitting port and a receiving port; the bidirectional port of the circulator is connected with the other port of the duplexer, the transmitting port of the circulator is connected with one end of the transmitting channel, and the receiving port of the circulator is connected with one end of the receiving channel; the navigation unit includes: the power divider and the chip, wherein one end of the power divider is connected with the other port of the duplexer, and the other end of the power divider is connected with the chip; the MCU unit is connected with the other end of the transmitting channel of the communication unit through the ADC converter, the MCU unit is connected with the other end of the receiving channel of the communication unit through the DAC converter, and the MCU unit is connected with the chip of the navigation unit.

Description

Integrated comprehensive lead-through equipment for domestic unmanned equipment

Technical Field

The utility model relates to the technical field of communication and guide integration, in particular to domestic unmanned equipment comprehensive communication and guide integration equipment.

Background

Communication and navigation belong to different fields, along with the rapid development of wireless broadband communication and positioning navigation technologies, particularly the rising of unmanned equipment industry, the coupling degree of communication and navigation is continuously deepened, a communication navigation integrated technology is generated, a scene of communication and navigation combination is firstly provided by Beidou satellite application based on space, and the communication and navigation integrated technology becomes a research hotspot at home and abroad.

The communication and navigation functions are realized in one system together, namely communication navigation integration. The degree of integration of communication and navigation has gone through the process of going from loose coupling to tight coupling.

Because no general equipment is specially configured for the unmanned ship at present, the general equipment is not matched with the use requirement of the unmanned ship, and specifically, the following problems exist:

1. the communication bandwidth is not matched, fault diagnosis is not facilitated, and in the general communication equipment used by the unmanned ship at present, the uplink and downlink characteristics of the mobile communication private network equipment are not matched with the requirements of the unmanned ship; the uplink and downlink of the ad hoc network equipment can be flexibly adjusted, the bandwidth is relatively wide, and the ad hoc network equipment is suitable for unmanned boats, but the anti-interference performance and the reliability of a remote control link are poor; the unmanned aerial vehicle data link is more reliable, but the bandwidth is generally 4-8 Mbps, the bearing service capability is weak, and the communication bandwidth requirements of unmanned aerial vehicle navigation, radar, photoelectricity, sonar, camera and the like which are integrated with various sensors cannot be met.

2. The navigation equipment system is complex, the precision is low, in the general navigation equipment, the navigation precision of the traditional combined navigation equipment equipped with the combined navigation system is poor, the requirements of marine surveying and mapping and accurate positioning are not facilitated, and if an RTK navigation system is adopted, a shore standard station is additionally added, the narrow-band wireless communication equipment is not facilitated, the modular deployment and the rapid integration of equipment are not facilitated, and the maintainability and the testability are both not facilitated.

3. The traditional unmanned ship has relatively independent load equipment such as communication, navigation and the like, not only occupies large space, but also has high system complexity, poor reliability and large cooperative control difficulty between loads.

In summary, the existing unmanned ship has low integration degree of universal load, insufficient communication bandwidth and poor navigation precision. Therefore, it is very important to develop a communication and guide integrated load device suitable for unmanned ship application.

Disclosure of Invention

The utility model aims at: the utility model provides a special lead-through integration load equipment of unmanned ship.

The technical scheme of the utility model is as follows: the utility model provides a domestic unmanned equipment synthesizes leads integration equipment, this equipment includes: the device comprises an antenna, a duplexer, a communication unit, a navigation unit, a sensing unit and an MCU unit;

the antenna adopts a four-arm spiral structure, four identical spiral arms are symmetrically wound on the side wall of the stick-shaped metal shell, the bottom end of each spiral arm is a regular tangential plane, and the top end of each spiral arm is bifurcated into three coupling antenna arms with different electrical lengths; the antenna comprises: the power division feed network comprises four output ends which are respectively and correspondingly connected with the four spiral arms and output signals to the duplexer;

the duplexer comprises three ports which are sequentially connected with the antenna, one end of the communication unit and one end of the navigation unit;

one end of the sensing unit is coupled with the antenna;

the MCU unit is respectively connected with the other end of the communication unit, the other end of the navigation unit and the other end of the sensing unit.

In any of the foregoing solutions, further, the communication unit includes: circulator, send passageway and receive passageway, the circulator includes: a bidirectional port, a transmitting port and a receiving port; the transmitting port of the circulator is connected with the input end of the transmitting channel, the receiving port of the circulator is connected with the output end of the receiving channel, and the bidirectional port of the circulator is connected with the duplexer.

In any of the foregoing solutions, further, the navigation unit includes: and the input end of the power divider is connected with the duplexer, and the output end of the power divider is connected with the MCU unit.

In any of the foregoing solutions, further, the sensing unit includes: the antenna comprises a coupler and a signal channel, wherein one end of the coupler is coupled to the antenna, the other end of the coupler is connected with the input end of the signal channel, and the output end of the signal channel is connected with the MCU.

In any of the foregoing solutions, further, the communication unit includes: the first circuit and the second circuit respectively comprise a circulator, a sending channel and a receiving channel.

In any of the above solutions, further, the diplexer includes a first diplexer and a second diplexer, the first diplexer is connected to a circulator of a first line of the communication unit, and the second diplexer is connected to a circulator of a second line of the communication unit.

In any of the above solutions, further, the antenna includes: the first antenna is connected with the first duplexer, and the second antenna is connected with the second duplexer.

The beneficial effects of the utility model are as follows:

according to the technical scheme, the integrated design of deep fusion of products in the technical field of communication and navigation is carried out; the problem of space-space integrated cluster control and cross-domain interconnection of unmanned load equipment such as unmanned boats, intelligent equipment and the like is solved by using only a single device; the four-arm spiral antenna is used for receiving and transmitting signals, and has the advantage of high anti-interference capability.

Drawings

The advantages of the foregoing and additional aspects of the utility model will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic block diagram of a host circuit of a domestic unmanned equipment integrated device according to one embodiment of the utility model;

fig. 2 is a schematic diagram of a diplexer circuit of a domestic unmanned equipment integrated and conducted integrated device according to one embodiment of the present utility model;

FIG. 3 is a three-port simulation diagram of a diplexer of a domestic unmanned equipment integrated lead integrated device according to one embodiment of the present utility model;

fig. 4 is a simulation diagram of the isolation of a diplexer conductive connection port of a domestic unmanned equipment integrated conductive integrated device according to one embodiment of the present utility model;

fig. 5 is a conductive EMC design diagram of a domestic unmanned equipment integrated conductive integrated device according to an embodiment of the utility model;

fig. 6 is a schematic diagram of an antenna structure of a domestic unmanned equipment integrated device according to an embodiment of the present utility model;

fig. 7 is a schematic diagram of a feed network of a domestic unmanned equipment integrated and conductive integrated device according to an embodiment of the present utility model;

FIG. 8 is an S11 simulation diagram of a domestic unmanned equipment integrated lead integrated device in accordance with one embodiment of the present utility model;

fig. 9 is a 1217M simulation diagram of a domestic unmanned equipment integrated lead integrated device in accordance with one embodiment of the present utility model.

The system comprises a 110-duplexer, a 120-communication unit, a 130-navigation unit, a 140-MCU unit, a 150-sensing unit and a 200-antenna.

Detailed Description

In order that the above-recited objects, features and advantages of the present utility model will be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description. Embodiments of the utility model and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced in other ways than those described herein, and the scope of the utility model is therefore not limited to the specific embodiments disclosed below.

As shown in fig. 1, the present embodiment provides a comprehensive conducting integrated device for domestic unmanned equipment, which is divided into a host and an antenna 200, wherein the host of the device includes: a duplexer 110, a communication unit 120, a navigation unit 130, a sensing unit 150, and an MCU unit 140.

The host adopts an aluminum shell, the connection gap is sealed by an aluminum silver conductive rubber sealing ring, each signal interface is made of stainless steel and is sealed by a rubber ring, so that the waterproof and salt fog-proof effects can be ensured when the equipment works, frequent maintenance is avoided, and the service life is prolonged; the antenna 200 is conformally designed with an unmanned platform carrying the equipment, and the antenna 200 adopts a streamline design to reduce wind resistance.

The duplexer 110 is used for separating the communication transmitted by the antenna from the navigation frequency band signal, preventing the mutual interference of the signals between the communication and the navigation, and realizing the purpose of sharing the same antenna interface; in this embodiment, the duplexer 110 adopts two materials of a silicon-aluminum resonant rod and an aluminum vibrator to realize the advantages of high isolation, stable temperature drift and the like, and has stronger environmental adaptability, in addition, the duplexer 110 reduces the cavity loss in a mode of silver plating on the inner cavity wall, and simultaneously reduces the cavity height in a mode of adding a wafer on the top end of the resonant rod, thereby having higher conductivity and smaller transmission loss; the duplexer can separate the receiving end signal with low noise and combine the transmitting end signal with low loss.

As shown in fig. 2, the signal transmitted from the antenna 200 is input into the duplexer 110 from the port1, the frequency bands of navigation and communication are separated by two band-pass filters, and the navigation signal is output from the port2 and connected to the navigation unit 130; port3 outputs a communication signal and is connected to communication unit 120.

The software simulation verifies that the duplexer 110 can meet the requirement of channel signal separation coexistence. As shown in fig. 3 and 4, the navigation frequency band is a five-mode thirteen frequency band, the frequency band range is 1.2-1.57GHz, wherein the two navigation frequency bands of GPS-L5 and Galileo-E5a are not compatible. S31 curve is communication transmission loss, communication is time division duplex mode, and the same frequency is transmitted and received, and is designed at 800MHz. It can be seen that: the transmission loss of the conduction is less than 1dB; the out-of-band rejection is greater than 100dBc, and the highest rejection can reach 150dBc; the receiving inhibition is greater than 90dBc, ports between leads are isolated, and the S23 curve can show that most of frequency points are greater than 100dBc, so that the coexistence requirement of the leads can be met.

The operating frequencies of different frequency bands of the prior navigation systems are shown in table 1.

TABLE 1

The communication unit 120 includes: the power amplifier comprises a circulator, a first LNA low noise amplifier, a second LNA low noise amplifier, an SP4T single-pole four-throw switch and SAW filter combination element, a first SAW filter, a second SAW filter, a first mixer, a second mixer, an OSC eigennetwork, a first VGA signal amplifier, a second VGA signal amplifier, a first LC anti-aliasing filter, a second LC anti-aliasing filter, a power amplifier driver, a PA power amplifier and a protection element.

As shown in fig. 1, the diplexer sends the separated communication signal to the circulator, the circulator separates the receiving signal channel from the sending signal channel, the signal is sent out by the output end of the circulator, and is sent to the first LNA low noise amplifier for amplification through a grounded protection element, the protection element adopts a PIN tube to build a parallel single pole double throw switch, the switch is opened during signal transmission, the transmitting signal is grounded, the switch is closed during signal receiving, the circuit is normally connected, and the signal is not attenuated during transmission; the amplified signal is subjected to frequency selection filtering through an SP4T single-pole four-throw switch and a SAW filter combination element, the filtered signal is sent to a second LNA low noise amplifier to be subjected to secondary amplification, then the signal enters a first mixer, the mixed signal of an intermediate frequency signal and an image signal is obtained through the first mixer and OSC intrinsic network operation connected with the first mixer, the mixed signal of the intermediate frequency signal and the image signal is then sent to the first SAW filter, the image signal is filtered, a pure intermediate frequency signal is obtained, the pure intermediate frequency signal is sent to a first VGA signal amplifier to be amplified, the signal with normal intensity is sent to an ADC (analog-to-digital converter) through the first LC anti-aliasing filter, and the digital signal is transmitted to the MCU 140 to be processed.

In this embodiment, the MCU 140 is a domestic LC1881 eight-core SOC chip, and has a multi-core and multi-thread structure, so that data from the communication unit 120, the navigation unit 130, and the sensing unit 150 can be processed simultaneously, and multiple data adopt uniform time references, so that synchronization of time bases of the system is ensured. The system can cooperatively control a plurality of modules, has high control instantaneity and perception reliability, and is cooperatively and efficiently.

The MCU 140 sends the processed digital signal to a DAC converter and converts the digital signal into an analog signal, the analog signal is sequentially filtered by an LC anti-aliasing filter and amplified by a VGA signal amplifier, and then is input to a second mixer, the signal is up-converted to a radio frequency under the combined action of the second mixer and an OSC eigen network connected with the second mixer, so as to obtain a mixed signal of the radio frequency signal and an image signal, the mixed signal suppresses the image frequency by the second SAW filter, and a pure radio frequency signal is output, and the radio frequency signal is input to a power amplifier driver and then is amplified by a power amplifier step by step to a final PA power amplifier until the target power is amplified, and finally is input to a duplexer and a navigation signal combining path through a constraint transmitting path of a circulator and is sent to an antenna interface.

The two transmitting channels and the two receiving channels in the communication unit are respectively connected with two different duplexers, wherein the transmitting and receiving channels connected by the same duplexer are respectively a first circuit and a second circuit, the internal structures of the two circuits are the same, the antennas of the input signals of the two circuits are respectively a first antenna and a second antenna, and the two power splitters are respectively connected with the first antenna and the second antenna to separate the communication signals.

The navigation unit includes: a power divider.

As shown in fig. 1, the navigation signal separated by the duplexer is sent to the input end of the power divider, separated and filtered by the power divider to obtain a single-ended navigation signal, and the single-ended navigation signal is processed by the output end of the power divider and sent to the MCU 140 and the RS232 serial port after being combined.

In this embodiment, measures such as PCB grounding, module separation, low noise LDO power supply and the like are adopted, and an EMI filter network and a magnetic coupler are used for filtering and isolation, as shown in fig. 5, in this embodiment, the internal circuits of the module designed by the conductive EMC are all of independent metal fully-enclosed structures, so that spatial interference between the circuits is prevented.

The sensing unit 150 includes: a coupler, a wideband LNA amplifier, a mixer, an LC filter, a digitally controlled attenuator, and a protection element.

As shown in fig. 1, the sensing unit 150 is coupled to the line of the antenna 200 by means of a coupler, the side end of the coupler is provided with a grounded protection element, and the other side is sequentially connected to a first wideband LNA amplifier, a first digital control ATT, a second wideband LNA amplifier, a mixer, an LC filter, a third wideband LNA amplifier and a second digital control ATT, wherein the side end of the mixer is connected to the OSC eigen network; the processed analog signal is converted into a digital signal by the ADC converter and input into the MCU unit 140.

Specifically, the sensing unit 150 is mainly responsible for collecting interference signals of a communication frequency band and a navigation frequency band, judging whether a threat exists or factors affecting the operation of the system, and making an auxiliary decision to cooperate with the communication system to perform operations such as frequency point switching and interference mechanism starting. In order to reduce interfaces, a set of antennas are shared, in the embodiment, a coupler is used for coupling antenna signals, the frequency band of the whole channel is designed to be 50-6 GHz, the device is selected to be different from a conducting path, the radio frequency part signals are subjected to ultra-wideband access, fixed intermediate frequency receiving is realized by utilizing a continuously-changing local oscillator network, and full-band traversal is realized in a scanning mode.

The analog radio frequency front end consists of a communication unit 120, a navigation unit 130 and a sensing unit 150, wherein two branches of the communication unit are combined by adopting a circulator, and the functions of receiving and transmitting switching and receiving protection are realized through a fast response switch; the up-down conversion design realized by the structures of the mixer, the OSC intrinsic network and the like in the communication module 120 reduces the sampling rate of the ADC and improves the anti-interference capability of the system; the navigation unit 130 can greatly improve weak signal receiving capability and interference suppression capability through the structural design of link feeding and preselection filtering; the sensing unit 150 performs wide-in and narrow-out, segmented filtering, wide-band large-dynamic receiving processing, and finally connects the AD/DA data to the baseband MCU unit.

In this embodiment, in order to meet the requirement of simultaneous operation of conduction, the antenna needs to meet the following conditions:

working frequency band: 800+ -20M, 1.238 G+ -35M, 1585G+ -20M; voltage standing wave ratio: VSWR <2; polarization mode: right-hand circular polarization; axial ratio: the working frequency range is <3; gain: not less than 3dBi.

As shown in fig. 6, the antenna adopts a four-arm spiral structure, four identical radiating arms are spirally and symmetrically wound on the side wall of the stick-shaped metal shell, the bottom end of each spiral arm is a regular tangential plane, the top end of each spiral arm is bifurcated into three antenna arms with different electrical lengths, the antenna arms can be divided into a high-frequency coupling arm, an intermediate-frequency coupling arm and a low-frequency coupling arm from long to short according to the electrical lengths, the antenna arms are combined to form a multi-frequency broadband antenna, electromagnetic waves can be subjected to pre-selection filtering, and after the electromagnetic waves are converted into characteristic impedance through an impedance conversion line, the output end of the antenna is connected with a duplexer to perform signal separation; the antenna structure parameters in this example are shown in table 2.

Table 2 antenna configuration parameters

Parameters (parameters)	Geometric meaning	Numerical value (mm)
			Dh	Spiral winding shaft diameter/cylindrical diameter	60.44
L1	High frequency coupling arm length	470
			L2	Intermediate frequency coupling arm length	314
L3	Low frequency coupling arm length	242
			Wf	Width of bottom end of spiral arm	6
H	Spiral wall depth	308
			Df	Width of bottom	24
Φ	Helix angle	49
			Er	Dielectric constant	2.2
h	Thickness of dielectric plate	0.3

The antenna comprises: a power split phase shift feed network and a helical antenna radiator.

Specifically, when four radiation arms of the four-arm helical antenna are fed with signals having equal amplitudes and phases differing from each other by 90 degrees, the antenna can radiate circularly polarized waves, and when the length of the helical arm is an even multiple of a quarter wavelength, the top of the antenna is short-circuited, and if the length of the helical arm is an odd multiple, the top of the antenna is open-circuited. The length of the spiral is one quarter wavelength.

As shown in FIG. 7, the power division feed network adopts a dielectric substrate with a dielectric constant of 4.4 and a thickness of 0.8mm, one side of the dielectric substrate is a metal bottom plate, and the other side of the dielectric substrate is a microstrip line. The feeding end feeds by adopting a Lump port mode, so that the input ends of the upper power divider and the lower power divider are connected with double-sided strip lines to generate signals with equal amplitude and 180 degrees of phase difference. The length of the output end of each power divider is different by one quarter wavelength, and 90-degree phase difference is generated, so that the amplitude of the four output ports is equal, and the phase difference is 90 degrees. The two output ends of the power divider positioned below are connected with the two radiating arms of the spiral antenna, so that the two output ends are required to be connected on the dielectric plate through the via hole.

The feed network independent of the spiral antenna needs four constant amplitude excitation sources with 90-degree phase difference of ports, a microstrip annular bridge and a 3dB bridge device are combined, signals enter the microstrip bridge network from a com port to output constant amplitude reverse power to divide the two port networks, 90-degree phase shift of the ports is achieved through the two 3dB bridges, and finally the phase difference of the ports is 90 degrees respectively, so that the design can reduce the circuit size and is beneficial to miniaturized layout.

As shown in fig. 8 and 9, the present embodiment performs S11 simulation and 1217M simulation, respectively.

In summary, the present utility model provides a comprehensive guiding integrated device for domestic unmanned equipment, which includes: antenna 200, duplexer 110, communication unit 120, navigation unit 130, sensing unit 150, and MCU unit 140.

The antenna 200 adopts a four-arm spiral structure, four identical spiral arms are symmetrically wound on the side wall of the stick-shaped metal shell, the bottom end of each spiral arm is a regular tangential plane, the top end of each spiral arm is bifurcated into three coupling antenna arms with different lengths and different frequencies, and the output end of each spiral arm is connected with the duplexer 110 to transmit signals.

The sensing unit 150 includes: the antenna comprises a coupler and a signal channel, wherein one end of the coupler is coupled on a line of the antenna 200, the other end of the coupler is connected with an input end of the signal channel, and an output end of the signal channel is connected with the MCU 140 through an ADC converter.

The diplexer 110 contains three ports, with one port of the diplexer 110 being connected to the base port of the antenna 200.

The communication unit 120 includes: the device comprises a circulator, a sending channel and a receiving channel; wherein, the circulator includes: a bidirectional port, a transmitting port and a receiving port; the bidirectional port of the circulator is connected with the other port of the duplexer 110, the transmitting port of the circulator is connected with one end of the transmitting channel, and the receiving port of the circulator is connected with one end of the receiving channel.

The navigation unit 130 includes: the power divider and the chip, wherein one end of the power divider is connected with the other port of the duplexer 110, and the other end of the power divider is connected with the chip.

The MCU unit 140 is connected with the other end of the transmitting channel of the communication unit 120 through an ADC converter, the MCU unit 140 is connected with the other end of the receiving channel of the communication unit 120 through a DAC converter, and the MCU unit 140 is connected with the chip of the navigation unit 130.

In the present utility model, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

The shapes of the various components in the drawings are illustrative, and do not exclude certain differences from the actual shapes thereof, and the drawings are merely illustrative of the principles of the present utility model and are not intended to limit the present utility model.

Although the utility model has been disclosed in detail with reference to the accompanying drawings, it is to be understood that such description is merely illustrative and is not intended to limit the application of the utility model. The scope of the utility model is defined by the appended claims and may include various modifications, alterations and equivalents of the utility model without departing from the scope and spirit of the utility model.

Claims

1. A domestic unmanned equipment comprehensive lead integrated device, characterized in that the device comprises: an antenna (200), a duplexer (110), a communication unit (120), a navigation unit (130), a sensing unit (150) and an MCU unit (140);

the antenna (200) adopts a four-arm spiral structure, four identical spiral arms are symmetrically wound on the side wall of the stick-shaped metal shell, the bottom end of each spiral arm is a regular tangential plane, and the top end of each spiral arm is bifurcated into three coupled antenna arms with different electrical lengths; the antenna (200) comprises: the power division feed network comprises four output ends which are respectively and correspondingly connected with the four spiral arms and output signals to the duplexer (110);

the duplexer (110) comprises three ports, which are sequentially connected with the antenna (200), one end of the communication unit (120) and one end of the navigation unit (130);

one end of the sensing unit (150) is coupled with the antenna (200);

the MCU unit (140) is respectively connected with the other end of the communication unit (120), the other end of the navigation unit (130) and the other end of the sensing unit (150).

2. The domestic unmanned equipment integrated lead integration apparatus according to claim 1, wherein the communication unit (120) comprises: a circulator, a transmit channel, and a receive channel, the circulator comprising: a bidirectional port, a transmitting port and a receiving port; the transmitting port of the circulator is connected with the input end of the transmitting channel, the receiving port of the circulator is connected with the output end of the receiving channel, and the bidirectional port of the circulator is connected with the duplexer (110).

3. The domestic unmanned equipment integrated lead integration apparatus according to claim 1, wherein the navigation unit (130) comprises: and the input end of the power divider is connected with the duplexer (110), and the output end of the power divider is connected with the MCU (140).

4. The domestic unmanned equipment integrated lead integration apparatus according to claim 1, wherein the sensing unit (150) comprises: the antenna comprises a coupler and a signal channel, wherein one end of the coupler is coupled to the antenna (200), the other end of the coupler is connected with the input end of the signal channel, and the output end of the signal channel is connected with the MCU unit (140).

5. The domestic unmanned equipment integrated lead integration apparatus according to claim 2, wherein the communication unit (120) comprises: a first line and a second line, each of the first line and the second line including one of the circulators, one of the transmit channels, and one of the receive channels.

6. The integrated domestic unmanned equipment comprehensive conductance device of claim 5, wherein said diplexer (110) comprises a first diplexer connected to a circulator of a first line of said communications unit (120) and a second diplexer connected to a circulator of a second line of said communications unit (120).

7. The domestic unmanned equipment integrated conduction integration apparatus of claim 6, wherein the antenna (200) comprises: the first antenna is connected with the first duplexer, and the second antenna is connected with the second duplexer.