WO2019062201A1 - 一种无人机宽频天线复用方法及装置 - Google Patents

一种无人机宽频天线复用方法及装置 Download PDF

Info

Publication number
WO2019062201A1
WO2019062201A1 PCT/CN2018/090405 CN2018090405W WO2019062201A1 WO 2019062201 A1 WO2019062201 A1 WO 2019062201A1 CN 2018090405 W CN2018090405 W CN 2018090405W WO 2019062201 A1 WO2019062201 A1 WO 2019062201A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
signal
filter
sub
gps
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/CN2018/090405
Other languages
English (en)
French (fr)
Inventor
朱剑
张向东
于振宇
罗志平
严栋
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.)
Goertek Inc
Original Assignee
Goertek Inc
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 Goertek Inc filed Critical Goertek Inc
Priority to US16/097,873 priority Critical patent/US11233537B2/en
Publication of WO2019062201A1 publication Critical patent/WO2019062201A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
    • H04B1/40—Circuits
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/005—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission adapting radio receivers, transmitters andtransceivers for operation on two or more bands, i.e. frequency ranges
    • H04B1/0053—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission adapting radio receivers, transmitters andtransceivers for operation on two or more bands, i.e. frequency ranges with common antenna for more than one band
    • H04B1/0057—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission adapting radio receivers, transmitters andtransceivers for operation on two or more bands, i.e. frequency ranges with common antenna for more than one band using diplexing or multiplexing filters for selecting the desired band
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons

Definitions

  • the invention relates to the technical field of drones, in particular to a method and a device for multiplexing broadband antennas of a drone.
  • the drone is referred to as the "unmanned aerial vehicle”. It is a non-manned aircraft operated by a control device. It is often used for aerial photography, geographic mapping, real-time traffic monitoring, power line inspection, and pesticide spraying.
  • the weight of the drone is related to the weight of the drone. The heavier the weight, the shorter the battery life. The current life of civilian drones on the market is within 30 minutes.
  • the drone relies on an antenna to communicate with the outside.
  • the conventional drone is only provided with an antenna for receiving a remote control signal and an antenna for receiving a Global Positioning System (GPS) signal.
  • GPS Global Positioning System
  • the prior art is to improve the performance of the drone. More antennas are installed on the antennas, which increase the weight of the drone and reduce the life time of the drone, which restricts the market expansion of the drone to some extent.
  • the present invention provides a UAV wideband antenna multiplexing method and device.
  • An embodiment of the present invention provides a UAV wideband antenna multiplexing method, where a UAV is provided with a broadband antenna, and the method includes:
  • the broadband antenna receives the external signal and transmits the received external signal to the first power splitter;
  • the first power splitter divides the external signal received from the broadband antenna into multiple sub-signals, and sends each sub-signal to a plurality of receive filters of respective functional modules on the corresponding drone connected to the first splitter, wherein , the number of sub-signals is determined according to the operating frequency band of each functional module of the drone;
  • Each receiving filter performs filtering processing on the received sub-signals to obtain signals corresponding to the operating frequency bands of the various functional modules of the drone, and transmits signals corresponding to the working frequency bands of the respective functional modules of the drone to corresponding functions. Module.
  • UAV wideband antenna multiplexing apparatus including: a broadband antenna, a first power splitter, and a plurality of receive filters;
  • the broadband antenna is configured to receive an external signal and send the received external signal to the first power splitter;
  • the first power splitter is configured to split the external signal received from the broadband antenna into multiple sub-signals, and send each sub-signal to a plurality of receive filters of each functional module on the corresponding drone connected to the first splitter, Wherein, the number of sub-signals is determined according to the operating frequency bands of the various functional modules of the drone;
  • Each receiving filter is configured to filter the received sub-signals, obtain signals corresponding to the working frequency bands of the various functional modules of the drone, and send signals corresponding to the working frequency bands of the respective functional modules of the drone to corresponding functional module.
  • the invention has the beneficial effects that the invention provides a broadband antenna on the drone, receives all external signals through the broadband antenna, combines the first power splitter, divides the received external signal into multiple sub-signals, and transmits each sub-signal separately.
  • To the receiving filter of each function module on the unmanned aerial vehicle for each receiving filter to filter the received sub-signal, obtain a signal corresponding to the operating frequency band of each functional module of the drone, and send it to the corresponding functional module For use by various functional modules.
  • the present invention adopts a broadband antenna instead of the existing multiple antennas to realize reception of all external signals, and processes the first power divider and the plurality of receiving filters to be required by the drone.
  • Various signals are sent to the corresponding function modules, which greatly reduces the weight of the drone and improves the life time of the drone.
  • FIG. 1 is a schematic flow chart of a method for multiplexing an unmanned aerial vehicle antenna according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle antenna multiplexing device according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of an unmanned aerial vehicle antenna multiplexing apparatus according to another embodiment of the present invention.
  • FIG. 1 is a schematic flow chart of a method for multiplexing an unmanned aerial vehicle antenna according to an embodiment of the present invention. As shown in FIG. 1, the method of the embodiment of the present invention includes:
  • the broadband antenna receives the external signal and sends the received external signal to the first power splitter.
  • the UAV of the embodiment of the present invention is provided with a broadband antenna, and the working frequency band of the broadband antenna is set according to the working frequency band of the function module on the UAV, and covers the working frequency band of each functional module of the UAV, and is used for Receiving an external signal, the external signal includes signals in a plurality of frequency bands.
  • the first power splitter divides the external signal received from the broadband antenna into multiple sub-signals, and sends each sub-signal to multiple receiving filters of each functional module on the corresponding drone connected to the first splitter. Wherein, the number of sub-signals is determined according to the operating frequency band of each functional module of the drone.
  • the first power splitter divides an external signal energy into two or more signal energy outputs, that is, after the external signal is divided into multiple sub-signals, each sub-signal includes signals of multiple frequency bands; Each of the sub-signals is separately sent to each of the receive filters.
  • the number of sub-signals is determined according to the operating frequency bands of the various functional modules of the drone. For example, when a drone includes two functional modules, and the two functional modules have two different operating frequency bands, the external signal is split into two sub-signals.
  • each receiving filter performs filtering processing on the received sub-signals, obtains signals corresponding to working frequency bands of the functional modules of the drone, and sends signals corresponding to working frequency bands of the functional modules of the drone to corresponding Functional module.
  • each receiving filter connected to the first power splitter after receiving the sub-signal, performs filtering processing on the received sub-signal, and only allows sub-signals of the specified frequency band to pass, and other The sub-signals of the frequency band are filtered out to obtain signals corresponding to the working frequency bands of the various functional modules of the drone, so that signals corresponding to the working frequency bands of the various functional modules of the drone are transmitted to the corresponding functional modules.
  • the broadband antenna antenna multiplexing method provided by the embodiment of the invention provides a broadband antenna on the drone, receives all external signals through the broadband antenna, combines the first power splitter, and divides the received external signal into multiple sub-signals. And sending each sub-signal to the receiving filter of each functional module on the unmanned aerial vehicle, and each receiving filter filters the received sub-signal to obtain a signal corresponding to the operating frequency band of each functional module of the drone, And sent to the corresponding function module for each function module.
  • the present invention replaces the existing multiple antennas with a wide-band antenna, realizes reception of all external signals, and processes the drone by the processing of the first power divider and the plurality of receiving filters.
  • the various signals are sent to the corresponding function modules, which greatly reduces the weight of the drone and improves the life time of the drone.
  • the external signal comprises a GPS satellite signal and a flight control signal
  • the first splitter divides the external signal received from the wideband antenna into multiple sub-signals including:
  • the first power splitter divides the external signal received from the broadband antenna into a first sub-signal and a second sub-signal;
  • Each receiving filter performs filtering processing on the received sub-signals to obtain signals corresponding to the operating frequency bands of the various functional modules of the drone, and transmits signals corresponding to the working frequency bands of the respective functional modules of the drone to corresponding functions.
  • Modules including:
  • the first GPS filter performs filtering processing on the first sub-signal, acquires a GPS satellite signal corresponding to the first frequency band from the first sub-signal, and transmits the acquired GPS satellite signal to a positioning module of the drone;
  • the flight control filter performs filtering processing on the second sub-signal, acquires a flight control signal corresponding to the second frequency band from the second sub-signal, and transmits the acquired flight control signal to the remote control receiving module of the drone.
  • the operating frequency band of the positioning module of the drone is 1.57 GHz
  • the working frequency band of the remote control receiving module of the drone is 2.4 GHz.
  • the first GPS filter is used to obtain a signal corresponding to the working frequency band of the positioning module.
  • the first GPS filter obtains a GPS satellite signal, performs filtering processing on the first sub-signal, and filters out the GPS satellite signal.
  • Other signals such as the received external signal including the 1.57GHz GPS satellite signal and the 2.4GHz flight control signal, the first GPS filter allows the 1.57GHz GPS satellite signal to pass, filtering out the 2.4GHz flight control signal, which will be 1.57
  • the GHz GPS satellite signal is sent to the positioning module of the drone.
  • the flight control filter is used to obtain a signal corresponding to the working frequency band of the remote control receiving module.
  • the Fetion control filter obtains a flight control signal, performs filtering processing on the second sub-signal, and filters out signals other than the flight control signal. If the received external signal includes a 1.57GHz GPS satellite signal and a 2.4GHz flight control signal, the first GPS filter allows the 2.4GHz flight control signal to pass, filtering out the 1.57GHz GPS satellite signal, and the 2.4GHz The flight control signal is sent to the remote control receiving module of the drone.
  • the positioning module on the drone is a differential GPS module, and the GPS satellite signal is corrected by the received GPS satellite signal of the ground station.
  • the external signal received by the broadband antenna of the embodiment of the present invention further includes a GPS ground station satellite signal
  • the first splitter divides the external signal received from the wideband antenna into multiple sub-signals including:
  • the first power splitter divides the external signal received from the broadband antenna into a first sub-signal, a second sub-signal, and a third sub-signal;
  • Each receiving filter performs filtering processing on the received sub-signals to obtain signals corresponding to the operating frequency bands of the various functional modules of the drone, and transmits signals corresponding to the working frequency bands of the respective functional modules of the drone to corresponding functions.
  • the module also includes:
  • the base station signal filter performs filtering processing on the third sub-signal, acquires the GPS ground base station satellite signal corresponding to the second frequency band from the third sub-signal, and transmits the acquired GPS ground base station satellite signal to the positioning module of the drone.
  • the working frequency band of the satellite signal of the GPS ground station received by the positioning module of the drone is the same as the working frequency band of the remote control receiving module (both 2.4 GHz).
  • the filtering of the flight control filter partially overlaps with the filtering of the frequency band and the base station signal filter.
  • the communication between the remote control of the UAV and the remote control receiving module adopts the time domain frequency hopping technology, occupying different channels in the frequency band at different times, and all the 2.4 GHz frequency bands (2.4 GHz-2.5 GHz) are allocated to the remote control.
  • the receiving module will fill all the channels of 2.4GHz-2.5GHz, but the frequency band of the positioning module receiving the satellite signals of the GPS ground station is also 2.4GHz. Therefore, in the embodiment of the present invention, part of the channel in the 2.4 GHz frequency band is allocated to the remote control receiving module, and according to the channel division, the filtering pass frequency band of the flight control filter is partially overlapped with the filtering pass frequency band of the base station signal filter.
  • the channel of 2.4 GHz - 2.45 GHz is allocated to the remote control receiving module; the flight control filter uses a French 2.4 GHz filter, and the filtering pass frequency band is 2.4 GHz - 2.45 GHz; the base station signal filter uses an ordinary 2.4 GHz filter. Its filtering through the frequency band is 2.45-2.5 GHz.
  • the remote control and remote control receiving module of the drone adopt the frequency hopping technology, and the two mutually agree on the random change code. Only the remote control receiving module can obtain the flight control signal according to the random change code parsing, and the positioning module cannot be parsed. The flight control signal can only obtain the GPS ground station satellite signal.
  • the method further includes:
  • the GPS satellite signal is processed by a GPS low noise amplifier connected to the first GPS filter to obtain an amplified GPS satellite signal;
  • Two amplified GPS satellite signals are processed by the second power splitter to obtain two GPS satellite sub-signals, wherein one GPS satellite sub-signal is sent to the attitude sensor of the drone via the second GPS filter, and the other GPS satellite The signal is sent to the positioning module of the drone via the third GPS filter.
  • the first GPS filter is connected to the GPS low noise amplifier, and the GPS satellite signal is processed by the GPS low noise amplifier.
  • the attitude sensor of the drone can more accurately determine the attitude of the drone based on the GPS satellite signal.
  • the method further includes:
  • the first power splitter receives the drone operating state data sent by the at least one function module of the drone from the transmitting filter;
  • the drone operating status data is transmitted through the broadband antenna.
  • the operating state data of the UAV collected by the function module of the UAV can be received by the transmitting filter, and the sending filter sends the received operating state data to the first power splitter.
  • a power splitter transmits the operating status data to the outside through a wideband antenna.
  • the drone operating state data includes the drone flight data and the image data collected by the drone;
  • the first power splitter receives the drone operating state data sent by the at least one function module of the drone from the transmitting filter, including:
  • the first operational state filter receives the drone flight data sent by the flight data module of the drone;
  • the second running state filter receives the image data collected by the drone sent by the image data module of the drone;
  • the UAV flight data and the image data are separately transmitted to the first operational state filter and the second operational state filter in a time domain multiplexed manner under the control of the controller of the drone;
  • the running state combiner combines the flight data of the drone and the image data collected by the drone to generate the operating state data of the drone;
  • the transmitting filter receives the drone operating state data processed by the UAV operating state data power amplifier
  • the first power splitter receives drone operational status data from the transmit filter.
  • the working frequency band of the flight data module and the image data module are both 5.8 GHz.
  • the flight data module and the image data module of the controller of the drone are time domain multiplexed.
  • the method sends the respective collected data to the first running state filter and the second running state filter, respectively.
  • the data volume of the flight data of the drone is small, and the data volume of the image data collected by the drone is large, and the flight data of the drone can be sent in 50 ms in 1 s, and the image acquired by the drone is sent in 950 ms. data.
  • the existing UAV is generally provided with six antennas, including: a first GPS antenna with a working frequency band of 1.57 GHz, for receiving GPS satellite signals, and transmitting the received GPS satellite signals to the drone.
  • Positioning module a second GPS antenna operating in the frequency band of 1.57 GHz, for receiving GPS satellite signals, transmitting the received GPS satellite signals to the attitude sensor of the drone;
  • the remote control receiving antenna of the working frequency band of 2.4 GHz is used for Receiving the flight control signal sent by the remote controller, transmitting the received flight control signal to the remote control receiving module;
  • the data transmission antenna with the working frequency band of 2.4 GHz is used for receiving the GPS ground station satellite signal, and transmitting the received GPS ground station satellite signal To the positioning module;
  • the data transmission antenna with a working frequency band of 5.8 GHz is used to receive the flight data of the drone, and transmit the received flight data of the drone to the ground station;
  • the image transmission antenna with the working frequency band of 5.8 GHz is used for receiving no The image data collected by the human machine transmits the received
  • the above six antennas are arranged on the drone, which increases the weight of the drone and reduces the life time of the drone. Therefore, in the embodiment of the present invention, a broadband antenna is used instead of the above six antennas, and various signals required by the drone are transmitted to corresponding functional modules through the processing of the power divider and the filter, and the data collected by the drone is transmitted. To the ground station, the weight of the drone is greatly reduced, and the life time of the drone is improved.
  • the minimum operating frequency band is 1.57 GHz
  • the maximum operating frequency band is 5.8 GHz. Therefore, in practical applications, the working frequency band of the broadband antenna is 1 GHz-6 GHz to ensure the broadband antenna can Covers all working frequency bands; the direction is omnidirectional, ensuring that external signals can be received in all directions.
  • the broadband antenna has an impedance of 50 ohms and the echo damage is less than -8 db in the full operating frequency band.
  • FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle antenna multiplexing device according to an embodiment of the present invention. As shown in FIG. 2, the apparatus of the embodiment of the present invention includes:
  • the method includes: a broadband antenna 21, a first power divider 22, and a plurality of receiving filters 23;
  • the broadband antenna 21 is configured to receive an external signal, and send the received external signal to the first power divider 22;
  • the first power splitter 22 is configured to split the external signal received from the broadband antenna 22 into multiple sub-signals, and send each of the sub-signals to a plurality of functional modules on the corresponding drone connected to the first splitter 22, respectively.
  • a receiving filter 23 wherein the number of paths of the sub-signals is determined according to a working frequency band of each functional module of the drone;
  • Each receiving filter 23 is configured to perform filtering processing on the received sub-signals, obtain signals corresponding to working frequency bands of the respective functional modules of the drone, and send signals corresponding to working frequency bands of the respective functional modules of the drone to The corresponding function module.
  • the UAV antenna multiplexing device sets a broadband antenna on the UAV, receives all external signals through the broadband antenna, combines the first power splitter, and divides the received external signal into multiple sub-signals, and Each sub-signal is respectively sent to a receiving filter of each functional module on the unmanned aerial vehicle, and each receiving filter filters the received sub-signal to obtain a signal corresponding to the working frequency band of each functional module of the drone, and sends the signal.
  • the present invention adopts a broadband antenna instead of the existing multiple antennas to realize reception of all external signals, and processes the first power divider and the plurality of receiving filters to be required by the drone.
  • Various signals are sent to the corresponding function modules, which greatly reduces the weight of the drone and improves the life time of the drone.
  • the UAV antenna multiplexing apparatus includes a broadband antenna 301, a first power divider 302, and a plurality of receiving filters; and the plurality of receiving filters includes a first GPS filter. 303 and flight control filter 311;
  • the first power splitter 302 is specifically configured to divide the external signal received from the broadband antenna 301 into a first way sub-signal and a second way sub-signal;
  • the first GPS filter 303 performs filtering processing on the first sub-signal, acquires a GPS satellite signal corresponding to the first frequency band from the first sub-signal, and transmits the acquired GPS satellite signal to the positioning module 309 of the drone;
  • the flight control filter 311 is configured to perform filtering processing on the second sub-signal, acquire a flight control signal corresponding to the second frequency band from the second sub-signal, and send the acquired flight control signal to the remote control receiving module 312 of the drone.
  • both the first sub-signal and the second sub-signal include a 1.57 GHz GPS satellite signal and a 2.4 GHz flight control signal;
  • the first GPS filter 303 has a filtering pass frequency of 1.57 GHz, so that the first sub-signal
  • the 1.57 GHz GPS satellite signal passes, the 2.4 GHz flight control signal is filtered out, and the 1.57 GHz GPS satellite signal is sent to the drone's positioning module 309;
  • the flight control filter 311 has a filtering pass frequency of 2.4 GHz.
  • the 2.4 GHz flight control signal in the second sub-signal is filtered, and the 1.57 GHz GPS satellite signal is filtered out, and the 2.4 GHz flight control signal is sent to the remote control receiving module 312 of the drone.
  • the insertion loss of the first GPS filter 303 is less than 1 db.
  • the plurality of receive filters further includes a base station signal filter 310;
  • the first power divider 302 is further configured to divide the external signal received from the broadband antenna 301 into a first way sub-signal, a second way sub-signal, and a third way sub-signal;
  • the base station signal filter 310 is further configured to filter the third path sub-signal, acquire the GPS ground station satellite signal corresponding to the second frequency band from the third path sub-signal, and send the acquired GPS ground station satellite signal to the unmanned aerial vehicle. Module 309.
  • the first sub-signal, the second sub-signal, and the third sub-signal include a 1.57 GHz GPS satellite signal, a 2.4 GHz flight control signal, and a 2.4 GHz GPS ground base station satellite signal.
  • the communication between the remote control of the drone and the remote control receiving module adopts time domain frequency hopping technology, occupying different channels in the frequency band at different times. If the 2.4 GHz frequency band (2.4 GHz-2.5 GHz) is all allocated to the remote control receiving module, then All channels of 2.4GHz-2.5GHz will be occupied, but the frequency band of GPS ground station satellite signals is also 2.4GHz. Therefore, in the embodiment of the present invention, the filtering passband of the flight control filter 311 is partially overlapped with the filtering passband of the base station signal filter 310, and the flight control filter 311 uses a French 2.4 GHz filter, and the filtering passband is 2.4 GHz-2.45. GHz; base station signal filter 310 uses a conventional 2.4 GHz filter with a filtering pass frequency of 2.45-2.5 GHz.
  • the apparatus further includes: a GPS low noise amplifier 304, a second power splitter 305, a second GPS filter 306, and a third GPS filter 308;
  • the GPS low noise amplifier 304 is connected to the first GPS filter 303 for processing the GPS satellite signal to obtain the amplified GPS satellite signal;
  • the second power splitter 305 is configured to process the amplified GPS satellite signal to obtain two GPS satellite sub-signals;
  • the second GPS filter 306 is configured to filter one of the GPS satellite sub-signals, and send the filtered GPS satellite sub-signal to the attitude sensor 307 of the drone;
  • the third GPS filter 308 is configured to perform filtering processing on the other GPS satellite sub-signal, and send the filtered GPS satellite sub-signal to the positioning module 309 of the drone.
  • the GPS low noise amplifier 304 is used to amplify the weak GPS satellite signal transmitted by the first GPS filter 303. Since the second GPS filter 306 and the third GPS filter 308 receive the amplified GPS satellite signals, the insertion loss of the second GPS filter 306 and the third GPS filter 308 is not required, and the second GPS filtering is required.
  • the 306 and third GPS filters 308 have a degree of rejection of signals other than 1.57 GHz (especially signals of 2.4 GHz and 5.8 GHz) greater than 40 db.
  • the apparatus further includes: a first operational state filter 316, a second operational state filter 318, an operational state combiner 315, a drone operating state data power amplifier 314, and a transmit filter 313;
  • the first operational state filter 316 is configured to receive the drone flight data transmitted by the flight data module 317 of the drone;
  • the second running state filter 318 receives the image data collected by the drone sent by the image data module 319 of the drone;
  • the UAV flight data and the image data are respectively sent to the first running state filter 316 and the second running state filter 318 in a time domain multiplexing manner under the control of the controller of the drone;
  • the running state combiner 315 combines the flight data of the drone and the image data collected by the drone to generate the operating state data of the drone;
  • the transmitting filter 313 is configured to receive the drone operating state data processed by the UAV operating state data power amplifier 314;
  • the first power splitter 302 is also operative to receive drone operational status data from the transmit filter 313.
  • the operating frequency bands of the flight data module 317 and the image data module 319 are both 5.8 GHz.
  • the flight data module 317 and the image data module 319 of the controller of the drone are in time.
  • the manner of domain multiplexing sends the respective acquired data to the first operational state filter 316 and the second operational state filter 318, respectively.
  • the data volume of the flight data of the drone is small, and the data volume of the image data collected by the drone is large, and the flight data of the drone can be sent in 50 ms in 1 s, and the image acquired by the drone is sent in 950 ms. data.
  • the drone operating state data power amplifier 314 has a gain greater than 10 db.
  • the insertion loss of the first operational state filter 316, the second operational state filter 318, and the transmit filter 313 is not required, and the suppression of signals other than 5.8 GHz (especially signals of 1.57 GHz and 2.4 GHz) is required to be greater than 40 db.
  • a broadband antenna is disposed on the unmanned aerial vehicle, and all external signals are received through the broadband antenna, and the received external signal is divided into multiple sub-signals, and each path is combined with the first power splitter.
  • the signals are respectively sent to the receiving filters of the respective functional modules on the unmanned aerial vehicle, and the respective receiving filters filter the received sub-signals and send them to the corresponding functional modules for use by the respective functional modules.
  • the present invention replaces the existing multiple antennas with a wide-band antenna, realizes reception of all external signals, and processes the drone by the processing of the first power divider and the plurality of receiving filters.
  • the various signals are sent to the corresponding function modules, which greatly reduces the weight of the drone and improves the life time of the drone.
  • embodiments of the present invention can be provided as a method, system, or computer program product.
  • the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware.
  • the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radio Relay Systems (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

本发明公开了一种无人机宽频天线复用方法及装置。该方法包括：宽频天线接收外部信号，并将接收到的外部信号发送至第一功分器；第一功分器将从宽频天线接收到的外部信号分成多路子信号，并将各路子信号分别发送至对应无人机上各个功能模块的多个接收滤波器；各个接收滤波器对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工作频段对应的信号，并将与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块。可见，本发明采用一根宽频天线替代现有的多根天线，实现所有外部信号的接收，并通过第一功分器和多个接收滤波器的处理将无人机所需的各种信号发送至对应的功能模块，大大减轻了无人机的重量，提高了无人机的续航时间。

Description

一种无人机宽频天线复用方法及装置 技术领域
本发明涉及无人机技术领域，特别涉及一种无人机宽频天线复用方法及装置。
背景技术
无人驾驶飞机简称“无人机”，是利用控制装置操纵的不载人飞机，常用于空中拍摄、地理测绘、交通实时监控、供电线路巡检、农药喷洒等方面。
随着无人机技术的发展，无人机上的部件也日益增加，越来越多的新部件被加入到无人机中，一方面提高了无人机的性能，而另一方面又增加了无人机的重量。无人机的续航时间，是与无人机的重量强相关的，重量越大续航时间越短。目前市面上的民用无人机的续航时间都在30分钟以内。
无人机依靠天线实现与外部通信，传统的无人机仅设置有接收遥控信号的天线和接收全球定位系统(Global Positioning System，GPS)信号的天线，现有技术为了提高无人机的性能在其上设置了更多天线，这些天线增加了无人机的重量、降低了无人机的续航时间，一定程度上制约了无人机的市场拓展。
发明内容
为了解决现有的无人机天线重量大、续航时间短的问题，本发明提供了一种无人机宽频天线复用方法及装置。
本发明的一个实施例提供一种无人机宽频天线复用方法，无人机上设置有宽频天线，该方法包括：
宽频天线接收外部信号，并将接收到的外部信号发送至第一功分器；
第一功分器将从宽频天线接收到的外部信号分成多路子信号，并将各路子信号分别发送至与第一功分器相连的对应无人机上各个功能模块的多个接收滤波器，其中，子信号的路数是根据无人机的各个功能模块的工作频段确定的；
各个接收滤波器对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工 作频段对应的信号，并将与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块。
本发明的另一个实施例提供一种无人机宽频天线复用装置，包括：宽频天线、第一功分器和多个接收滤波器；
宽频天线用于接收外部信号，并将接收到的外部信号发送至第一功分器；
第一功分器用于将从宽频天线接收到的外部信号分成多路子信号，并将各路子信号分别发送至与第一功分器相连的对应无人机上各个功能模块的多个接收滤波器，其中，子信号的路数是根据无人机的各个功能模块的工作频段确定的；
各个接收滤波器用于对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工作频段对应的信号，并将与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块。
本发明的有益效果是，本发明在无人机上设置宽频天线，通过宽频天线接收所有外部信号，结合第一功分器，将接收到的外部信号分成多路子信号，并将各路子信号分别发送至对应无人机上各个功能模块的接收滤波器，供各个接收滤波器对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工作频段对应的信号，并发送至相应的功能模块，供各个功能模块使用。相对于现有技术，本发明采用一根宽频天线替代现有的多根天线，实现所有外部信号的接收，并通过第一功分器和多个接收滤波器的处理将无人机所需的各种信号发送至对应的功能模块，大大减轻了无人机的重量，提高了无人机的续航时间。
附图说明
图1为本发明一个实施例的无人机天线复用方法的流程示意图；
图2为本发明一个实施例的无人机天线复用装置的结构示意图；
图3为本发明另一个实施例的无人机天线复用装置的结构示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
图1为本发明一个实施例的无人机天线复用方法的流程示意图。如图1所示，本发明实施例的方法包括：
S11：宽频天线接收外部信号，并将接收到的外部信号发送至第一功分器。
需要说明的是，本发明实施例的无人机设置有宽频天线，宽频天线的工作频段根据无人机上功能模块的工作频段进行设定，涵盖无人机的各个功能模块的工作频段，用于接收外部信号，外部信号中包括多种频段范围的信号。
S12：第一功分器将从宽频天线接收到的外部信号分成多路子信号，并将各路子信号分别发送至与第一功分器相连的对应无人机上各个功能模块的多个接收滤波器，其中，子信号的路数是根据无人机的各个功能模块的工作频段确定的。
需要说明的是，第一功分器将一路外部信号能量分成两路或多路信号能量输出，即将外部信号分成多路子信号后，每路子信号中均包括多种频段的信号；第一功分器分别将各路子信号分别发送至各个接收滤波器。
其中，子信号的路数是根据无人机的各个功能模块的工作频段确定的。例如，当无人机中包括两个功能模块，且这两个功能模块具有两个不同的工作频段，则将外部信号分成两路子信号。
S13：各个接收滤波器对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工作频段对应的信号，并将与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块。
需要说明的是，本发明实施例中与第一功分器相连的各个接收滤波器在接收到子信号后，对接收到的子信号进行滤波处理，只允许指定频段的子信号通过，将其他频段的子信号滤除，获得与无人机的各个功能模块工作频段对应的信号，从而将与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块。
本发明实施例提供的无人机宽频天线复用方法，在无人机上设置宽频天线，通过宽频天线接收所有外部信号，结合第一功分器，并将接收到的外部信号分成多路子信号，并将各路子信号分别发送至对应无人机上各个功能模块的接收滤波器，供各个接收滤波器对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工作频段对应的信号，并发送至相应的功能模块，供各个功能模块使用。相比于现有技术，本发明采用一根宽频天线替代现有的多根天线，实现所有外部信号的接收，并通过第一功分器和多个接收 滤波器的处理将无人机所需的各种信号发送至对应的功能模块，大大减轻了无人机的重量，提高了无人机的续航时间。
在本发明的一个实施例中，外部信号包括GPS卫星信号和飞行控制信号；
第一功分器将从宽频天线接收到的外部信号分成多路子信号包括：
第一功分器将从宽频天线接收到的外部信号分成第一路子信号和第二路子信号；
各个接收滤波器对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工作频段对应的信号，并将与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块，包括：
第一GPS滤波器对第一路子信号进行滤波处理，从第一路子信号中获取对应第一频段的GPS卫星信号，将获取的GPS卫星信号发送至无人机的定位模块；
飞行控制滤波器对第二路子信号进行滤波处理，从第二路子信号中获取对应第二频段的飞行控制信号，将获取的飞行控制信号发送至无人机的遥控接收模块。
在实际应用中，无人机的定位模块的工作频段为1.57GHz，无人机的遥控接收模块的工作频段为2.4GHz。
这里，第一GPS滤波器用于获得与定位模块的工作频段相对应的信号，具体实施时，第一GPS滤波器为获得GPS卫星信号，对第一路子信号进行滤波处理，滤除除GPS卫星信号以外的信号，如接收的外部信号包括1.57GHz的GPS卫星信号和2.4GHz的飞行控制信号时，第一GPS滤波器允许1.57GHz的GPS卫星信号通过，滤除2.4GHz的飞行控制信号，将1.57GHz的GPS卫星信号发送至无人机的定位模块。
飞行控制滤波器用于获得与遥控接收模块的工作频段相对应的信号，具体实施时，飞信控制滤波器为获得飞行控制信号，对第二路子信号进行滤波处理，滤除除飞行控制信号以外的信号，如接收到的外部信号包括1.57GHz的GPS卫星信号和2.4GHz的飞行控制信号时，第一GPS滤波器允许2.4GHz的飞行控制信号通过，滤除1.57GHz的GPS卫星信号，将2.4GHz的飞行控制信号发送至无人机的遥控接收模块。
为了提高无人机的定位精确性，无人机上的定位模块为差分GPS模块，通过接收到的GPS地面基站卫星信号对GPS卫星信号进行修正。
进一步地，本发明实施例宽频天线接收的外部信号还包括GPS地面基站卫星信号；
第一功分器将从宽频天线接收到的外部信号分成多路子信号包括：
第一功分器将从宽频天线接收到的外部信号分成第一路子信号、第二路子信号和第三路子信号；
各个接收滤波器对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工作频段对应的信号，并将与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块，还包括：
基站信号滤波器对第三路子信号进行滤波处理，从第三路子信号中获取对应第二频段的GPS地面基站卫星信号，将获取的GPS地面基站卫星信号发送至无人机的定位模块。
由于无人机的遥控器与遥控接收模块的通信采用时域跳频技术，而无人机的定位模块接收GPS地面基站卫星信号的工作频段与遥控接收模块的工作频段相同(均为2.4GHz)，为保证GPS地面基站卫星信号和飞行控制信号的正常接收，飞行控制滤波器的滤波通过频段与基站信号滤波器的滤波通过频段部分重叠。
具体实施时，无人机的遥控器与遥控接收模块的通信采用时域跳频技术，在不同的时刻占用频段内不同的信道，若把2.4GHz频段(2.4GHz-2.5GHz)全部划分给遥控接收模块，则会把2.4GHz-2.5GHz的所有信道占满，然而定位模块接收GPS地面基站卫星信号的频段也是2.4GHz。因而，本发明实施例将2.4GHz频段中的部分信道划分给遥控接收模块，并根据信道划分，设置飞行控制滤波器的滤波通过频段与基站信号滤波器的滤波通过频段部分重叠。例如，将2.4GHz-2.45GHz的信道划分给遥控接收模块；飞行控制滤波器使用法国2.4GHz滤波器，其滤波通过频段为2.4GHz-2.45GHz；基站信号滤波器采用普通的2.4GHz滤波器，其滤波通过频段为2.45-2.5GHz。
在实际应用中，无人机的遥控器与遥控接收模块采用跳频技术，二者相互约定了随机变化码，只有遥控接收模块能根据随机变化码解析获得飞行控制信号，而定位模块无法解析获得飞行控制信号，仅能获得GPS地面基站卫星信号。
进一步地，在第一GPS滤波器对第一路子信号进行滤波处理之后，还包括：
通过与第一GPS滤波器相连的GPS低噪放大器对GPS卫星信号进行处理，得到放大后的GPS卫星信号；
通过第二功分器对放大后的GPS卫星信号进行处理得到两路GPS卫星子信号，其中一路GPS卫星子信号经第二GPS滤波器发送至无人机的姿态传感器，其中另一路GPS 卫星子信号经第三GPS滤波器发送至无人机的定位模块。
需要说明的是，为了保证发送至无人机的定位模块和姿态传感器的GPS卫星信号的质量，第一GPS滤波器与GPS低噪放大器相连，由GPS低噪放大器对GPS卫星信号进行处理。
可理解的是，无人机的姿态传感器接收到GPS卫星信号后，能根据GPS卫星信号更加准确的确定无人机的姿态。
进一步地，该方法还包括：
第一功分器从发送滤波器接收无人机的至少一个功能模块发送的无人机运行状态数据；
将无人机运行状态数据通过宽频天线进行发送。
可理解的是，本发明实施例还可以通过发送滤波器接收无人机的功能模块采集的无人机的运行状态数据，发送滤波器将接收的运行状态数据发送至第一功分器，第一功分器通过宽频天线将运行状态数据向外发送。
具体地，无人机运行状态数据包括无人机飞行数据和无人机采集的图像数据；
第一功分器从发送滤波器接收无人机的至少一个功能模块发送的无人机运行状态数据，包括：
第一运行状态滤波器接收无人机的飞行数据模块发送的无人机飞行数据；
第二运行状态滤波器接收无人机的图像数据模块发送的无人机采集的图像数据；
其中，无人机飞行数据和图像数据是在无人机的控制器的控制下以时域复用的方式分别发送至第一运行状态滤波器和第二运行状态滤波器的；
运行状态合路器对无人机飞行数据和无人机采集的图像数据进行合并，生成无人机运行状态数据；
发送滤波器接收经无人机运行状态数据功率放大器处理后的无人机运行状态数据；
第一功分器从发送滤波器接收无人机运行状态数据。
在实际应用中，飞行数据模块和图像数据模块的工作频段均为5.8GHz，为了避免无人机运行状态数据失真，无人机的控制器的飞行数据模块和图像数据模块以时域复用的方式将各自采集的数据分别发送至第一运行状态滤波器和第二运行状态滤波器。举例来说，无人机飞行数据的数据量较小，无人机采集的图像数据的数据量较大，可在1s 的时间内50ms发送无人机飞行数据，950ms发送无人机采集的图像数据。
需要说明的是，现有的无人机一般设置有6根天线，包括：工作频段为1.57GHz的第一GPS天线，用于接收GPS卫星信号，将接收到的GPS卫星信号发送至无人机的定位模块；工作频段为1.57GHz的第二GPS天线，用于接收GPS卫星信号，将接收到的GPS卫星信号发送至无人机的姿态传感器；工作频段为2.4GHz的遥控接收天线，用于接收遥控器发送的飞行控制信号，将接收到的飞行控制信号发送至遥控接收模块；工作频段为2.4GHz的数据传输天线，用于接收GPS地面基站卫星信号，将接收的GPS地面基站卫星信号发送至定位模块；工作频段为5.8GHz的数据传输天线，用于接收无人机飞行数据，将接收的无人机飞行数据发送至地面站；工作频段为5.8GHz的图像传输天线，用于接收无人机采集的图像数据，将接收的图像数据发送至地面站。
上述6根天线设置在无人机上，增加了无人机的重量，降低了无人机的续航时间。因而，本发明实施例采用宽频天线替代上述6根天线，通过功分器和滤波器的处理将无人机所需的各种信号发送至对应的功能模块，并将无人机采集的数据发送至地面站，大大减轻了无人机的重量，提高了无人机的续航时间。
现有的无人机的6根天线中，最小的工作频段为1.57GHz，最大的工作频段为5.8GHz，因此，在实际应用中，宽频天线的工作频段为1GHz-6GHz，以保证宽频天线能覆盖所有的工作频段；方向为全向性，保证能在各个方向接收外部信号。另外，该宽频天线的阻抗为50欧姆，全工作频段内回波损坏小于-8db。
图2为本发明一个实施例的无人机天线复用装置的结构示意图。如图2所示，本发明实施例的装置包括：
包括：宽频天线21、第一功分器22和多个接收滤波器23；
宽频天线21用于接收外部信号，并将接收到的外部信号发送至第一功分器22；
第一功分器22用于将从宽频天线22接收到的外部信号分成多路子信号，并将各路子信号分别发送至与第一功分器22相连的对应无人机上各个功能模块的多个接收滤波器23，其中，子信号的路数是根据无人机的各个功能模块的工作频段确定的；
各个接收滤波器23用于对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工作频段对应的信号，并将与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块。
本发明实施例提供的无人机天线复用装置，在无人机上设置宽频天线，通过宽频天线接收所有外部信号，结合第一功分器，将接收到的外部信号分成多路子信号，并将各路子信号分别发送至对应无人机上各个功能模块的接收滤波器，供各个接收滤波器对接收到的子信号进行滤波处理，获得与无人机的各个功能模块工作频段对应的信号，并发送至相应的功能模块，供各个功能模块使用。相对于现有技术，本发明采用一根宽频天线替代现有的多根天线，实现所有外部信号的接收，并通过第一功分器和多个接收滤波器的处理将无人机所需的各种信号发送至对应的功能模块，大大减轻了无人机的重量，提高了无人机的续航时间。
在本发明一个实施例中，如图3所示，无人机天线复用装置包括宽频天线301、第一功分器302和多个接收滤波器；多个接收滤波器包括第一GPS滤波器303和飞行控制滤波器311；
第一功分器302具体用于将从宽频天线301接收的外部信号分成第一路子信号和第二路子信号；
第一GPS滤波器303对第一路子信号进行滤波处理，从第一路子信号中获取对应第一频段的GPS卫星信号，将获取的GPS卫星信号发送至无人机的定位模块309；
飞行控制滤波器311用于对第二路子信号进行滤波处理，从第二路子信号中获取对应第二频段的飞行控制信号，将获取的飞行控制信号发送至无人机的遥控接收模块312。
在实际应用中，第一路子信号和第二路子信号中均包括1.57GHz的GPS卫星信号和2.4GHz的飞行控制信号；第一GPS滤波器303的滤波通过频段为1.57GHz，使得第一路子信号中1.57GHz的GPS卫星信号通过，2.4GHz的飞行控制信号被滤除，将1.57GHz的GPS卫星信号发送至无人机的定位模块309；飞行控制滤波器311的滤波通过频段为2.4GHz，使得第二路子信号中2.4GHz的飞行控制信号通过，1.57GHz的GPS卫星信号被滤除，将2.4GHz的飞行控制信号发送至无人机的遥控接收模块312。
为保证对微弱的GPS卫星信号没有影响，第一GPS滤波器303的插入损耗小于1db。
进一步地，多个接收滤波器还包括基站信号滤波器310；
第一功分器302进一步用于将从宽频天线301接收到的外部信号分成第一路子信号、第二路子信号和第三路子信号；
基站信号滤波器310进一步用于对第三路子信号进行滤波处理，从第三路子信号中 获取对应第二频段的GPS地面基站卫星信号，将获取的GPS地面基站卫星信号发送至无人机的定位模块309。
在实际应用中，第一路子信号、第二路子信号中和第三路子信号中均包括1.57GHz的GPS卫星信号、2.4GHz的飞行控制信号和2.4GHz的GPS地面基站卫星信号。
无人机的遥控器与遥控接收模块的通信采用时域跳频技术，在不同的时刻占用频段内不同的信道，若把2.4GHz频段(2.4GHz-2.5GHz)全部划分给遥控接收模块，则会把2.4GHz-2.5GHz的所有信道占满，然而GPS地面基站卫星信号的频段也是2.4GHz。因而，本发明实施例设置飞行控制滤波器311的滤波通过频段与基站信号滤波器310的滤波通过频段部分重叠，飞行控制滤波器311使用法国2.4GHz滤波器，其滤波通过频段为2.4GHz-2.45GHz；基站信号滤波器310采用普通的2.4GHz滤波器，其滤波通过频段为2.45-2.5GHz。
进一步地，该装置还包括：GPS低噪放大器304、第二功分器305、第二GPS滤波器306和第三GPS滤波器308；
GPS低噪放大器304与第一GPS滤波器303相连，用于对GPS卫星信号进行处理，得到放大后的GPS卫星信号；
第二功分器305用于对放大后的GPS卫星信号进行处理得到两路GPS卫星子信号；
第二GPS滤波器306用于对其中一路GPS卫星子信号进行滤波处理，将滤波处理后的GPS卫星子信号发送至无人机的姿态传感器307；
第三GPS滤波器308用于对其中另一路GPS卫星子信号进行滤波处理，将滤波处理后的GPS卫星子信号发送至无人机的定位模块309。
需要说明的是，GPS低噪放大器304用于将第一GPS滤波器303发送的微弱的GPS卫星信号放大。由于第二GPS滤波器306和第三GPS滤波器308接收的是放大后的GPS卫星信号，因而对第二GPS滤波器306和第三GPS滤波器308的插入损耗不作要求，要求第二GPS滤波器306和第三GPS滤波器308对1.57GHz以外的信号(特别是2.4GHz和5.8GHz的信号)抑制度大于40db。
进一步地，装置还包括：第一运行状态滤波器316、第二运行状态滤波器318、运行状态合路器315、无人机运行状态数据功率放大器314和发送滤波器313；
第一运行状态滤波器316用于接收无人机的飞行数据模块317发送的无人机飞行数 据；
第二运行状态滤波器318接收无人机的图像数据模块319发送的无人机采集的图像数据；
其中，无人机飞行数据和图像数据是在无人机的控制器的控制下以时域复用的方式分别发送至第一运行状态滤波器316和第二运行状态滤波器318的；
运行状态合路器315对无人机飞行数据和无人机采集的图像数据进行合并，生成无人机运行状态数据；
发送滤波器313用于接收经无人机运行状态数据功率放大器314处理后的无人机运行状态数据；
第一功分器302还用于从发送滤波器313接收无人机运行状态数据。
在实际应用中，飞行数据模块317和图像数据模块319的工作频段均为5.8GHz，为了避免无人机运行状态数据失真，无人机的控制器的飞行数据模块317和图像数据模块319以时域复用的方式将各自采集的数据分别发送至第一运行状态滤波器316和第二运行状态滤波器318。举例来说，无人机飞行数据的数据量较小，无人机采集的图像数据的数据量较大，可在1s的时间内50ms发送无人机飞行数据，950ms发送无人机采集的图像数据。
在实际应用中，无人机运行状态数据功率放大器314的增益大于10db。对第一运行状态滤波器316、第二运行状态滤波器318和发送滤波器313的插入损耗不作要求，要求对5.8GHz以外的信号(特别是1.57GHz和2.4GHz的信号)抑制度大于40db。
综上所述，根据本发明的技术方案，在无人机上设置宽频天线，通过宽频天线接收所有外部信号，结合第一功分器，将接收到的外部信号分成多路子信号，并将各路子信号分别发送至对应无人机上各个功能模块的接收滤波器，供各个接收滤波器对接收到的子信号进行滤波处理，并发送至相应的功能模块，供各个功能模块使用。相比于现有技术，本发明采用一根宽频天线替代现有的多根天线，实现所有外部信号的接收，并通过第一功分器和多个接收滤波器的处理将无人机所需的各种信号发送至对应的功能模块，大大减轻了无人机的重量，提高了无人机的续航时间。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面 的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
需要说明的是术语“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。
本发明的说明书中，说明了大量具体细节。然而能够理解的是，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。类似地，应当理解，为了精简本发明公开并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释呈反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
以上所述，仅为本发明的具体实施方式，在本发明的上述教导下，本领域技术人员可以在上述实施例的基础上进行其他的改进或变形。本领域技术人员应该明白，上述的具体描述只是更好的解释本发明的目的，本发明的保护范围应以权利要求的保护范围为准。

Claims (14)

  1. 一种无人机宽频天线复用方法，其中，所述无人机上设置有宽频天线，所述方法包括：
    所述宽频天线接收外部信号，并将接收到的外部信号发送至第一功分器；
    所述第一功分器将从所述宽频天线接收到的所述外部信号分成多路子信号，并将各路子信号分别发送至与所述第一功分器相连的对应无人机上各个功能模块的多个接收滤波器，其中，所述子信号的路数是根据无人机的各个功能模块的工作频段确定的；
    各个接收滤波器对接收到的子信号进行滤波处理，获得与所述无人机的各个功能模块工作频段对应的信号，并将所述与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块。
  2. 根据权利要求1所述的方法，其中，所述外部信号包括GPS卫星信号和飞行控制信号；
    所述第一功分器将从所述宽频天线接收到的所述外部信号分成多路子信号包括：
    所述第一功分器将从所述宽频天线接收到的所述外部信号分成第一路子信号和第二路子信号；
    各个接收滤波器对接收到的子信号进行滤波处理，获得与所述无人机的各个功能模块工作频段对应的信号，并将所述与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块，包括：
    第一GPS滤波器对所述第一路子信号进行滤波处理，从所述第一路子信号中获取对应第一频段的GPS卫星信号，将获取的所述GPS卫星信号发送至所述无人机的定位模块；
    飞行控制滤波器对所述第二路子信号进行滤波处理，从所述第二路子信号中获取对应第二频段的飞行控制信号，将获取的所述飞行控制信号发送至所述无人机的遥控接收模块。
  3. 根据权利要求2所述的方法，其中，所述外部信号还包括GPS地面基站卫星信号；
    所述第一功分器将从所述宽频天线接收到的所述外部信号分成多路子信号包括：
    所述第一功分器将从所述宽频天线接收到的所述外部信号分成第一路子信号、第二路子信号和第三路子信号；
    各个接收滤波器对接收到的子信号进行滤波处理，获得与所述无人机的各个功能模 块工作频段对应的信号，并将所述与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块，还包括：
    基站信号滤波器对所述第三路子信号进行滤波处理，从所述第三路子信号中获取对应第二频段的GPS地面基站卫星信号，将获取的所述GPS地面基站卫星信号发送至所述无人机的定位模块。
  4. 根据权利要求3所述的方法，其中，所述飞行控制滤波器的滤波通过频段与所述基站信号滤波器的滤波通过频段部分重叠。
  5. 根据权利要求3所述的方法，其中，在所述第一GPS滤波器对所述第一路子信号进行滤波处理之后，还包括：
    通过与所述第一GPS滤波器相连的GPS低噪放大器对所述GPS卫星信号进行处理，得到放大后的GPS卫星信号；
    通过第二功分器对所述放大后的GPS卫星信号进行处理得到两路GPS卫星子信号，其中一路GPS卫星子信号经第二GPS滤波器发送至无人机的姿态传感器，另一路GPS卫星子信号经第三GPS滤波器发送至无人机的定位模块。
  6. 根据权利要求1所述的方法，其中，所述方法还包括：
    所述第一功分器从发送滤波器接收所述无人机的至少一个功能模块发送的无人机运行状态数据；
    将所述无人机运行状态数据通过所述宽频天线进行发送。
  7. 根据权利要求6所述的方法，其中，所述无人机运行状态数据包括无人机飞行数据和无人机采集的图像数据；
    所述第一功分器从发送滤波器接收所述无人机的至少一个功能模块发送的无人机运行状态数据，包括：
    第一运行状态滤波器接收所述无人机的飞行数据模块发送的无人机飞行数据；
    第二运行状态滤波器接收所述无人机的图像数据模块发送的无人机采集的图像数据；
    其中，所述无人机飞行数据和图像数据是在所述无人机的控制器的控制下以时域复用的方式分别发送至所述第一运行状态滤波器和第二运行状态滤波器的；
    运行状态合路器对所述无人机飞行数据和无人机采集的图像数据进行合并，生成无人机运行状态数据；
    所述发送滤波器接收经无人机运行状态数据功率放大器处理后的无人机运行状态 数据；
    所述第一功分器从所述发送滤波器接收所述无人机运行状态数据。
  8. 一种无人机宽频天线复用装置，其中，包括：宽频天线、第一功分器和多个接收滤波器；
    所述宽频天线用于接收外部信号，并将接收到的外部信号发送至第一功分器；
    所述第一功分器用于将从所述宽频天线接收到的所述外部信号分成多路子信号，并将各路子信号分别发送至与所述第一功分器相连的对应无人机上各个功能模块的多个接收滤波器，其中，所述子信号的路数是根据无人机的各个功能模块的工作频段确定的；
    所述各个接收滤波器用于对接收到的子信号进行滤波处理，获得与所述无人机的各个功能模块工作频段对应的信号，并将所述与无人机的各个功能模块的工作频段对应的信号发送至相应的功能模块。
  9. 根据权利要求8所述的装置，其中，所述多个接收滤波器包括第一GPS滤波器和飞行控制滤波器；
    所述第一功分器具体用于将从所述宽频天线接收的所述外部信号分成第一路子信号和第二路子信号；
    所述第一GPS滤波器对所述第一路子信号进行滤波处理，从所述第一路子信号中获取对应第一频段的GPS卫星信号，将获取的所述GPS卫星信号发送至所述无人机的定位模块；
    所述飞行控制滤波器用于对所述第二路子信号进行滤波处理，从所述第二路子信号中获取对应第二频段的飞行控制信号，将获取的所述飞行控制信号发送至所述无人机的遥控接收模块。
  10. 根据权利要求9所述的装置，其中，所述装置还包括：GPS低噪放大器、第二功分器、第二GPS滤波器和第三GPS滤波器；
    所述GPS低噪放大器与所述第一GPS滤波器相连，用于对所述GPS卫星信号进行处理，得到放大后的GPS卫星信号；
    所述第二功分器用于对所述放大后的GPS卫星信号进行处理得到两路GPS卫星子信号；
    所述第二GPS滤波器用于对其中一路GPS卫星子信号进行滤波处理，将滤波处理后的GPS卫星子信号发送至无人机的姿态传感器；
    所述第三GPS滤波器用于对其中另一路GPS卫星子信号进行滤波处理，将滤波处 理后的GPS卫星子信号发送至无人机的定位模块。
  11. 根据权利要求9所述的装置，其中，所述多个接收滤波器还包括基站信号滤波器；
    所述第一功分器用于将从所述宽频天线接收到的所述外部信号分成第一路子信号、第二路子信号和第三路子信号；
    所述基站信号滤波器用于对所述第三路子信号进行滤波处理，从所述第三路子信号中获取对应第二频段的GPS地面基站卫星信号，将获取的所述GPS地面基站卫星信号发送至所述无人机的定位模块。
  12. 根据权利要求11所述的装置，所述飞行控制滤波器的滤波通过频段与所述基站信号滤波器的滤波通过频段部分重叠。
  13. 根据权利要求8所述的装置，其中，所述装置还包括：发送滤波器；
    所述发送滤波器用于将接收到的所述无人机的至少一个功能模块发送的无人机运行状态数据发送至所述第一功分器；
    所述第一功分器还用于将所述无人机运行状态数据通过所述宽频天线发送出去。
  14. 根据权利要求13所述的装置，其中，所述装置还包括第一运行状态滤波器、第二运行状态滤波器、运行状态合路器和无人机运行状态数据功率放大器；
    所述第一运行状态滤波器用于接收所述无人机的飞行数据模块发送的无人机飞行数据；
    所述第二运行状态滤波器接收所述无人机的图像数据模块发送的无人机采集的图像数据；
    其中，所述无人机飞行数据和图像数据是在所述无人机的控制器的控制下以时域复用的方式分别发送至所述第一运行状态滤波器和第二运行状态滤波器的；
    所述运行状态合路器对所述无人机飞行数据和无人机采集的图像数据进行合并，生成无人机运行状态数据；
    所述发送滤波器用于接收经无人机运行状态数据功率放大器处理后的无人机运行状态数据。
PCT/CN2018/090405 2017-09-28 2018-06-08 一种无人机宽频天线复用方法及装置 Ceased WO2019062201A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/097,873 US11233537B2 (en) 2017-09-28 2018-06-08 Wide-band antenna multiplexing method and device of unmanned aerial vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710898774.4A CN107565989B (zh) 2017-09-28 2017-09-28 一种无人机宽频天线复用方法及装置
CN201710898774.4 2017-09-28

Publications (1)

Publication Number Publication Date
WO2019062201A1 true WO2019062201A1 (zh) 2019-04-04

Family

ID=60983358

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/090405 Ceased WO2019062201A1 (zh) 2017-09-28 2018-06-08 一种无人机宽频天线复用方法及装置

Country Status (3)

Country Link
US (1) US11233537B2 (zh)
CN (1) CN107565989B (zh)
WO (1) WO2019062201A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114285459A (zh) * 2021-12-27 2022-04-05 北京微纳星空科技有限公司 一种卫星信号收发系统及其数据处理方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107565989B (zh) * 2017-09-28 2020-07-10 歌尔股份有限公司 一种无人机宽频天线复用方法及装置
CN110061749B (zh) * 2019-04-23 2021-06-22 深圳市沃特沃德股份有限公司 卫星信号收发的天线共用装置、方法及计算机设备
JP2022550214A (ja) * 2019-11-21 2022-11-30 スマートスカイ ネットワークス エルエルシー 空対地ＷｉＦｉシステムを強化する為の方法及び装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006211057A (ja) * 2005-01-25 2006-08-10 Oki Electric Ind Co Ltd トリプレクサ
CN102064845A (zh) * 2010-12-28 2011-05-18 惠州Tcl移动通信有限公司 共用天线的无线通信设备及采用所述设备的通信方法
CN102809751A (zh) * 2012-08-14 2012-12-05 中国科学院国家授时中心 Caps/北斗双模接收机
CN203434938U (zh) * 2013-07-08 2014-02-12 吴江市同心电子科技有限公司 一种超宽带高增益低噪声放大器
CN205017319U (zh) * 2015-10-08 2016-02-03 深圳市鼎元科贸有限公司 一种基于不同频段的射频前端天线复用电路
CN107565989A (zh) * 2017-09-28 2018-01-09 歌尔股份有限公司 一种无人机宽频天线复用方法及装置
CN207427127U (zh) * 2017-09-28 2018-05-29 歌尔股份有限公司 一种无人机宽频天线复用装置

Family Cites Families (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0484501A (ja) * 1990-07-27 1992-03-17 Oki Electric Ind Co Ltd 分波器
JPH0837434A (ja) * 1994-07-25 1996-02-06 Oki Electric Ind Co Ltd 移動体通信装置の出力パワー制御回路及び空中線共用器
US6937113B2 (en) * 1998-06-09 2005-08-30 Oki Electric Industry Co., Ltd. Branching filter package
US6222426B1 (en) * 1998-06-09 2001-04-24 Oki Electric Industry, Co., Ltd. Branching filter with a composite circuit of an LC circuit and a serial arm saw resonator
JP2001313542A (ja) * 2000-04-28 2001-11-09 Oki Electric Ind Co Ltd 分波器
JP3614369B2 (ja) * 2001-01-11 2005-01-26 沖電気工業株式会社 有極型ｓａｗフィルタ
US6765456B2 (en) * 2001-12-17 2004-07-20 Oki Electric Industry Co., Ltd. Surface acoustic wave duplexer and portable communication device using the same
US7911400B2 (en) * 2004-01-07 2011-03-22 Raysat Antenna Systems, L.L.C. Applications for low profile two-way satellite antenna system
US20110215985A1 (en) * 2004-06-10 2011-09-08 Raysat Antenna Systems, L.L.C. Applications for Low Profile Two Way Satellite Antenna System
US8761603B1 (en) * 2009-02-25 2014-06-24 Oewaves, Inc. Dynamically reconfigurable sensor arrays
EP2537257B1 (en) * 2010-02-17 2016-11-02 Saab AB Wideband transmitter/receiver arrangement for multifunctional radar and communication
US10327213B1 (en) * 2015-10-01 2019-06-18 Origin Wireless, Inc. Time-reversal communication systems
US9341721B2 (en) * 2013-03-15 2016-05-17 Qualcomm Incorporated Concurrent multi-system satellite navigation receiver with real signaling output
US9999038B2 (en) * 2013-05-31 2018-06-12 At&T Intellectual Property I, L.P. Remote distributed antenna system
US9857461B2 (en) * 2013-10-14 2018-01-02 Aviation Communication & Surveillance Systems Llc Systems and methods for remote L-band smart antenna distance measuring equipment diversity
US9906318B2 (en) * 2014-04-18 2018-02-27 Qualcomm Incorporated Frequency multiplexer
US10144036B2 (en) * 2015-01-30 2018-12-04 At&T Intellectual Property I, L.P. Method and apparatus for mitigating interference affecting a propagation of electromagnetic waves guided by a transmission medium
US20160329916A1 (en) * 2015-05-05 2016-11-10 Goverment Of The United States As Represented By Te Secretary Of The Air Force Multiband communications and repeater system
US9608692B2 (en) * 2015-06-11 2017-03-28 At&T Intellectual Property I, L.P. Repeater and methods for use therewith
US9693250B1 (en) * 2015-07-16 2017-06-27 Viasat, Inc. Systems and methods for monitoring electromagnetic compatibility
US10198956B2 (en) * 2015-10-09 2019-02-05 Randy Lane Silverman Unmanned aerial vehicle collision avoidance system
CN105667768B (zh) * 2015-12-31 2017-11-14 歌尔科技有限公司 一种无人机起落控制系统和控制方法
US11255663B2 (en) * 2016-03-04 2022-02-22 May Patents Ltd. Method and apparatus for cooperative usage of multiple distance meters
CN105676860A (zh) * 2016-03-17 2016-06-15 歌尔声学股份有限公司 一种可穿戴设备、无人机控制装置和控制实现方法
CN106454069B (zh) * 2016-08-31 2019-11-08 歌尔股份有限公司 一种控制无人机拍摄的方法、装置和可穿戴设备
US11425752B2 (en) * 2016-10-19 2022-08-23 Ipla Holdings Inc. Radio interface protocol architecture aspects, quality of service (QOS), and logical channel prioritization for 5G new radio
US10811767B2 (en) * 2016-10-21 2020-10-20 At&T Intellectual Property I, L.P. System and dielectric antenna with convex dielectric radome
US11055615B2 (en) * 2016-12-07 2021-07-06 Arilou Information Security Technologies Ltd. System and method for using signal waveform analysis for detecting a change in a wired network
CN107063237A (zh) * 2016-12-14 2017-08-18 歌尔股份有限公司 一种测量物体姿态角的方法和装置
US10528023B2 (en) * 2016-12-22 2020-01-07 General Dynamics-OTS. Inc. Electric motor drive system for low-voltage motor
US10498951B2 (en) * 2017-01-23 2019-12-03 Digital Global Systems, Inc. Systems, methods, and devices for unmanned vehicle detection
EP3376255B1 (en) * 2017-03-14 2021-11-17 Nxp B.V. Reconfigurable radar unit, integrated circuit and method therefor
US20180319495A1 (en) * 2017-05-05 2018-11-08 Pinnacle Vista, LLC Relay drone method
CN117318668A (zh) * 2017-05-24 2023-12-29 安乐泰克有限公司 用于控制谐振器的装置和方法
CN108011659B (zh) * 2017-10-30 2024-02-09 歌尔股份有限公司 一种无人机通信方法、装置及无人机
CN117353886A (zh) * 2017-11-15 2024-01-05 交互数字专利控股公司 5g nr中的功率余量报告
CN107972862B (zh) * 2017-11-21 2020-11-17 歌尔科技有限公司 基于无人机的载重控制方法、设备及无人机
US11662467B2 (en) * 2017-11-28 2023-05-30 Innoviz Technologies Ltd. MEMS mirror having spaced actuators
RU2675256C1 (ru) * 2018-03-01 2018-12-18 Общество с ограниченной ответственностью "РадиоТех" Способ беспроводной связи между абонентами и базовыми станциями
US10540905B2 (en) * 2018-03-28 2020-01-21 Gulfstream Aerospace Corporation Systems, aircrafts and methods for drone detection and collision avoidance
US10735086B2 (en) * 2018-08-03 2020-08-04 Honeywell International Inc. System and method for an integrated vehicle communications system
US11362692B2 (en) * 2019-08-30 2022-06-14 Qualcomm Incorporated Apparatus and method for controlling a switchable filter for coexistence between wireless protocols

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006211057A (ja) * 2005-01-25 2006-08-10 Oki Electric Ind Co Ltd トリプレクサ
CN102064845A (zh) * 2010-12-28 2011-05-18 惠州Tcl移动通信有限公司 共用天线的无线通信设备及采用所述设备的通信方法
CN102809751A (zh) * 2012-08-14 2012-12-05 中国科学院国家授时中心 Caps/北斗双模接收机
CN203434938U (zh) * 2013-07-08 2014-02-12 吴江市同心电子科技有限公司 一种超宽带高增益低噪声放大器
CN205017319U (zh) * 2015-10-08 2016-02-03 深圳市鼎元科贸有限公司 一种基于不同频段的射频前端天线复用电路
CN107565989A (zh) * 2017-09-28 2018-01-09 歌尔股份有限公司 一种无人机宽频天线复用方法及装置
CN207427127U (zh) * 2017-09-28 2018-05-29 歌尔股份有限公司 一种无人机宽频天线复用装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114285459A (zh) * 2021-12-27 2022-04-05 北京微纳星空科技有限公司 一种卫星信号收发系统及其数据处理方法
CN114285459B (zh) * 2021-12-27 2024-01-19 北京微纳星空科技有限公司 一种卫星信号收发系统及其数据处理方法

Also Published As

Publication number Publication date
CN107565989A (zh) 2018-01-09
CN107565989B (zh) 2020-07-10
US20210258033A1 (en) 2021-08-19
US11233537B2 (en) 2022-01-25

Similar Documents

Publication Publication Date Title
US20150087246A1 (en) Tunable rf diplexer
WO2019062201A1 (zh) 一种无人机宽频天线复用方法及装置
US8774795B2 (en) Reconfigurable satcom avionics radio
CN108880665B (zh) 一种全双工卫星通信系统
CA2554584A1 (en) Radio communications system and method with diversity operation in a multi-band satellite system with or without an ancillary terrestrial component
CN108604920B (zh) 具有分布式接收器结构的通信系统
US8630601B2 (en) Active channelized integrated antenna system
EP2750296B1 (en) Filtering out a jammer signal
US9735856B2 (en) Receiving and transmitting radio frequency signals
US9419774B2 (en) Hybrid diplexer and circulator frontend for GPS receiver and satcom modem sharing common antenna
US9893709B2 (en) RF triplexer architecture
CN207427127U (zh) 一种无人机宽频天线复用装置
JP6408144B2 (ja) 移動通信システムの基地局装置
RU118494U1 (ru) Комплекс бортовых средств цифровой связи
CN112969156B (zh) 无人机及通信方法、指挥控制站、情报单收站、侦察系统
US9729191B2 (en) Triplexer architecture for aggregation
US20160329916A1 (en) Multiband communications and repeater system
CN110730016B (zh) 卫星信号转发装置
US10511335B2 (en) Method and apparatus for adjacent band RF signal reception
GB2516016A (en) Controlling apparatus for transmitting and receiving radio frequency signals
CN113692709B (zh) 从或向机动车传输高频信号的天线装置以及具有天线装置的机动车
CN101345931A (zh) 一种天馈共享装置、系统及方法
KR102226254B1 (ko) 분산 안테나 시스템 및 분산 안테나 시스템의 서비스 방법
JP6409129B2 (ja) 移動通信システムの基地局装置
CA2961063A1 (fr) Architecture d'observation d'une pluralite d'objets disposes dans des endroits geographiques distincts et procede de collecte de donnees d'observation associe

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18862362

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18862362

Country of ref document: EP

Kind code of ref document: A1