WO2018191982A1 - 天线、无人机的地面控制系统以及无人机系统 - Google Patents

天线、无人机的地面控制系统以及无人机系统 Download PDF

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Publication number
WO2018191982A1
WO2018191982A1 PCT/CN2017/081526 CN2017081526W WO2018191982A1 WO 2018191982 A1 WO2018191982 A1 WO 2018191982A1 CN 2017081526 W CN2017081526 W CN 2017081526W WO 2018191982 A1 WO2018191982 A1 WO 2018191982A1
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WIPO (PCT)
Prior art keywords
antenna
drone
substrate
vibrator
feeder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/081526
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English (en)
French (fr)
Inventor
汤一君
吕超
胡孟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN202011050640.5A priority Critical patent/CN112164876A/zh
Priority to PCT/CN2017/081526 priority patent/WO2018191982A1/zh
Priority to CN201780004497.6A priority patent/CN108475844B/zh
Publication of WO2018191982A1 publication Critical patent/WO2018191982A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
    • H01Q1/38—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith formed by a conductive layer on an insulating support
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/48—Earthing means; Earth screens; Counterpoises
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/50—Structural association of antennas with earthing switches, lead-in devices or lightning protectors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
    • H01Q19/10—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces
    • H01Q19/104—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces using a substantially flat reflector for deflecting the radiated beam, e.g. periscopic antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
    • H01Q19/10—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces
    • H01Q19/108—Combination of a dipole with a plane reflecting surface
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/061—Two dimensional planar arrays
    • H01Q21/062—Two dimensional planar arrays using dipole aerials
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q5/00—Arrangements for simultaneous operation of antennas on two or more different wavebands, e.g. dual-band or multi-band arrangements
    • H01Q5/10—Resonant antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q5/00—Arrangements for simultaneous operation of antennas on two or more different wavebands, e.g. dual-band or multi-band arrangements
    • H01Q5/20—Arrangements for simultaneous operation of antennas on two or more different wavebands, e.g. dual-band or multi-band arrangements characterised by the operating wavebands

Definitions

  • the invention relates to the field of data transmission, in particular to an antenna, a ground control system of a drone and a drone system.
  • omnidirectional antennas are generally used to transmit data (such as control commands, images, etc.) between the drone and the ground control system.
  • the omnidirectional antenna is generally a dipole form or a circularly polarized omnidirectional antenna similar to the dipole, which is limited by the gain characteristics of such an antenna, and the data transmission distance is short. Therefore, when the distance between the UAV and the ground control system is far away or the UAV and the ground control system have obstacles, the data transmitted by the omnidirectional antenna of the ground control system cannot reach the UAV smoothly, resulting in ground control. The system is out of contact with the drone.
  • the invention provides an antenna, a ground control system of a drone and a drone system to optimize the performance of the antenna, increase the communication distance between the drone and the ground control system, and improve the communication quality.
  • an antenna comprising a substrate, a plurality of dipoles printed on the substrate, a feed network, and a ground plate, the dipole including a side disposed on the substrate a vibrator unit and a vibrator unit disposed on the other side of the substrate, wherein the vibrator unit includes a first vibrator and a second vibrator; the feed network is connected to each vibrator unit; and the substrate is spaced apart from the ground plate by a preset The distance is set in parallel.
  • a ground control system for a drone comprising: a control terminal and the antenna according to the first aspect above, wherein the control terminal and the antenna Connected by a feeder; the control terminal is configured to generate a control command for the drone; and the antenna is configured to send the control command to the drone.
  • a drone system comprising: a drone and the antenna according to the first aspect, wherein the drone is connected to the antenna via a feeder; Receiving a drone control command sent by the control terminal; the drone is configured to execute the control command.
  • the grounding plate is disposed in parallel on a side of the substrate by a predetermined distance, so that the signal radiated by the antenna has directivity, and the vibrator unit is separately printed on both sides of the substrate.
  • FIG. 1 is a perspective view of an antenna on a side of a substrate in an embodiment of the present invention
  • FIG. 2 is a perspective view of the antenna on the other side of the substrate in the embodiment of the present invention.
  • Figure 3 is a cross-sectional view of the antenna in the embodiment of the present invention.
  • Figure 4 is a perspective view of an antenna in an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of port matching characteristics of an antenna in a frequency band according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of port matching characteristics of an antenna in another frequency band according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram showing the magnitude of gain fluctuation of an antenna in a frequency band in an embodiment of the present invention.
  • FIG. 8 is a schematic diagram showing the magnitude of gain fluctuation of an antenna in another frequency band according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a radiation direction of an antenna in a frequency band in an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a radiation direction of an antenna in another frequency band in an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of main cross polarization of an antenna in a frequency band in an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of main cross polarization of an antenna in another frequency band according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of a gain curve of an antenna in a frequency band in an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of a gain curve of an antenna in another frequency band in an embodiment of the present invention.
  • FIG. 15 is a schematic structural view of a ground control system of a drone according to an embodiment of the present invention.
  • Figure 16 is a block diagram showing the structure of an unmanned aerial vehicle system in accordance with an embodiment of the present invention.
  • 200 ground control system of the drone; 201: control terminal;
  • the antenna 100 of the present invention the ground control system of the drone, and the unmanned aerial vehicle system will be described in detail below with reference to the accompanying drawings.
  • the features of the embodiments and embodiments described below may be combined with each other without conflict.
  • an embodiment of the present invention provides an antenna 100, wherein the antenna is a directional antenna, and the antenna 100 includes a substrate 1, a dipole 2, a feed network 3, and a grounding plate 4.
  • the dipole 2 includes a vibrator unit 20 disposed on one side of the substrate 1 and a vibrator unit 20 disposed on the other side of the substrate 1, the vibrator unit 20 including a first vibrator 21 and a second vibrator twenty two.
  • the dipole 2 and the feed network 3 are printed on the substrate 1 to effect the fixation of the dipole 2 and the feed network 3.
  • the feed network 3 is connected to each of the transducer units 20 such that communication of each transducer unit with an external device is effected by the feed network 3.
  • the substrate 1 is disposed in parallel with the ground plate at a predetermined distance H.
  • the ground plate 4 disposed in parallel with the preset distance H on one side of the substrate 1 makes the signal radiated by the antenna 100 have directivity, the gain of the antenna 100 is large, and the data transmission distance is long, wherein the substrate 1 is an air layer between the grounding plate 4, thereby ensuring good radiation characteristics of the antenna 100.
  • the lengths of the first vibrator 21 and the second vibrator 22 can be set as needed to achieve dual-band data transmission.
  • the vibrator unit 20 is printed on both sides of the substrate 1 to increase the radiation surface.
  • the antenna 100 of the present invention has good matching performance and radiation performance, and the antenna 100 is stabilized in-band gain.
  • a part of the feeding network 3 is disposed on one side of the substrate 1, and another portion is disposed on the other side of the substrate 1, wherein the substrate 1 is on the same side.
  • the feed network 3 is connected to each of the transducer units 20 on the same side.
  • the number of vibrator units 20 on both sides of the substrate 1 can be set as needed.
  • the vibrator units 20 on both sides of the substrate 1 are even.
  • an even number of vibrations are provided on each side of the substrate.
  • the subunits 20 are all distributed axially and axially.
  • the number of the vibrator units 20 on both sides of the substrate 1 is eight, and the number of dipoles in the embodiment of the present invention is eight.
  • the side of the substrate 1 away from the ground plate 4 is referred to as the upper surface of the substrate 1, and the side of the substrate 1 close to the ground plate 4 is referred to as the lower surface of the substrate 1, and the substrate 1 will be hereinafter referred to as The structure of the upper surface is explained.
  • the vibrator unit 20 includes a first vibrator 21 and two second vibrators 22.
  • the length of the first vibrator 21 is greater than the length of the second vibrator 22, so that the antenna 100 realizes dual-frequency transmission, and the signal frequency band radiated by the first vibrator 21 is lower than the signal frequency band radiated by the second vibrator.
  • the frequency range of the signal transmitted by the first vibrator 21 is floating at 2.4 GHz (for example, 2.4 GHz to 2.5 GHz), and the frequency range of the second vibrator 22 transmitting signal is in a full frequency band of 5 G (for example, 5.1 GHz). Up to 5.85 GHz), the 5G full frequency band includes 5.8 GHz.
  • the two second vibrators 22 are symmetrically disposed on both sides of the first vibrator 21 such that the radiation patterns of the first vibrator 21 and the second vibrator 22 are more symmetrical, and the main polarization of the antenna is cross-isolated. The degree is high and the signal transmission is relatively uniform.
  • the first vibrator 21 includes a first body portion 211 and a first bent portion 212, and the two second vibrators 22 are symmetrically disposed on both sides of the first body portion 211. By providing the first body portion 211 and the first bent portion 212, the structure of the first vibrator 21 is relatively compact, and the overall size of the antenna 100 is reduced.
  • the first bending portion 212 is disposed at one end of the first body portion 211, and the two second vibrators 22 are symmetrically disposed at the other end of the first body portion 211.
  • the first bent portion 212 is connected to one end of the first body portion 211, and the two second vibrators 22 are respectively connected to the other end of the first body portion 211.
  • one end of the first body portion 211 is vertically connected to the middle of the first bent portion 212, further making the structure of the first vibrator 21 relatively compact, thereby reducing the overall size of the antenna 100.
  • the structure of the first vibrator 21 is a symmetrical structure, which also makes the radiation pattern of the first vibrator 21 itself more symmetrical, and the signal transmission is more uniform.
  • the The first vibrator 21 can look at a "T" type structure.
  • the second vibrator 22 includes a second body portion 221 and a second bent portion 222, wherein the second body portions 221 of the two second vibrators 22 are symmetrically connected to the first body portion An end of the 211 is away from the first bent portion, and the first body portion 211 is perpendicular to the second body portion 221 .
  • the second bending portion 222 is vertically disposed at an end of the second body portion 221 away from the first body portion 211, wherein the second bending portion 222 extends toward the first bending portion 212, and the second vibrator 22 is similar to "L" type structure. It should be noted that, in order to realize the dual frequency characteristic and facilitate adjustment of the performance parameters of the first vibrator 21 and the second vibrator 22, the first bent portion 212 and the second bent portion 222 do not intersect.
  • the vibrator unit 20 disposed on the lower surface of the substrate 1 is mirror-distributed with the vibrator unit disposed on the upper surface of the substrate, thereby increasing the radiation surface, so that the antenna 100 has better radiation performance, matching, and Stable gain.
  • one vibrator unit 20 on the upper surface of the substrate 1 having a mirror image distribution forms a dipole 2 with one vibrator unit on the lower surface of the substrate 1.
  • the upper surface of the substrate 1 is provided with eight transducer units 20
  • the lower surface of the substrate 1 is provided with eight transducer units 20, and the antenna includes eight dipoles 2.
  • each dipole 2 has a shape similar to a butterfly shape.
  • the feed network includes a feed point 31, a first feeder portion 32, a second feeder portion 33, a third feeder portion 34, and a fourth feeder portion 35.
  • the first feeder portion 32 is for connecting two transducer units
  • the second feeder portion 33 is for connecting two first feeder portions 32
  • the third feeder portion 34 is for connecting two second feeder portions 33, the fourth feeder.
  • the portion 35 is for connecting the third feeder portion 34 and the feed point 31.
  • the line widths of the first feeder portion 32, the second feeder portion 33, the third feeder portion 34, and the fourth feeder portion 35 need to be set to match the width of the vibrator unit 20.
  • the lines of the second feeder portion 33, the third feeder portion 34, and the fourth feeder portion 35 The width is greater than the line width of the first feeder portion 32.
  • the line width of both ends of the second feeder portion 33 is larger than the line width of the middle portion, and the line width of both ends of the third feeder portion 34 is larger than the line width of the middle portion.
  • the feed network further includes a connection portion 36 that is coupled to the vibrator unit.
  • the connecting portion 36 is connected to an end surface of the joint portion where the first vibrator and the second vibrator are connected.
  • the connecting portion 36 is connected to the joint portion where the first main body portion 211 and the second main body portion 221 are connected. End face.
  • the line width of the connecting portion 36 is gradually decreased in a direction away from the vibrator unit. Specifically, the line width of the connecting portion 36 is linearly decreased in a direction away from the vibrator unit.
  • the feeding network 3 on the upper surface of the substrate 1 and the feeding network 3 on the lower surface of the substrate 1 are coincident, and the connecting portion 36 disposed on the lower surface of the substrate 1 is connected to the upper surface of the substrate.
  • the portion 36 is mirror imaged to match the vibrator unit 20.
  • the antenna 100 of the embodiment of the present invention is connected to an external device through a feeder.
  • the inner core of the feeder is connected to the feeding network 3 on the substrate 1 side
  • the outer conductor of the feeder is connected to the feeding network 3 on the other side of the substrate, and the connection mode is simple and convenient.
  • the antenna 100 is connected to the feed line through the feed point 31.
  • the feeding point 31 of the upper surface of the substrate 1 and the feeding point 31 of the lower surface thereof are communicated by the same via, and the inner core of the feeding line penetrates the feeding of the via on the upper surface of the substrate 1
  • the outer conductor of the feed line is directly soldered to the feed point 31 on the lower surface of the substrate 1, and the external device is connected to the antenna through the feed line, thereby transmitting the signal generated by the external device to each of the vibrators using the feed network 3.
  • the unit 20 is transmitted by each vibrator unit 20 to realize the signal transmitting function of the antenna 100; or the signal received by each vibrator unit 20 is transmitted to the external device by the feeding network 3 to realize the signal receiving function.
  • the feeder is a coaxial cable.
  • the positions of the upper surface and the lower surface of the substrate 1 are interchangeable, that is, the upper surface of the substrate 1 is disposed toward the ground plate 4, and the lower surface of the substrate 1 is separated from the ground.
  • the floor 4 is disposed.
  • the substrate 1 may be a ceramic layer or a plastic layer.
  • the dipole 2 and the feed network 3 are printed on both sides of the substrate 1 by a double-sided copper coating process, which is easy to process.
  • the design of the directional antenna is generally such that the substrate 1 provided with the dipole 2 and the feed network 3 is disposed perpendicularly or obliquely to the ground plate 4.
  • the grounding plate 4 and the substrate 1 are normally disposed at a predetermined distance, and an air layer is disposed between the grounding plate 1 and the substrate, so that the performance of the antenna 100 is better.
  • the grounding plate 4 serves as a reflecting plate of the antenna 100, and the parallel placement thereof can uniformly reflect the radiation generated by the antenna 100 in various directions, so that the antenna 100 has directivity, increases the gain of the antenna 100, and the signal transmission distance is long.
  • the grounding plate 4 is a metal plate, such as an aluminum plate, a steel plate or an alloy plate.
  • the grounding plate 4 is an aluminum plate.
  • the area of the grounding plate 4 is larger than the area of the substrate 1, and the signal is directed away from the substrate 1 by the reflection of the grounding plate 4. The direction of the signal is transmitted to achieve the orientation of the antenna 100.
  • the area of the grounding plate 4 is equal to the area of the substrate 1, and the antenna 100 is designed to be small in size while ensuring better orientation of the antenna 100.
  • the grounding plate 4 can be maintained at a predetermined distance H from the grounding plate 4, so that the performance of the antenna 100 is maintained optimally while ensuring that the antenna 100 can be normally operated.
  • the signal is transmitted, and the substrate 1 and the ground plate 4 are connected by a connecting member.
  • the connector is an insulative connector.
  • the material of the insulating connecting member is plastic or other insulating material.
  • the material of the insulating connecting member is not limited in the embodiment of the present invention, and any insulating material belongs to the protection scope of the present invention.
  • the connector may be a metal connector, and the invention does not The material of the connection is specifically limited. It should be noted, however, that the position of the metal connector on the substrate 1 should be away from the position of the transducer unit 20 and the feeder network 3 on the substrate 1 to prevent the metal connector from affecting the performance of the antenna.
  • the substrate 1 is provided with a fixing portion 5
  • the grounding plate 4 is provided with a fixing end that cooperates with the fixing portion 5 .
  • the fixing portion 5 and the fixing end may be a fixing hole, a snap groove or other fixing structure.
  • the fixing portion 5 and the fixing end are both fixing holes, one end of the connecting member is inserted into the fixing portion 5, and the other end is inserted into the fixing end, thereby
  • the ground plate 4 is stably maintained at a predetermined distance H on the side of the substrate 1, thereby maintaining the performance optimization of the antenna 100.
  • the fixing portion 5 and the fixing end are both engaging slots, one end of the insulating connection is fastened on the fixing portion 5, and the other end is fastened on the fixed end.
  • the ground plate 4 is stably maintained at a predetermined distance H on the side of the substrate 1, thereby maintaining the performance optimization of the antenna 100.
  • At least two of the fixing portions 5 and at least two of the fixed ends cooperate with at least two of the fixed ends to ensure the stability of the connection between the ground plate 4 and the substrate 1 by increasing the connection position between the ground plate 4 and the substrate 1.
  • at least two of the fixing portions 5 and at least two of the fixed ends are respectively distributed and distributed on the substrate 1 and the grounding plate 4.
  • at least two of the fixing portions 5 are uniformly distributed on the substrate 1, for example, at least two of the fixing portions 5 are evenly distributed around the center of the substrate 1.
  • at least two fixed ends are also evenly distributed over the ground.
  • the preset distance H is adjustable.
  • the preset distance H may be one or more according to an operating frequency (ie, a frequency of a transmission signal), a radiation pattern, and a return loss.
  • the preset distance H is determined according to three factors: a working frequency of the signal, a radiation pattern, and a return loss, thereby balancing the operating frequency, the radiation pattern, and the return loss to ensure the optimization of the performance of the antenna 100.
  • the preset distance H is 12 mm (unit: mm), that is, the distance of the antenna 100 in the signal transmission direction is 12 mm, the thickness is small, and the cross section of the antenna 100 is low.
  • the grounding plate 4 and the substrate 1 are disposed in parallel to ensure that the performance of the entire antenna 100 can be maintained in an optimal state, and the structure is relatively simple, and between the substrate 1 and the grounding plate 4 The connection is more convenient.
  • the gain fluctuation of the antenna in the frequency range of 2.2 GHz to 2.8 GHz and the frequency range of 5.0 GHz to 6.5 GHz according to the embodiment of the present invention indicates that the antenna has a gain fluctuation range of less than 0.5 in the 2.4 GHz band. dB (unit: decibel), the gain fluctuation of the antenna does not exceed 2dB in the full frequency band of 5GHz, and the gain fluctuation range of the antenna in the two frequency bands is small.
  • the radiation directions of the antenna in the frequency range of 2.2 GHz to 2.8 GHz and the frequency range of 5.0 GHz to 6.5 GHz according to the embodiment of the present invention respectively indicate that the main lobe of the antenna is clearly pointed in the 2.4 GHz band and the 5 GHz band.
  • the back flap is small and the antenna performance is excellent.
  • the main cross-polarization data of the antenna in the frequency range of 2.2 GHz to 2.8 GHz and the frequency range of 5.0 GHz to 6.5 GHz according to the embodiment of the present invention respectively indicate that the antenna has a high frequency in the 2.4 GHz band and the 5 GHz band.
  • the main cross polarization is greater than 30 dB in the main lobe direction.
  • the gain curves of the antenna in the frequency band of 2.2 GHz to 2.8 GHz and the frequency band of 5.0 GHz to 6.5 GHz according to an embodiment of the present invention indicate performance and simulation results of the antenna in the 2.4 GHz band and the 5 GHz band. Good agreement.
  • the antenna 100 of the embodiment of the present invention can be applied to various systems that need to transmit signals or receive signals, for example, a ground control system of a drone, a drone system, a control system of a robot, or a remote control car. Control system, etc.
  • an embodiment of the present invention further provides a ground control system for a drone, and the ground control system 200 includes a control terminal 201 and the antenna 100.
  • the control terminal 201 may include one or more of a remote controller, a smart phone, a tablet, a laptop, a wearable device (watch, bracelet, etc.).
  • the control terminal 201 is connected to the antenna 100 through a feeder to implement a communication connection between the control terminal 201 and the antenna 100.
  • the inner core of the feed line is connected to the feed network 3 on the substrate 1 side of the antenna 100, and the outer conductor of the feed line is connected to the feed network 3 on the other side of the substrate 1.
  • the antenna 100 is disposed outside the control terminal 201, thereby avoiding the influence of the structure of the control terminal 201 itself on the signal transmission of the antenna 100.
  • the antenna 100 is disposed inside the control terminal 201 to facilitate accommodation of the antenna 100, preventing loss and damage of the antenna 100, and prolonging the service life.
  • the control terminal 201 is configured to generate a control command to the drone, and the antenna 100 is configured to transmit the control command to the drone. Specifically, the control terminal 201 generates a control command of the drone and transmits it to the antenna 100 by the feeder, so that the control command is transmitted by the antenna 100 to the drone to realize control of the drone.
  • the antenna 100 of the embodiment of the present invention can be applied to remotely control a drone, and the antenna 100 has high gain and high stability.
  • the antenna 100 of the embodiment of the present invention can be used for transmission of signals in the 2.4 GHz band and the 5.8 GHz full band, and is applicable to various types of drones.
  • the antenna 100 is further configured to receive data information sent by the drone, and the control terminal 201 is further configured to display the data information to display information returned by the drone in real time.
  • the data information includes at least one of image data information captured by the photographing device on the drone, location data information of the drone, and power information of the drone, thereby implementing motion of the drone Real-time monitoring.
  • an embodiment of the present invention further provides an unmanned aerial vehicle system including a drone 301 and an antenna 100.
  • the drone can be a rotorcraft or a non-rotor drone.
  • the drone 301 is connected to the antenna 100 through a feeder to implement a communication connection between the drone 301 and the antenna 100.
  • the inner core of the feed line is connected to the feed network 3 on the substrate 1 side of the antenna 100, and the outer conductor of the feed line is connected to the feed network 3 on the other side of the substrate 1.
  • the antenna 100 is disposed outside the drone 301 to avoid the influence of the structure of the drone 301 itself on the signal transmission of the antenna 100, for example, if the outer casing of the drone is metal The material is likely to completely shield the signal received or transmitted by the antenna 100, thereby affecting the normal operation of the device.
  • the antenna 100 is disposed inside the drone 301 to facilitate accommodation of the antenna 100, preventing loss and damage of the antenna 100, and prolonging the service life.
  • the antenna 100 is configured to receive a drone control command sent by the control terminal, and the drone 301 is configured to execute a control command received by the antenna.
  • the antenna 100 of the embodiment of the present invention can be applied to a remotely received control command sent by the control terminal, so that the control terminal remotely controls the drone, and the antenna 100 has high gain and high stability.
  • the antenna 100 of the embodiment of the present invention can be used for transmission of signals in the 2.4 GHz band and the 5.8 GHz full band, and is applicable to various types of drones.
  • the drone 301 is configured to acquire data information, and the antenna 100 transmits data information of the drone 301 to the control terminal, so that the control terminal can know in real time.
  • Data information of the human machine 301 Specifically, after acquiring the data information, the drone 301 transmits its data information to the antenna 100, and the data information of the drone 301 is transmitted by the antenna 100, so that the data of the drone 301 transmitted by the antenna is received by the control terminal.
  • the data information includes at least one of image data information captured by the photographing device on the drone, location data information of the drone, and power information of the drone, thereby implementing motion of the drone Real-time monitoring.

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  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

本发明提供一种天线、无人机的地面控制系统以及无人机系统，其中，所述天线(100)包括基板(1)、印刷在所述基板上的多个偶极子(2)、馈电网络(3)和接地板(4)，所述偶极子(2)包括设置在所述基板(1)一侧的振子单元(20)和设置在所述基板(1)另一侧的振子单元(20)，其中所述振子单元(20)包括第一振子(21)和第二振子(22)；所述馈电网络(3)与每个振子单元(20)连接；所述基板(1)与接地板(4)间隔预设的距离平行设置。本发明实施例的天线具有良好的匹配性能和辐射性能，提高了天线的增益，数据传输距离远。

Description

天线、无人机的地面控制系统以及无人机系统 技术领域
本发明涉及数据传输领域，尤其涉及一种天线、无人机的地面控制系统以及无人机系统。
背景技术
在无人机领域，一般采用全向天线实现无人机与地面控制系统之间的数据(例如控制指令、图像等)传输。其中，全向天线一般为偶极子形式或者与偶极子相近的圆极化全向天线，受限于此类天线的增益特性，数据传输的距离较短。因此，当无人机与地面控制系统之间的距离较远或者无人机与地面控制系统有障碍物时，地面控制系统的全向天线传输的数据则不能顺利到达无人机，导致地面控制系统与无人机失联。
发明内容
本发明提供一种天线、无人机的地面控制系统以及无人机系统，以优化天线的性能，增大无人机与地面控制系统之间的通信距离，提升了通信质量。
根据本发明的第一方面，提供一种天线，包括基板、印刷在所述基板上的多个偶极子、馈电网络和接地板，所述偶极子包括设置在所述基板一侧的振子单元和设置在所述基板另一侧的振子单元，其中所述振子单元包括第一振子和第二振子；所述馈电网络与每个振子单元连接；所述基板与接地板间隔预设的距离平行设置。
根据本发明的第二方面，提供一种无人机的地面控制系统，包括：控制终端和如上的第一方面所述的天线，其中，所述控制终端与所述天线 通过馈线连接；所述控制终端，用于生成对无人机的控制指令；所述天线，用于将所述控制指令发送给无人机。
根据本发明的第三方面，提供一种无人机系统，包括无人机和如上的第一方面所述的天线，其中，所述无人机与所述天线通过馈线连接；所述天线用于接收控制终端发送的无人机控制指令；所述无人机，用于执行所述控制指令。
由以上本发明实施例提供的技术方案可见，本发明通过在基板的一侧间隔预设的距离平行地设置的接地板，使得天线辐射的信号具有定向性，在基板的两侧分别印刷振子单元，通过设置第一振子和第二振子，可实现双频段数据的传输，增加辐射面，提高了天线的增益，且天线在带内增益稳定，数据传输距离远。通过使用本发明实施例中的天线，增大无人机与地面控制系统之间的通信距离，提升了通信质量。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例中天线在基板一侧的立体图；
图2是本发明实施例中天线在基板另一侧的立体图；
图3是本发明实施例中天线剖面图；
图4是本发明实施例中天线的透视图；
图5是本发明实施例中天线在一频段上的端口匹配特性示意图；
图6是本发明实施例中天线在另一频段上的端口匹配特性示意图；
图7是本发明实施例中天线在一频段上的增益波动大小示意图；
图8是本发明实施例中天线在另一频段上的增益波动大小示意图；
图9是本发明实施例中天线在一频段上的辐射方向示意图；
图10是本发明实施例中天线在另一频段上的辐射方向示意图；
图11是本发明实施例中天线在一频段上的主交叉极化示意图；
图12是本发明实施例中天线在另一频段上的主交叉极化示意图；
图13是本发明实施例中天线在一频段上的增益曲线示意图；
图14是本发明实施例中天线在另一频段上的增益曲线示意图；
图15是本发明实施例中无人机的地面控制系统的结构示意图；
图16是本发明实施例中无人机系统的结构示意图。
附图标记：
100：天线；
200：无人机的地面控制系统；201：控制终端；
300：无人机系统；301：无人机；
1：基板；
2：偶极子；20：振子单元；21：第一振子；211：第一主体部；212：第一弯折部；22：第二振子；221：第二主体部；222：第二弯折部；
3：馈电网络；31：馈电点；32：第一馈线部；33：第二馈线部；34：第三馈线部；35：第四馈线部；36：连接部；
4：接地板；
5：固定部。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案 进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的天线100、无人机的地面控制系统以及无人机系统进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
结合图1至图4，本发明实施例提供一种天线100，其中，所述天线为定向天线，所述天线100包括基板1、偶极子2、馈电网络3和接地板4。其中，所述偶极子2包括设置在所述基板1一侧的振子单元20和设置在所述基板1另一侧的振子单元20，所述振子单元20包括第一振子21和第二振子22。所述偶极子2和馈电网络3印刷在所述基板1上，以实现偶极子2和馈电网络3的固定。所述馈电网络3与每个振子单元20连接，从而由馈电网络3实现每个振子单元与外部设备的通信。所述基板1与接地板间隔预设的距离H平行设置。
本发明实施例中，通过在基板1的一侧间隔预设的距离H平行地设置的接地板4，使得天线100辐射的信号具有定向性，天线100的增益大，数据传输距离远，其中基板1与接地板4之间为空气层，从而保障天线100的具有良好的辐射特性。可根据需要设置第一振子21和第二振子22的长度，从而实现双频段数据的传输。在基板1的两侧分别印刷振子单元20，增加辐射面。本发明的天线100具有良好的匹配性能和辐射性能，且天线100在带内增益稳定。又结合图1和图2，本实施例中，馈电网络3的一部分设置在所述基板1的一侧，另一部分设置在所述基板1的另一侧，其中，基板1上同侧的馈电网络3与同侧的每个振子单元20连接。
基板1两侧振子单元20的数量可根据需要设定。可选地，基板1两侧的振子单元20均为偶数个。本实施例中，设置在基板每一侧的偶数个振 子单元20均呈轴对轴称分布。在某些实施例中，基板1两侧的振子单元20均为8个，则本发明实施例中的偶极子为8个。
本文中，为方便描述，将基板1远离所述接地板4的一侧称作基板1上表面，将基板1靠近所述接地板4的一侧称作基板1下表面，以下将对基板1上表面的结构进行阐述。
结合图1和图2，本实施例中，所述振子单元20包括一个第一振子21和两个第二振子22。其中，所述第一振子21的长度大于所述第二振子22的长度，使得天线100实现双频传输，且第一振子21辐射的信号频段低于第二振子辐射的信号频段。可选地，所述第一振子21传输信号的频段范围在2.4GHz上下浮动(例如：2.4GHz至2.5GHz)，所述第二振子22传输信号的频段范围在5G全频段(例如：5.1GHz至5.85GHz)，所述5G全频段包括5.8GHz。
在某些实施例中，所述两个第二振子22对称地设置在第一振子21的两边，使得第一振子21和第二振子22的辐射方向图更加对称，天线的主极化交叉隔离度高，信号传输较为均匀。又结合图1和图2，所述第一振子21包括第一主体部211和第一弯折部212，两个第二振子22对称地设置在第一主体部211的两边。通过设置第一主体部211和第一弯折部212，使得第一振子21的结构排列较为紧凑，减小天线100的整体尺寸。可选地，所述第一弯折部212设置在第一主体部211的一端，两个第二振子22对称地设置在所述第一主体部211的另一端。其中，第一弯折部212和第一主体部211的一端相连，两个第二振子22分别与第一主体部211的另一端相连。
在某些实施例中，所述第一主体部211的一端垂直地连接在第一弯折部212的中部，进一步使得第一振子21的结构排列较为紧凑，从而减小天线100的整体尺寸，并且第一振子21的结构为对称结构，也使得第一振子21自身的辐射方向图更加对称，信号传输更为均匀。本实施例中，所述 第一振子21可看着一个“T”型的结构。
又结合图1和图2，所述第二振子22包括第二主体部221和第二弯折部222，其中，两个第二振子22的第二主体部221对称地连接至第一主体部211上远离第一弯折部的一端，且第一主体部211与第二主体部221垂直。
所述第二弯折部222垂直地设置在第二主体部221上远离第一主体部211的一端，其中，第二弯折部222向第一弯折部212延伸，第二振子22类似于“L”型的结构。另外需要说明的是，为实现双频特性并方便对第一振子21和第二振子22的性能参数的调节，第一弯折部212与第二弯折部222并不会相交。
本实施例中，参见图4，设置在基板1下表面的振子单元20与设置在基板上表面的振子单元呈镜像分布，从而增加辐射面，使得天线100具有更好地辐射性能、匹配性和稳定的增益。其中，呈镜像分布的基板1上表面的一个振子单元20与基板1下表面的一个振子单元形成一个偶极子2。例如，基板1的上表面设有8个振子单元20，基板1的下表面对应设有8个振子单元20，天线则包括8个偶极子2。本实施例中，每个偶极子2的形状类似于蝶形。
结合图1和图2，所述馈电网络包括馈电点31、第一馈线部32、第二馈线部33、第三馈线部34和第四馈线部35。其中，第一馈线部32用于连接两个振子单元，第二馈线部33用于连接两个第一馈线部32，第三馈线部34用于连接两个第二馈线部33，第四馈线部35用于连接第三馈线部34和馈电点31。
为与振子单元20匹配，本实施例中，第一馈线部32、第二馈线部33、第三馈线部34和第四馈线部35的线宽需要设置成与振子单元20相匹配的宽度。具体地，第二馈线部33、第三馈线部34、第四馈线部35的线 宽大于第一馈线部32的线宽。第二馈线部33的两端的线宽要大于其中部的线宽，且第三馈线部34的两端的线宽要大于其中部的线宽。
又结合图1和图2，所述馈电网络还包括与振子单元连接的连接部36。可选地，所述连接部36连接在第一振子与第二振子相连接的结合部的端面，具体地，连接部36连接在第一主体部211和第二主体部221相连接的结合部的端面。
为与所述振子单元20相匹配，本实施例中，所述连接部36的线宽是沿远离振子单元的方向逐渐减小。具体地，所述连接部36的线宽是沿远离振子单元的方向呈线性地减小。
参见图4，本实施例中，基板1上表面的馈电网络3和基板1下表面的馈电网络3相重合，而设置在基板1下表面的连接部36与设置在基板上表面的连接部36是呈镜像分布的，从而与振子单元20匹配。
本发明实施例的天线100通过馈线与外部设备相连。具体地，馈线的内芯连接基板1一侧的馈电网络3，馈线的外导体连接基板另一侧的馈电网络3，连接方式简单、方便。
本实施例中，天线100是通过馈电点31与馈线相连的。可选地，基板1上表面的馈电点31和其下表面的馈电点31由同一过孔连通，所述馈线的内芯穿设所述过孔焊接在所述基板1上表面的馈电点31上，所述馈线的外导体直接焊接在所述基板1下表面的馈电点31，外部设备通过馈线与天线连接，从而利用馈电网络3将外部设备产生的信号传输到各振子单元20，由各振子单元20发射出去，实现天线100的信号发射功能；或者利用馈电网络3将各振子单元20接收到的信号传输到外部设备，实现信号接收功能。可选地，所述馈线为同轴线缆。
需要说明的是，本发明实施例中，基板1的上表面和下表面的位置可互换，即将基板1的上表面朝向接地板4设置，基板1的下表面背离接 地板4设置，天线100通过馈线与外部设备相连时，馈线的内芯连接基板1下表面的馈电网络3，馈线的外导体连接基板1上表面的馈电网络3。
本实施例中，所述基板1可为陶瓷层或者塑料层。可选地，所述偶极子2和所述馈电网络3采用双面覆铜工艺印刷到所述基板1的两侧的，易于加工。
目前，定向天线的设计一般是将设有偶极子2和馈电网络3的基板1与接地板4垂直设置或者倾斜设置。本实施例中，接地板4与基板1平时设置且间隔预设的距离，接地板1与基板之间为空气层，使得天线100的性能更佳。具体地，接地板4作为天线100的反射板，其平行放置能够在各个方向上均匀地对天线100产生的辐射进行反射，使得天线100具有定向性，增大天线100的增益，信号传输距离远。可选地，所述接地板4为金属板，例如铝板、钢板或者合金板等。优选地，所述接地板4为铝板。
为使得天线100具有较好地定向性，在一些例子中，参见图3，所述接地板4的面积大于基板1的面积，通过接地板4的反射作用，使得信号朝着背离所述基板1的方向传输信号，从而实现天线100的定向性。在其他一些例子中，所述接地板4的面积等于基板1的面积，在将天线100尺寸设计得较小的同时还能保障天线100具有较好地定向性。
为实现基板1与接地板4之间的固定，从而使得接地板4能保持在距离所述接地板4预设的距离H处，以使得天线100的性能维持最优，同时保证天线100能够正常地传输信号，所述基板1与所述接地板4通过连接件连接。
在某些实施例中，所述连接件为绝缘连接件。可选地，所述绝缘连接件的材质为塑料或者其他绝缘材质，本发明实施例不对所述绝缘连接件的材质进行限定，任何绝缘材质均属于本发明的保护范围。
在某些实施例中，所述连接件可为金属连接件，本发明不对该金属 连接的材质具体限定。但需要说明的是，金属连接件在基板1上的位置应当远离振子单元20和馈线网络3在基板1上的设置位置，以防止金属连接件影响天线的性能。
结合图1、图2和图4，所述基板1上设有固定部5，所述接地板4上设有与所述固定部5配合的固定端。可选地，所述固定部5和所述固定端可为固定孔、卡接槽或者其他固定结构。
在某些实施例中，所述固定部5和所述固定端均为固定孔，所述连接件的一端插接在所述固定部5中，另一端插接在所述固定端中，从而将接地板4稳定地维持在所述基板1一侧的预设的距离H处，进而维持天线100的性能最优化。
在某些实施例中，所述固定部5和所述固定端均为卡接槽，所述绝缘连接的一端卡接在所述固定部5上，另一端卡接在所述固定端上，从而将接地板4稳定地维持在所述基板1一侧的预设的距离H处，进而维持天线100的性能最优化。
为进一步使得所述接地板4能够稳定地设于所述基板1预设的距离H处，从而维持天线100的性能最优化，所述固定部5至少两个，所述固定端也至少两个，至少两个所述固定部5与至少两个所述固定端对应配合，通过增加接地板4与基板1之间的连接位置，从而保障接地板4和基板1之间连接的稳定性。可选地，至少两个所述固定部5和至少两个所述固定端分别分散分布在所述基板1和接地板4上。优选地，至少两个所述固定部5是均匀分布在所述基板1上的，例如，至少两个所述固定部5均匀分布在所述基板1中心的四周。相应地，至少两个固定端也是均匀分布在所述接地上的。
本实施例中，所述预设的距离H可调，例如，所述预设的距离H可根据工作频率(即传输信号的频率)、辐射方向图、回波损耗中的一种或多 个来确定。优选地，所述预设的距离H根据信号的工作频率、辐射方向图、回波损耗这三因素来确定，从而平衡工作频率、辐射方向图、回波损耗，保证天线100性能的最优化，以满足用户的需求。可选地，所述预设的距离H为12mm(单位：毫米)，即天线100在其信号传输方向上的距离为12mm，厚度较小，天线100的剖面低。
本实施例中，所述接地板4与所述基板1是平行设置的从而保障整个天线100的性能均能够维持在最优的状态，并且，结构较为简单，基板1与接地板4之间的连接更加方便。
参见图5和图6，分别为本发明实施例的天线位于2.2GHz至2.8GHz频段、5.0GHz至6.5GHz频段的端口匹配测试结果，测试结果表明该天线在上述两个频段范围具有较好的端口匹配特性。
参见图7和图8，分别为本发明实施例的天线位于2.2GHz至2.8GHz频段、5.0GHz至6.5GHz频段的增益波动大小，表明该天线在2.4GHz频段内天线的增益波动范围不超过0.5dB(单位：分贝)，在5GHz全频段内天线的增益波动不超过2dB，天线在两个频段内的增益波动范围较小。
参见图9和图10，分别为本发明实施例的天线位于2.2GHz至2.8GHz频段、5.0GHz至6.5GHz频段的辐射方向，表明该天线在2.4GHz频段和5GHz全频段内主瓣指向明确，后瓣小，天线性能优良。
参见图11和图12，分别为本发明实施例的天线位于2.2GHz至2.8GHz频段、5.0GHz至6.5GHz频段的主交叉极化数据，表明该天线在2.4GHz频段和5GHz全频段内具有高主交叉极化，在主瓣方向范围大于30dB。
参见图13和图14，分别为本发明实施例的天线位于2.2GHz至2.8GHz频段、5.0GHz至6.5GHz频段的增益曲线，表明该天线在2.4GHz频段和5GHz全频段内的性能与仿真结果吻合良好。
值得一提的是，本发明实施例的天线100可应用于各种需要发射信号或收信号的系统中，例如，无人机的地面控制系统、无人机系统、机器人的控制系统或者遥控汽车的控制系统等。
以下分别以无人机的地面控制系统和无人机系统为例，来说明本发明实施例的天线100的具体应用。
参见图15，本发明实施例还提供一种无人机的地面控制系统，该地面控制系统200包括控制终端201和上述天线100。可选地，所述控制终端201可以包括遥控器、智能手机、平板电脑、膝上式电脑、穿戴式设备(手表、手环等)中的一种或多种。
所述控制终端201与所述天线100通过馈线连接，以实现控制终端201与天线100的通信连接。具体地，所述馈线的内芯连接天线100的基板1一侧的馈电网络3，馈线的外导体连接基板1另一侧的馈电网络3。
在一些实施例中，所述天线100设置在所述控制终端201的外部，从而避免控制终端201自身的结构对天线100信号传输的影响，例如，所述控制终端201的外壳为金属材质，则很可能会完全屏蔽所述天线100接收或发射的信号，从而影响设备的正常工作。在一些实施例中，所述天线100设置在所述控制终端201的内部，从而方便天线100的收纳，防止天线100的丢失与损坏，延长使用寿命。
在一些实施例中，所述控制终端201用于生成对无人机的控制指令，所述天线100用于将所述控制指令发送给无人机。具体地，控制终端201生成无人机的控制指令，并由馈线传输至天线100，从而由天线100将所述控制指令发送至无人机，实现对无人机的控制。本发明实施例的天线100可适用于远距离控制无人机，且天线100的增益高，稳定性强。另外，本发明实施例的天线100可用于2.4GHz频段和5.8GHz全频段的信号的传输，适用于各种类型的无人机。
在一些实施例中，所述天线100还用于接收无人机发送的数据信息，所述控制终端201还用于显示所述数据信息，从而实时显示无人机返回的信息。可选地，所述数据信息至少包括无人机上拍摄设备拍摄的图像数据信息、无人机的位置数据信息、无人机的电量信息中的一种或多种，从而实现对无人机运动的实时监控。
参见图16，本发明实施例还提供一种无人机系统，所述无人机系统300包括无人机301和天线100。所述无人机可为旋翼无人机或者非旋翼无人机。
所述无人机301与所述天线100通过馈线连接，以实现无人机301与天线100的通信连接。具体地，所述馈线的内芯连接天线100的基板1一侧的馈电网络3，馈线的外导体连接基板1另一侧的馈电网络3。
在一些实施例中，所述天线100设置在所述无人机301的外部，从而避免无人机301自身的结构对天线100信号传输的影响，例如，若所述无人机的外壳为金属材质，则很可能会完全屏蔽所述天线100接收或发射的信号，从而影响设备的正常工作。在一些实施例中，所述天线100设置在所述无人机301的内部，从而方便天线100的收纳，防止天线100的丢失与损坏，延长使用寿命。
在一些实施例中，所述天线100用于接收控制终端发送的无人机控制指令，无人机301用于执行天线接收到的控制指令。本发明实施例的天线100可适用于远距离接收控制终端发送的控制指令，以使控制终端远距离控制无人机，且天线100的增益高，稳定性强。另外，本发明实施例的天线100可用于2.4GHz频段和5.8GHz全频段的信号的传输，适用于各种类型的无人机。
在一些实施例中，所述无人机301用于获取数据信息，所述天线100将无人机301的数据信息发送至控制终端，使得控制终端能够实时获知无 人机301的数据信息。具体地，无人机301在获取数据信息后，将其数据信息发送至天线100，由天线100将无人机301的数据信息发射出去，从而由控制终端接收天线传输的无人机301的数据信息。可选地，所述数据信息至少包括无人机上拍摄设备拍摄的图像数据信息、无人机的位置数据信息、无人机的电量信息中的一种或多种，从而实现对无人机运动的实时监控。
在本发明的描述中，“上”、“下”、“前”、“后”、“左”、“右”应当理解为从上至下依次基板1和接地板4所形成的天线100的“上”、“下”、“前”、“后”、“左”、“右”方向。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的天线、无人机的地面控制系统以及无人机系统进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (28)

  1. 一种天线，包括基板、印刷在所述基板上的多个偶极子、馈电网络和接地板，其特征在于，所述偶极子包括设置在所述基板一侧的振子单元和设置在所述基板另一侧的振子单元，其中所述振子单元包括第一振子和第二振子；
    所述馈电网络与每个振子单元连接；
    所述基板与接地板间隔预设的距离平行设置。
  2. 根据权利要求所述1的天线，其特征在于，所述振子单元包括一个第一振子和两个第二振子。
  3. 根据权利要求所述1或2的天线，其特征在于，所述第一振子的长度大于所述第二振子的长度。
  4. 根据权利要求所述2或3的天线，其特征在于，所述两个第二振子对称地设置在第一振子的两边。
  5. 根据权利要求4所述的天线，其特征在于，所述第一振子包括第一主体部和第一弯折部，两个第二振子对称地设置在第一主体部的两边。
  6. 根据权利要求5所述的天线，其特征在于，所述第一弯折部设置在第一主体部的一端，两个第二振子对称地设置在所述第一主体部的另一端。
  7. 根据权利要求6所述的天线，其特征在于，所述第一主体部的一端垂直地连接在第一弯折部的中部。
  8. 根据权利要求所述5-7任一项所述的天线，其特征在于，所述第二振子包括第二主体部和第二弯折部，其中，两个第二振子的第二主体部设置在第一主体部上远离第一弯折部的一端，且第一主体部与第二主体部垂直。
  9. 根据权利要求8所述的天线，其特征在于，所述第二弯折部垂直地设置在第二主体部上远离第一主体部的一端，其中，第二弯折部向的第一弯折部延伸。
  10. 根据权利要求1所述的天线，其特征在于，设置在基板两侧中每一侧的振子单元呈轴对称分布。
  11. 根据权利要求1所述的天线，其特征在于，设置在基板一侧的振子单元与基板另一侧的振子单元呈镜像分布。
  12. 根据权利要求1所述的天线，其特征在于，所述多个偶极子为8个偶极子。
  13. 根据权利要求所述1的天线，其特征在于，所述馈电网络包括馈电点。
  14. 根据权利要求13所述的天线，其特征在于，所述馈电网络包括用于连接两个振子单元的第一馈线部、用于连接两个第一馈线部的第二馈线部，用于连接两个第二馈线部的第三馈线部、用于连接第三馈线部和馈电点的第四馈线部，其中，第二馈线部、第二馈线部、第四馈线部的线宽大于第一馈线部的线宽。
  15. 根据权利要求14所述的天线，其特征在于，第二馈线部、第三馈线部的两端的线宽分别大于各自中部的线宽。
  16. 根据权利要求1所述的天线，其特征在于，所述馈电网络包括与振子单元连接的连接部，其中，所述连接部的线宽是沿远离振子单元的方向逐渐减小。
  17. 根据权利要求16所述的天线，其特征在于，
    所述连接部的线宽是沿远离振子单元的方向逐渐减小包括：
    所述连接部的线宽是沿远离振子单元的方向呈线性地减小。
  18. 根据权利有要求1所述的天线，其特征在于，所述基板与接地板通过连接件连接。
  19. 根据权利要求1所述的天线，其特征在于，所述接地板的面积大于或等于基板的面积。
  20. 根据权利要求1所述的天线，其特征在于，所述预设的距离根据工作频率、辐射方向图、回波损耗中的一种或多个来确定。
  21. 一种无人机的地面控制系统，其特征在于，包括：
    控制终端和权利要求1-20任一项所述的天线，其中所述控制终端与所述天线通过馈线连接；
    所述控制终端用于生成对无人机的控制指令；
    所述天线用于将所述控制指令发送给无人机。
  22. 根据权利要求21所述的系统，其特征在于，所述天线还用于接收无人机发送的数据信息；所述控制终端还用于显示所述数据信息。
  23. 根据权利要求22所述的系统，其特征在于，所述数据信息至少包括无人机上拍摄设备拍摄的图像数据信息、无人机的位置数据信息、无人机的电量信息中的一种或多种。
  24. 根据权利要求21所述的系统，其特征在于，所述馈线的内芯连接天线的基板一侧的馈电网络，馈线的外导体连接基板另一侧的馈电网络。
  25. 一种无人机系统，包括无人机，其特征在于，还包括：
    权利要求1-20任一项所述的天线，其中，所述无人机与所述天线通过馈线连接；
    所述天线用于接收控制终端发送的无人机控制指令并发送至所述无人机；
    所述无人机，用于执行所述控制指令。
  26. 根据权利要求25所述的系统，其特征在于，
    所述无人机用于获取数据信息；
    所述天线将无人机的数据信息发送至控制终端。
  27. 根据权利要求26所述的系统，其特征在于，所述数据信息至少包括无人机上拍摄设备拍摄的图像数据信息、无人机的位置数据信息、无人机的电量信息中的一种或多种。
  28. 根据权利要求25所述的系统，其特征在于，所述馈线的内芯连接天线的基板一侧的馈电网络，馈线的外导体连接基板另一侧的馈电网络。
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