WO2016154959A1 - Procédé de communication, véhicule aérien sans pilote et dispositif de commande pour véhicule aérien sans pilote - Google Patents

Procédé de communication, véhicule aérien sans pilote et dispositif de commande pour véhicule aérien sans pilote Download PDF

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Publication number
WO2016154959A1
WO2016154959A1 PCT/CN2015/075647 CN2015075647W WO2016154959A1 WO 2016154959 A1 WO2016154959 A1 WO 2016154959A1 CN 2015075647 W CN2015075647 W CN 2015075647W WO 2016154959 A1 WO2016154959 A1 WO 2016154959A1
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WIPO (PCT)
Prior art keywords
frequency band
uav
carrier
control device
frequency
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PCT/CN2015/075647
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English (en)
Chinese (zh)
Inventor
邓任钦
尤中乾
梁辰
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2015/075647 priority Critical patent/WO2016154959A1/fr
Priority to CN201580002668.2A priority patent/CN105766046B/zh
Publication of WO2016154959A1 publication Critical patent/WO2016154959A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0453—Resources in frequency domain, e.g. a carrier in FDMA
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J4/00—Combined time-division and frequency-division multiplex systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L25/00—Baseband systems
    • H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
    • H04L25/03—Shaping networks in transmitter or receiver, e.g. adaptive shaping networks
    • H04L25/03006—Arrangements for removing intersymbol interference
    • H04L25/03159—Arrangements for removing intersymbol interference operating in the frequency domain
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L25/00—Baseband systems
    • H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
    • H04L25/08—Modifications for reducing interference; Modifications for reducing effects due to line faults ; Receiver end arrangements for detecting or overcoming line faults
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L27/00—Modulated-carrier systems
    • H04L27/26—Systems using multi-frequency codes
    • H04L27/2601—Multicarrier modulation systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/14—Two-way operation using the same type of signal, i.e. duplex
    • H04L5/1469—Two-way operation using the same type of signal, i.e. duplex using time-sharing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L25/00—Baseband systems
    • H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
    • H04L25/03—Shaping networks in transmitter or receiver, e.g. adaptive shaping networks
    • H04L25/03006—Arrangements for removing intersymbol interference
    • H04L2025/0335—Arrangements for removing intersymbol interference characterised by the type of transmission
    • H04L2025/03375—Passband transmission
    • H04L2025/03414—Multicarrier

Definitions

  • the present invention relates to the field of communications technologies, and in particular, to a communication method, an unmanned aerial vehicle, and an unmanned aerial vehicle control device.
  • unmanned aerial vehicles At present, the application of unmanned aerial vehicles is infiltrating into various industries, and with the increasing popularity of unmanned aerial vehicles, it provides stable point-to-point two-way communication (communication between unmanned aerial vehicles and UAV control devices) in the user experience, in the air. Security requirements are becoming more and more urgent.
  • TDD Time Division Duplexing
  • a technique for receiving and transmitting, in different time slots of the same frequency channel (i.e., carrier), separating the receive and transmit channels with time In the single-user application scenario, although the uplink and downlink use the same frequency channel, the uplink and downlink do not interfere because the uplink signal is transmitted and the downlink signal is received in different time slots. . However, when an application scenario involving multiple users coexists, the uplink and downlink of a certain user may interfere with the uplink and downlink of another user.
  • the UAV control device A When the UAV control device A is in the uplink state, the UAV control When device B is operating in the downlink state, if the uplink carrier frequency of UAV control device A jumps to between 2400 and 2410 MHz, no A vehicle control apparatus The uplink will cause interference to the downlink of UAV control unit B. Similarly, the uplink of UAV control unit B will also interfere with the downlink of UAV control unit A. Moreover, as users continue to increase, interference will become more and more serious.
  • Embodiments of the present invention provide a communication method, an unmanned aerial vehicle, and an unmanned aerial vehicle control device, which can reduce coexistence interference in an application scenario in which multiple users coexist, thereby improving user experience.
  • a first aspect of the embodiments of the present invention provides a communication method for an UAV control device to communicate with an unmanned aerial vehicle based on a time division duplex TDD mode, including:
  • the UAV control device transmits an uplink signal to the UAV by using a first carrier
  • the UAV control device receives the downlink signal sent by the UAV by using the second carrier;
  • the first carrier corresponds to the first frequency band
  • the second carrier corresponds to the second frequency band
  • the first frequency band does not overlap with the second frequency band
  • a second aspect of the embodiments of the present invention provides a communication method for an unmanned aircraft to communicate with an unmanned aerial vehicle control device based on a time division duplex TDD mode, including:
  • the UAV receives an uplink signal sent by the UAV control device by using a first carrier;
  • the UAV transmits a downlink signal to the UAV control device by using a second carrier;
  • the first carrier corresponds to the first frequency band
  • the second carrier corresponds to the second frequency band
  • the first frequency band does not overlap with the second frequency band
  • a third aspect of the embodiments of the present invention provides an unmanned aerial vehicle control apparatus for communicating with an unmanned aerial vehicle based on a TDD mode, including:
  • a sending unit configured to send an uplink signal to the unmanned aerial vehicle by using a first carrier, in an uplink time slot in a TDD mode
  • the UAV control device utilizing Receiving, by the second carrier, a downlink signal sent by the UAV;
  • the first carrier corresponds to the first frequency band
  • the second carrier corresponds to the second frequency band
  • the first frequency band does not overlap with the second frequency band
  • a fourth aspect of the present invention provides an unmanned aerial vehicle for communicating with an unmanned aerial vehicle control device based on a time division duplex TDD mode, including:
  • a receiving unit configured to receive, by using a first carrier, an uplink signal sent by the UAV control device in an uplink time slot of the TDD mode
  • a sending unit configured to send a downlink signal to the UAV control device by using a second carrier in a downlink time slot of the TDD mode
  • the first carrier corresponds to the first frequency band
  • the second carrier corresponds to the second frequency band
  • the first frequency band does not overlap with the second frequency band
  • a fifth aspect of the embodiments of the present invention provides an unmanned aerial vehicle control apparatus for communicating with an unmanned aerial vehicle based on a TDD mode, including a back-end control unit electrically connected in sequence, a radio frequency signal for receiving the first frequency band, and receiving The front end radio frequency unit, the radio frequency switch and the antenna of the radio frequency signal of the second frequency band;
  • the radio frequency switch is further electrically connected to the backend control unit, and configured to receive a control signal sent by the backend control unit, so that the front end radio frequency unit transmits the first through the antenna in an uplink time slot.
  • a radio frequency signal of a frequency band in a downlink time slot, receiving, by the antenna, a radio frequency signal of the second frequency band;
  • the first frequency band and the second frequency band do not overlap.
  • a sixth aspect of the embodiments of the present invention provides an unmanned aerial vehicle for communicating with an unmanned aerial vehicle control device based on a time division duplex TDD mode, including a backend control unit electrically connected in sequence, and a radio frequency for receiving the first frequency band. Signaling and outputting a front-end radio frequency unit, a radio frequency switch, and an antenna of the radio frequency signal of the second frequency band;
  • the radio frequency switch is further electrically connected to the backend control unit, and configured to receive a control signal sent by the backend control unit, so that the front end radio frequency unit receives the first through the antenna in an uplink time slot.
  • a radio frequency signal of a frequency band in a downlink time slot, transmitting, by the antenna, a radio frequency signal of the second frequency band;
  • the first frequency band and the second frequency band do not overlap.
  • the communication method provided by the embodiment of the present invention is used for the UAV control device to communicate with the UAV based on the time division duplex TDD mode.
  • the UAV control device uses the first carrier to the UAV.
  • the embodiment of the present invention uses the TDD mode to limit the transmission of the uplink signal and the reception of the downlink signal to different time slots to ensure separate reception and transmission channels, and also to uplink the carrier frequency and downlink by means of the FDD mode.
  • the carrier frequency is limited to different frequency bands to prevent the uplink of one user from causing interference to the downlink of another user or the uplink of one user to the uplink of another user, which can coexist in multiple users.
  • the application scenario reduces coexistence interference, thereby improving the user experience.
  • FIG. 1 is a schematic diagram of an embodiment of a communication method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of another embodiment of a communication method according to an embodiment of the present invention.
  • 3a to 3d are schematic diagrams showing multiple working states of a communication method in a specific application scenario according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an embodiment of an unmanned aerial vehicle control device according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of another embodiment of an unmanned aerial vehicle control apparatus according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of an embodiment of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of another embodiment of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the embodiments of the present invention provide a communication method, an unmanned aerial vehicle, and an unmanned aerial vehicle control device, which can reduce coexistence interference in an application scenario where multiple users coexist, thereby improving user experience, which are respectively described in detail below.
  • an embodiment of the communication method in the embodiment of the present invention includes:
  • the communication method is used for the UAV control device to communicate with the UAV based on the TDD mode, wherein the UAV control device communicates with the UAV based on the TDD mode refers to the UAV control device.
  • the uplink signal and the downlink signal are respectively sent in different time slots.
  • the uplink and downlink time slots are not limited, and the uplink and downlink transition times can be flexibly set according to the actual application scenario.
  • the uplink corresponds to the uplink signal transmitted from the UAV control device (corresponding to the user side) to the UAV
  • the downlink corresponds to the downlink signal transmitted from the UAV to the UAV control device.
  • the UAV control device uses the first carrier to send an uplink signal to the UAV;
  • the UAV control device when the UAV control device operates in the uplink time slot, uses the first carrier to carry the uplink signal to transmit the uplink signal to the UAV.
  • the method may further include:
  • the UAV control device determines the first carrier in a frequency hopping mode such that the first carrier hops in the first frequency band.
  • the UAV control device determines the first carrier in the frequency hopping mode, so that the first The carrier hops in the first frequency band.
  • the specific value of the first preset value is not limited, and may be determined according to an actual application scenario.
  • the uplink signal carried on the first carrier generally includes control information, and the control information is generally included.
  • the occupied bandwidth is small (the bandwidth requirement of the uplink signal is less than the first preset value).
  • the first carrier can be determined in the frequency hopping mode.
  • the UAV control device uses the second carrier to receive the downlink signal sent by the UAV;
  • the UAV control device when the UAV control device operates in the downlink time slot, the UAV control device receives the downlink signal transmitted by the UAV using the second carrier.
  • the first carrier corresponds to the first frequency band
  • the second carrier corresponds to the second frequency band
  • the first frequency band does not overlap with the second frequency band
  • the human aircraft control device not only uses the TDD mechanism to transmit the uplink signal and the downlink signal in different time slots, but also uses the FDD mechanism to ensure that the uplink signal and the downlink signal are carried on the carriers of different frequency bands. Therefore, this embodiment proposes An architecture based on hybrid communication between FDD and TDD. On the one hand, the TDD mechanism is used to effectively reduce system power consumption and improve the endurance of the system.
  • the FDD mechanism is used to reduce coexistence interference in a multi-user coexistence application scenario, avoiding a certain The user's uplink interferes with the downlink of another user or the uplink of one user to the uplink of another user, thereby improving the user experience.
  • the first frequency band and the second frequency band preferentially adopt an unlicensed frequency band, which refers to an unlicensed ISM (Industrial Scientific Medical) common frequency band.
  • ISM Industrial Scientific Medical
  • the first frequency band preferentially uses an unlicensed frequency band with a lower frequency, such as a 2.4 GHz frequency band, and correspondingly, the second frequency band uses a 5.8 GHz frequency band. .
  • the communication method provided by the embodiment of the present invention is used for the UAV control device to communicate with the UAV based on the time division duplex TDD mode.
  • the UAV control device uses the first carrier to the UAV.
  • the embodiment of the present invention uses the TDD mode to limit the transmission of the uplink signal and the reception of the downlink signal to different time slots to ensure separate reception and transmission channels, and also to uplink the carrier frequency and downlink by means of the FDD mode.
  • the carrier frequency is limited to different frequency bands to prevent the uplink of one user from causing interference to the downlink of another user or the uplink of one user to the uplink of another user, which can coexist in multiple users.
  • the application scenario reduces coexistence interference, thereby improving the user experience.
  • Another embodiment of the communication method in the embodiment of the present invention includes:
  • the communication method in the embodiment of the present invention is used for an unmanned aerial vehicle based on a TDD mode.
  • Communicating with the unmanned aerial vehicle control device, wherein the unmanned aerial vehicle communicating with the UAV control device based on the TDD mode means that the UAV control device receives the uplink signal and the downlink signal respectively in different time slots, specifically for the uplink and the downlink
  • the time slot ratio is not limited, and the uplink and downlink transition times can be flexibly set according to the actual application scenario.
  • the unmanned aerial vehicle uses the first carrier to receive an uplink signal sent by the unmanned aerial vehicle control device;
  • the UAV when the UAV operates in an uplink time slot, the UAV receives the uplink signal transmitted by the UAV control device using the first carrier.
  • the unmanned aerial vehicle transmits a downlink signal to the unmanned aerial vehicle control device by using the second carrier;
  • the UAV when the UAV operates in the downlink time slot, the UAV uses the second carrier to carry the downlink signal to transmit the downlink signal to the UAV control device.
  • the method may further include:
  • Determining, in the fixed frequency mode, the second carrier or the unmanned aerial vehicle determines the second carrier in a dynamic frequency selective mode
  • the second carrier is usually determined in the fixed frequency mode, that is, the second carrier is fixed and remains unchanged, in some application scenarios.
  • the function of dynamic frequency selection can also be added, and the second carrier is determined in the fixed frequency mode, that is, the electromagnetic interference is searched for a period of time, and the channel switching is realized after intelligent judgment.
  • the specific value of the first preset value is not limited, and may be determined according to an actual application scenario.
  • the downlink signal carried on the second carrier generally includes high-definition image information, and these high-definition images
  • the image information occupies a large bandwidth (the bandwidth requirement of the uplink signal is greater than the second preset value).
  • the second carrier can be determined in the fixed frequency mode or the dynamic frequency selective mode.
  • the downlink signal carried on the second carrier further includes state data of the UAV, such as speed, altitude, attitude, GPS information, and the like.
  • the first carrier corresponds to the first frequency band
  • the second carrier corresponds to the second frequency band
  • the first frequency band does not overlap with the second frequency band
  • the first carrier corresponds to the first frequency band
  • the second carrier pair In the second frequency band the first frequency band and the second frequency band do not overlap. Therefore, in this embodiment, the unmanned aerial vehicle not only receives the uplink signal and the downlink signal in different time slots by using the TDD mechanism, but also uses the FDD.
  • the mechanism ensures that the uplink signal and the downlink signal are carried on carriers of different frequency bands. Therefore, this embodiment proposes an architecture based on hybrid communication between FDD and TDD.
  • the TDD mechanism is used to effectively reduce system power consumption and improve system life.
  • Capability on the other hand, use FDD mechanism to reduce coexistence interference in the application scenario where multiple users coexist, to avoid the uplink of one user from causing interference to the downlink of another user or the downlink of one user to another The user's uplink improves the user experience.
  • the first frequency band and the second frequency band preferentially adopt an unlicensed frequency band, which refers to an unlicensed ISM (Industrial Scientific Medical) common frequency band.
  • ISM Industrial Scientific Medical
  • the second frequency band adopting the fixed frequency mode or the dynamic frequency selection mode preferentially uses the higher frequency unlicensed frequency band, such as the 5.8 GHz frequency band, and correspondingly, the first frequency band uses the 2.4 GHz frequency band.
  • the first frequency band preferentially adopts an unlicensed frequency band with a lower frequency, such as a 2.4 GHz frequency band, and correspondingly, the second frequency band adopts a 5.8 GHz frequency band.
  • the communication method provided by the embodiment of the invention is used for the UAV to communicate with the UAV control device based on the TDD mode.
  • the UAV receives the uplink signal sent by the UAV control device by using the first carrier.
  • the unmanned aerial vehicle transmits a downlink signal to the unmanned aerial vehicle control device by using the second carrier; wherein the first carrier corresponds to the first frequency band, the second carrier corresponds to the second frequency band, and the first The frequency band does not overlap with the second frequency band.
  • the embodiment of the present invention uses the TDD mode to limit the reception of the uplink signal and the transmission of the downlink signal to different time slots to ensure separate reception and transmission channels, and also to uplink the carrier frequency and downlink by means of the FDD mode.
  • the carrier frequency is limited to different frequency bands to prevent the uplink of one user from causing interference to the downlink of another user or the uplink of one user to the uplink of another user, which can coexist in multiple users.
  • the application scenario reduces coexistence interference, thereby improving the user experience.
  • aerial photography has become one of the most popular applications of today's unmanned aerial vehicles.
  • the aerial photography application is taken as a specific application scenario.
  • the communication method in the embodiment of the present invention is specifically described from the perspective of the unmanned aerial vehicle control device:
  • the uplink signal carried by the first carrier is control information with less bandwidth requirement
  • the downlink signal carried by the second carrier is high-definition image information with relatively large bandwidth requirement and state data of the unmanned aerial vehicle.
  • the downlink data amount is far. It is much larger than the amount of uplink data, and as people's requirements for image quality become higher and higher, the difference in the amount of data between the uplink and the downlink will become larger and larger.
  • the first frequency band corresponding to the first carrier is the 2.4 GHz frequency band
  • the UAV control device determines the first carrier in the frequency hopping mode
  • the second frequency band corresponding to the second carrier is the 5.8 GHz frequency band
  • the aircraft determines the second carrier in the fixed frequency mode or the dynamic frequency selective mode, so that the uplink signal implementing the frequency hopping technology works in the lower frequency unlicensed frequency band, and the uplink is more due to the lower spatial attenuation of the low frequency. Stable; let the downlink signal using fixed frequency technology or dynamic frequency selection technology work in a wider unlicensed frequency band to accommodate more users.
  • FIG. 3a to 3d are schematic diagrams showing an application scenario of a communication method according to an embodiment of the present invention.
  • the UAV control device A operates in an uplink time slot
  • the UAV control device B operates in a downlink.
  • Time slot at this time, the radiated power of the 2.4 GHz radiation signal of the UAV control device A is a strong interference signal for the UAV control device B, but the 2.4 GHz radiation signal enters due to the inconsistent uplink and downlink operating frequency bands.
  • the UAV control device B is filtered by the filter, it will not affect the normal operation of the UAV control device B. Therefore, the uplink of the UAV control device A will not affect the UAV control device B.
  • the downlink causes interference, and in this working state, the UAV control device A and the UAV control device B do not affect each other.
  • the UAV control device A operates in the uplink time slot, and the UAV control device B also operates in the uplink time slot.
  • the UAV control device A and the UAV are used due to the uplink using the frequency hopping mechanism.
  • the probability that the control device B operates at the same frequency is very low, so the probability of interference between each other is extremely low.
  • the UAV control unit A operates in the down time slot, unmanned aerial vehicle control Set B to work in the uplink time slot.
  • the working state at this time is similar to that of Figure 3a, and details are not described here.
  • the UAV control device A operates in the downlink time slot, and the UAV control device B also operates in the downlink time slot.
  • a dynamic frequency selective mechanism can be used, such as the UAV control device A selecting 5725. ⁇ 5735MHz, UAV control device B chooses 5745 ⁇ 5755MHz to avoid mutual interference.
  • an embodiment of the UAV control device in the embodiment of the present invention includes:
  • the UAV control device is configured to communicate with the UAV based on the TDD mode, and includes:
  • the sending unit 401 is configured to: in an uplink time slot of the TDD mode, the UAV control device sends an uplink signal to the unmanned aerial vehicle by using a first carrier;
  • the receiving unit 402 is configured to receive, in the downlink time slot of the TDD mode, the UAV control device by using the second carrier to receive the downlink signal sent by the UAV;
  • the first carrier corresponds to the first frequency band
  • the second carrier corresponds to the second frequency band
  • the first frequency band does not overlap with the second frequency band
  • the sending unit 401 sends an uplink signal to the unmanned aerial vehicle by using the first carrier; in the downlink time slot of the TDD mode, the receiving unit 402 receives the downlink signal sent by the unmanned aerial vehicle by using the second carrier.
  • the first carrier corresponds to the first frequency band
  • the second carrier corresponds to the second frequency band
  • the first frequency band does not overlap with the second frequency band.
  • the sending unit 401 in this embodiment may correspond to the transmitter of the UAV control device, or may correspond to the transceiver of the UAV control device.
  • the receiving unit 402 in this embodiment may correspond to the receiver of the UAV control device, and may also correspond to the transceiver of the UAV control device.
  • the UAV control device may further include:
  • a determining unit configured to: when the UAV control device sends an uplink signal to the UAV by using the first carrier, when the bandwidth requirement of the uplink signal is less than a first preset value, The first carrier is determined in a mode such that the first carrier hops within the first frequency band.
  • the first frequency band and the second frequency band are both unlicensed frequency bands.
  • the first frequency band includes a 2.4 GHz frequency band; and the second frequency band includes a 5.8 GHz frequency band.
  • the determining unit may correspond to a processor of the UAV control device, where the processor may be a CPU, or an ASIC, or complete one or more implementations of the embodiments of the present invention. integrated circuit.
  • the unmanned aerial vehicle control device provided by the embodiment of the present invention is configured to communicate with the unmanned aerial vehicle based on the time division duplex TDD mode.
  • the transmitting unit 401 of the UAV control device uses the first carrier to The unmanned aerial vehicle sends an uplink signal; in the downlink time slot of the TDD mode, the receiving unit 402 receives the downlink signal sent by the unmanned aerial vehicle by using the second carrier; wherein the first carrier corresponds to the first frequency band, and the second carrier corresponds to the second frequency a frequency band, and the first frequency band does not overlap with the second frequency band. Therefore, with respect to the prior art, the embodiment of the present invention uses the TDD mode to limit the transmission of the uplink signal and the reception of the downlink signal to different time slots to ensure separate reception and transmission channels, and also to uplink the carrier frequency and downlink by means of the FDD mode.
  • the carrier frequency is limited to different frequency bands to prevent the uplink of one user from causing interference to the downlink of another user or the uplink of one user to the uplink of another user, which can coexist in multiple users.
  • the application scenario reduces coexistence interference, thereby improving the user experience.
  • the unmanned aircraft control device in the embodiment of the present invention is described above from the perspective of a modular functional entity.
  • the UAV control device in the embodiment of the present invention is described below from the perspective of hardware processing. For details, refer to FIG.
  • Another embodiment of the UAV control device in the embodiment includes:
  • the UAV control device is configured to communicate with the UAV based on the TDD mode, and includes a backend control unit 501 electrically connected in sequence, a radio frequency signal for receiving the first frequency band, and receiving. a front-end radio frequency unit 502, a radio frequency switch 503, and an antenna 504 of the radio frequency signal of the second frequency band;
  • the radio frequency switch 503 is further electrically connected to the backend control unit 501, and configured to receive a control signal sent by the backend control unit 501, so that the front end radio frequency unit 502 passes through the antenna 504 in an uplink time slot. Transmitting a radio frequency signal of the first frequency band, and receiving, by the antenna 504, a radio frequency signal of the second frequency band in a downlink time slot;
  • the first frequency band and the second frequency band do not overlap.
  • the backend control unit 501 refers to a control center of the UAV control device for generating an uplink signal (such as control information, etc.) that needs to be transmitted and input to the front end radio frequency unit 502, and is also used for receiving the front end radio frequency.
  • the unit 502 processes the input downlink signals (such as high-definition image information and state data of the UAV) and performs corresponding processing on the downlink signals.
  • the front-end radio unit 502 can include a radio frequency transmitting sub-unit based on the first frequency band and a radio frequency receiving sub-unit based on the second frequency band, so that the radio frequency signal of the first frequency band is output through the radio frequency transmitting sub-unit, and The radio frequency receiving subunit receives the radio frequency signal of the second frequency band.
  • the front-end radio frequency unit 502 may include a radio frequency module 5021, a first signal amplifier 5022, a second signal amplifier 5023, a first filter 5024, and a second filter 5025;
  • the output end of the radio frequency module 5021 is electrically connected to the radio frequency switch 503 through the first signal amplifier 5022 and the first filter 5024; the input end of the radio frequency module 5021 sequentially passes through the second The signal amplifier 5022 and the second filter 5025 are electrically connected to the radio frequency switch 503.
  • the radio frequency transmitting circuit, the first signal amplifier 5022 and the first filter 5024 in the radio frequency module 5021 constitute a radio frequency transmitting subunit based on the first frequency band
  • the radio frequency receiving circuit and the second signal amplifier in the radio frequency module 5021 The 5022 and the second filter 5025 together form a radio frequency receiving subunit based on the second frequency band.
  • the first frequency band and the second frequency band are both unlicensed frequency bands.
  • the first frequency band includes a 2.4 GHz frequency band; and the second frequency band includes a 5.8 GHz frequency band.
  • an embodiment of the unmanned aerial vehicle in the embodiment of the present invention includes:
  • the UAV is used to communicate with the UAV control device based on the TDD mode, and includes:
  • the receiving unit 601 is configured to receive, by using the first carrier, the uplink in an uplink time slot of the TDD mode.
  • the sending unit 602 is configured to send, by using a second carrier, a downlink signal to the UAV control device in a downlink time slot of the TDD mode;
  • the first carrier corresponds to the first frequency band
  • the second carrier corresponds to the second frequency band
  • the first frequency band does not overlap with the second frequency band
  • the receiving unit 602 in this embodiment may correspond to the receiver of the UAV, or may correspond to the transceiver of the UAV.
  • the transmitting unit 601 in this embodiment may correspond to a transmitter of an unmanned aerial vehicle, or may correspond to a transceiver of an unmanned aerial vehicle.
  • the following describes the internal operation process of the UAV in this embodiment by taking a specific application scenario as an example:
  • the receiving unit 601 receives the uplink signal sent by the UAV control device by using the first carrier; in the downlink time slot of the TDD mode, the sending unit 602 controls the UAV by using the second carrier.
  • the device sends a downlink signal, where the first carrier corresponds to the first frequency band, the second carrier corresponds to the second frequency band, and the first frequency band does not overlap with the second frequency band.
  • the UAV may further include:
  • a determining unit configured to determine, in a fixed frequency mode, before the UAV transmits a downlink signal to the UAV control device by using the second carrier, when a bandwidth requirement of the downlink signal is greater than a second preset value The second carrier, or determining the second carrier in a dynamic frequency selective mode.
  • the first frequency band and the second frequency band are both unlicensed frequency bands.
  • the first frequency band includes a 2.4 GHz frequency band; and the second frequency band includes a 5.8 GHz frequency band.
  • the unmanned aerial vehicle provided by the embodiment of the present invention is configured to communicate with the UAV control device based on the TDD mode.
  • the receiving unit 601 of the UAV receives the unmanned aerial vehicle control device by using the first carrier.
  • the uplink signal in the downlink time slot of the TDD mode, the sending unit 602 sends the downlink signal to the unmanned aerial vehicle control device by using the second carrier; wherein the first carrier corresponds to the first frequency band, the second carrier corresponds to the second frequency band, and The first frequency band does not overlap with the second frequency band.
  • the embodiment of the present invention uses the TDD mode to limit the reception of the uplink signal and the transmission of the downlink signal to different time slots to ensure separate reception and transmission channels, and also to uplink the carrier frequency and downlink by means of the FDD mode.
  • the carrier frequency is limited to different frequency bands to avoid a certain
  • the user's uplink interferes with the downlink of another user or the downlink of one user to the uplink of another user can reduce coexistence interference in the application scenario where multiple users coexist, thereby improving the user experience.
  • the unmanned aerial vehicle in the embodiment of the present invention is described above from the perspective of a modular functional entity.
  • the unmanned aerial vehicle in the embodiment of the present invention is described from the perspective of hardware processing.
  • FIG. 7 is not in the embodiment of the present invention.
  • Another embodiment of a human aircraft includes:
  • the UAV is used to communicate with the UAV control device based on the TDD mode, and includes a backend control unit 701 electrically connected in sequence, and a radio frequency signal and output for receiving the first frequency band.
  • the radio frequency switch 703 is further electrically connected to the back end control unit 701 for receiving a control signal sent by the back end control unit 701, so that the front end radio frequency unit 702 is in an uplink time slot, through the antenna 704. Receiving a radio frequency signal of the first frequency band, and transmitting, by using the antenna 704, a radio frequency signal of the second frequency band in a downlink time slot;
  • the first frequency band and the second frequency band do not overlap.
  • the backend control unit 701 refers to the control center of the UAV for generating downlink signals (such as high-definition image information, state data of the aircraft, etc.) that need to be transmitted and input to the front-end radio unit 702, and is also used for The uplink signal (such as control information, etc.) input after being processed by the front-end radio unit 702 is received, and the uplink signal is processed accordingly.
  • downlink signals such as high-definition image information, state data of the aircraft, etc.
  • the uplink signal (such as control information, etc.) input after being processed by the front-end radio unit 702 is received, and the uplink signal is processed accordingly.
  • the front-end radio unit 702 can include a radio frequency receiving sub-unit based on the first frequency band and a radio frequency transmitting sub-unit based on the second frequency band, so that the radio frequency signal of the first frequency band is received by the radio frequency receiving sub-unit, and The radio frequency transmitting subunit transmits a radio frequency signal of a second frequency band.
  • the front-end radio frequency unit 702 may include a radio frequency module 7021, a first signal amplifier 7022, a second signal amplifier 7023, a first filter 7024, and a second filter 7025;
  • the input end of the radio frequency module 7021 is electrically connected to the radio frequency switch 703 through the first signal amplifier 7022 and the first filter 7024; the output end of the radio frequency module 7021 sequentially passes through the second The signal amplifier 7022 and the second filter 7025 are electrically connected to the RF switch 703.
  • the radio frequency receiving circuit, the first signal amplifier 7022 and the first filter 7024 in the radio frequency module 7021 constitute a radio frequency receiving subunit based on the first frequency band, and the radio frequency transmitting circuit and the second signal amplifier in the radio frequency module 7021.
  • the 7022 and the second filter 7025 together form a radio frequency transmitting subunit based on the second frequency band.
  • the first frequency band and the second frequency band are both unlicensed frequency bands.
  • the first frequency band includes a 2.4 GHz frequency band; and the second frequency band includes a 5.8 GHz frequency band.
  • the disclosed system, apparatus, and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essential or the part contributing to the prior art or the entire technical solution.
  • the portion or portion may be embodied in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the various aspects of the present invention. All or part of the steps of the method described in the examples.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un procédé de communication, un véhicule aérien sans pilote et un dispositif de commande pour le véhicule aérien sans pilote. Une interférence coexistante peut être réduite dans un scénario d'application où de multiples utilisateurs coexistent, ce qui permet de favoriser l'expérience de l'utilisateur. Le procédé dans le mode de réalisation de la présente invention est utilisé pour permettre au dispositif de commande pour le véhicule aérien sans pilote d'être en communication avec le véhicule aérien sans pilote sur la base d'un mode de duplex à répartition dans le temps (TDD) et comprend : dans un intervalle de liaison montante dans le mode TDD, un dispositif de commande pour un véhicule aérien sans pilote utilise une première porteuse pour envoyer un signal de liaison montante au véhicule aérien sans pilote ; et dans un intervalle de liaison descendante dans le mode TDD, le dispositif de commande pour le véhicule aérien sans pilote utilise une seconde porteuse pour recevoir un signal de liaison descendante envoyé par le véhicule aérien sans pilote, la première porteuse correspondant à une première bande de fréquence, la seconde porteuse correspondant à une seconde bande de fréquence, la première bande de fréquence et la seconde bande de fréquence ne se chevauchant pas.
PCT/CN2015/075647 2015-04-01 2015-04-01 Procédé de communication, véhicule aérien sans pilote et dispositif de commande pour véhicule aérien sans pilote WO2016154959A1 (fr)

Priority Applications (2)

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PCT/CN2015/075647 WO2016154959A1 (fr) 2015-04-01 2015-04-01 Procédé de communication, véhicule aérien sans pilote et dispositif de commande pour véhicule aérien sans pilote
CN201580002668.2A CN105766046B (zh) 2015-04-01 2015-04-01 一种通信方法、无人飞行器以及无人飞行器控制装置

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PCT/CN2015/075647 WO2016154959A1 (fr) 2015-04-01 2015-04-01 Procédé de communication, véhicule aérien sans pilote et dispositif de commande pour véhicule aérien sans pilote

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CN106716280B (zh) * 2016-09-26 2021-02-19 深圳市大疆创新科技有限公司 控制方法、控制装置、电子装置及飞行器控制系统
CN116312064A (zh) 2017-03-21 2023-06-23 深圳市大疆创新科技有限公司 监控方法和系统
CN108513696B (zh) * 2017-03-21 2021-09-28 深圳市大疆创新科技有限公司 无人机控制方法及控制设备、无人机监管方法及监管设备
CN107370790A (zh) * 2017-06-21 2017-11-21 深圳市盛路物联通讯技术有限公司 一种物联网数据通信方法及系统
CN107360215A (zh) * 2017-06-21 2017-11-17 深圳市盛路物联通讯技术有限公司 一种物联网中基于地理位置的数据上报控制方法及系统
CN109076342B (zh) * 2017-08-24 2021-12-03 深圳市大疆创新科技有限公司 无线设备的频段认证方法和装置以及计算设备
CN108306656B (zh) * 2017-12-19 2019-07-30 中国人民解放军火箭军工程大学 干扰基带信号设计及无人飞行器遥控链路碰撞干扰方法
WO2020042100A1 (fr) * 2018-08-30 2020-03-05 深圳市大疆创新科技有限公司 Procédé de commande, système, dispositif et support de stockage lisible par ordinateur
CN113827192B (zh) * 2021-10-08 2023-12-05 北京大学 无线微型荧光显微成像装置及其应用
CN115550875A (zh) * 2022-08-01 2022-12-30 北京遥测技术研究所 一种无人集群组网测控的链路参数匹配方法

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