WO2022193092A1

WO2022193092A1 - Signal transmission apparatus, movable platform, control method, system, and storage medium

Info

Publication number: WO2022193092A1
Application number: PCT/CN2021/080851
Authority: WO
Inventors: 陈涛; 王博元; 王庆文; 胡汝佳
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2022-09-22
Also published as: CN116671025A

Abstract

A signal transmission apparatus, a movable platform, a control method, a system, and a storage medium. A signal transmission apparatus (300) comprises: at least two radio-frequency chips (301); at least four duplexers (302) connected to the at least two radio-frequency chips (301); a multi-pole multi-throw switch (303); and at least four antennas (304) connected to the at least four duplexers (302) by means of the multi-pole multi-throw switch (303), wherein each radio-frequency chip (301) comprises a plurality of first frequency-band signal receiving/transmitting interfaces and a plurality of second frequency-band signal receiving/transmitting interfaces, the first frequency-band signal receiving/transmitting interfaces are used for receiving/transmitting signals of a first frequency band, and the second frequency-band signal receiving/transmitting interfaces are used for receiving/transmitting signals of a second frequency band. The multi-pole multi-throw switch (303) is switched for selection of the antenna (304), such that the signal transmission apparatus (300) can receive/transmit the signals of the first frequency band and/or the signals of the second frequency band, to ensure the communication quality of a device that performs wireless communication on the basis of the signal transmission apparatus (300).

Description

Signal transmission device, movable platform and control method, system and storage medium

technical field

The present application relates to the technical field of movable platforms, and in particular, to a signal transmission device, a movable platform, and a control method, system, and storage medium.

Background technique

At present, the communication quality of mobile platforms such as UAVs is very important as a wireless communication device. However, in practical applications, the communication quality of these devices is often interfered by various factors. For example, taking the drone as an example, during the flight of the drone, when the drone changes direction or encounters obstacles, the wireless signal between the drone and the remote controller may be blocked, making the wireless signal become weak, causing the communication link to be unstable and affecting the communication quality between the drone and the remote controller.

In order to improve the reliability and stability of the communication of these devices, the currently used technical means is to switch to another frequency band with no interference or less interference when interference occurs in the current frequency band, so as to ensure the reliability of the communication link. However, it takes a certain amount of time to switch the frequency band, and it is inevitable that the communication link will be temporarily interrupted during this process, which will affect the communication quality of the device. For example, when the communication link of the drone is interrupted, it is likely to cause a freeze in the image transmission.

Therefore, how to ensure the communication quality of devices such as mobile platforms has become an urgent problem to be solved.

SUMMARY OF THE INVENTION

Based on this, the present application provides a signal transmission device, a movable platform, and a control method, system, and storage medium, so as to ensure the communication quality of wireless communication devices such as the movable platform.

In a first aspect, the present application provides a signal transmission device, the signal transmission device comprising:

At least two RF chips;

at least four duplexers connected to the at least two radio frequency chips;

Multi-pole multi-throw switch;

at least four antennas connected to the at least four duplexers through the multi-pole multi-throw switch;

Wherein, each of the radio frequency chips includes a plurality of first frequency band signal receiving/transmitting interfaces and a plurality of second frequency band signal receiving/transmitting interfaces, and the first frequency band signal receiving/transmitting interfaces are used for receiving/transmitting first frequency band signals , the second frequency band signal receiving/transmitting interface is used to receive/transmit the second frequency band signal, and the signal transmission device can receive/transmit the first frequency band signal and/or select the antenna by switching the multi-pole multi-throw switch. the second frequency band signal.

In a second aspect, the present application also provides a movable platform, the movable platform includes a body, a power system provided in the body, and the above-mentioned signal transmission device, the power system is used for the movable platform. Power is provided by a mobile platform, which communicates with a remote control device through the signal transmission means.

In a third aspect, the present application also provides a mobile platform communication system, the mobile platform communication system includes the above mobile platform and a remote control device, the remote control device establishes a communication connection with the mobile platform.

In a fourth aspect, the present application also provides a method for controlling a movable platform, where the movable platform is the movable platform as described above, and the method includes:

Obtain the communication quality information corresponding to the current scene of the mobile platform;

According to the communication quality information, the working mode of the signal transmission device of the movable platform is controlled to receive/transmit the first frequency band signal and/or the second frequency band signal.

In a fifth aspect, the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned movable platform control method.

The signal transmission device, the movable platform, the communication system for the movable platform, the control method for the movable platform, and the computer-readable storage medium disclosed in the present application, wherein the signal transmission device includes at least two radio frequency chips; at least four duplexers, connected with at least two radio frequency chips; multi-pole multi-throw switches; at least four antennas connected to at least four duplexers through the multi-pole multi-throw switches; each radio frequency chip includes a plurality of first frequency band signal receiving/transmitting interfaces and Multiple second-band signal receiving/transmitting interfaces, the first-band signal receiving/transmitting interface is used to receive/transmit the first-band signal, and the second-band signal receiving/transmitting interface is used to receive/transmit the second-band signal. The knife multi-throw switch selects the antenna to enable the signal transmission device to receive/transmit the first frequency band signal and/or the second frequency band signal, that is, the signal transmission device supports the simultaneous reception/transmission of dual frequency band signals, avoiding the interruption of the communication link caused by the frequency band switching. The situation occurs, therefore, the communication quality of the devices that perform wireless communication based on the signal transmission means is ensured.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic block diagram of a movable platform provided by an embodiment of the present application;

FIG. 2 is a schematic block diagram of a signal transmission apparatus provided by an embodiment of the present application;

3 is a schematic structural diagram of a signal transmission device provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of the flow of two signals in the 2.4GHz frequency band performed by a signal transmission device provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a signal transmission device performing 4-receive signal flow in a 2.4GHz frequency band provided by an embodiment of the present application;

6 is a schematic diagram of the signal flow of a signal transmission device that performs 2 transmissions and 2 receptions in the 2.4GHz frequency band and 2 transmissions and 2 receptions in the 5GHz frequency band according to an embodiment of the present application;

7 is a schematic structural diagram of another signal transmission apparatus provided by an embodiment of the present application;

8 is a schematic flowchart of steps of a method for controlling a movable platform provided by an embodiment of the present application;

9 is a schematic flowchart of steps for controlling a signal transmission device of the movable platform to receive/transmit a first frequency band signal and/or a second frequency band signal according to an embodiment of the present application;

FIG. 10 is a system schematic diagram of a mobile platform communication system provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items .

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Embodiments of the present application provide a signal transmission device, a movable platform, a control method, a system, and a storage medium, which are used to ensure the communication quality of wireless communication devices such as drones.

Please refer to FIG. 1 , which is a schematic block diagram of a movable platform according to an embodiment of the present application. As shown in FIG. 1 , the movable platform 1000 may include a body 100 , a power system 200 disposed in the body 100 and a signal transmission device 300 , wherein the power system 200 is used to provide power for the movable platform 1000 , and the movable platform 1000 passes through The signal transmission device 300 communicates with a remote control device such as a remote controller of the movable platform 1000 .

Exemplarily, the movable platform 1000 includes, but is not limited to, unmanned aerial vehicles, such as rotorcraft, including single-rotor, dual-rotor, tri-rotor, quad-rotor, hexa-rotor, octa-rotor, and ten-rotor. , Twelve-rotor aircraft, etc. Of course, the movable platform 1000 may also be other types of unmanned aerial vehicles or movable devices, such as fixed-wing unmanned aerial vehicles, and the embodiment of the present application is not limited thereto.

Exemplarily, the power system 200 may include one or more electronic governors (referred to as ESCs for short), one or more propellers, and one or more motors corresponding to the one or more propellers, wherein the motors are connected to the electronic between the governor and the propeller. The electronic governor is used to provide driving current to the motor to control the speed of the motor. The motor is used to drive the propeller to rotate, thereby providing power for the flight of the movable platform 1000, which power enables the movable platform 1000 to achieve one or more degrees of freedom movement. In certain embodiments, the movable platform 1000 can rotate about one or more axes of rotation. It should be understood that the motor may be a DC motor or an AC motor. In addition, the motor may be a brushless motor or a brushed motor.

In some embodiments, as shown in FIG. 2 , FIG. 2 is a schematic block diagram of a signal transmission apparatus provided by an embodiment of the present application. The signal transmission device 300 includes at least two radio frequency chips 301 , at least four duplexers 302 , multi-pole multi-throw switches 303 , and at least four antennas 304 , wherein at least four duplexers 302 and at least two radio frequency chips 301 connection, at least four antennas 304 are connected 302 to at least four duplexers through multi-pole multi-throw switches 303, and each radio frequency chip 301 includes a plurality of first frequency band signal receiving/transmitting interfaces and a plurality of second frequency band signal receiving/transmitting interfaces Interface (not shown in the figure), the first frequency band signal receiving/transmitting interface is used to receive/transmit the first frequency band signal, and the second frequency band signal receiving/transmitting interface is used to receive/transmit the second frequency band signal. The throw switch 303 selects the antenna 304 to enable the signal transmission device 300 to receive/transmit the first frequency band signal and/or the second frequency band signal. That is, the signal transmission device 300 supports simultaneous reception/transmission of dual-band signals, avoiding the interruption of the communication link due to frequency band switching, and thus ensuring the communication quality of the mobile platform 1000 that communicates based on the signal transmission device 300 .

Exemplarily, the at least two radio frequency chips 301 include a first radio frequency chip and a second radio frequency chip, each duplexer 302 includes a first communication interface and a second communication interface, and two of the at least four duplexers 302 The first communication interface of the duplexer 302 is connected to a plurality of first frequency band signal receiving/transmitting interfaces of the first radio frequency chip, and the second communication interface of the two duplexers 302 is connected to a plurality of second frequency bands of the second radio frequency chip. a signal receiving/transmitting interface, the first communication interface of the other two duplexers 302 in the at least four duplexers 302 is connected to a plurality of first frequency band signal receiving/transmitting interfaces of the second radio frequency chip, and the other two duplexers The second communication interface of the device 302 is connected to the plurality of second frequency band signal receiving/transmitting interfaces of the first radio frequency chip.

Exemplarily, the signal transmission apparatus 300 further includes a plurality of radio frequency amplifier devices 305, wherein one end of each radio frequency amplifier device 305 is connected to the first communication interface or the second communication interface of a certain duplexer 302, and each radio frequency amplifier device The other end of 305 is connected to the first frequency band signal receiving/transmitting interface or the second frequency band signal receiving/transmitting interface of a certain radio frequency chip 301, and the radio frequency amplifier device 305 is used for receiving/transmitting the first frequency band signal or the second frequency band signal. enlarge.

Exemplarily, the radio frequency amplifier device 305 includes a power amplifier, a low noise amplifier and a SPDT switch, and the power amplifier or the low noise amplifier is selected by switching the SPDT switch to amplify the first frequency band signal or the second frequency band signal. For example, the power amplifier is used to amplify the transmitted first frequency band signal or the second frequency band signal, and the low noise amplifier is used to perform low noise amplification on the received first frequency band signal or the second frequency band signal.

Exemplarily, the signal transmission apparatus 300 receiving/transmitting the first frequency band signal and/or the second frequency band signal includes at least one of the following: simultaneously receiving/transmitting multiple first frequency band signals; simultaneously receiving/transmitting multiple second frequency band signals; Simultaneously receive/transmit at least one signal of the first frequency band and at least one signal of the second frequency band. That is, the signal transmission device 300 supports simultaneous reception/transmission of multi-channel single-band signals, or simultaneous reception/transmission of dual-band signals, and the mobile platform 1000 for communication based on the signal transmission device 300 can be selected according to the actual situation, further enriching the way the signal is transmitted.

Exemplarily, the first frequency band signal can be selected as a 2.4 GHz frequency band signal, and the second frequency band signal can be selected as a 5 GHz frequency band signal.

Exemplarily, the multi-pole multi-throw switch 303 includes a plurality of double-pole double-throw switches or at least one four-pole four-throw switch, and the antenna 304 is selected by switching the plurality of double-pole double-throw switches or at least one four-pole four-throw switch.

Exemplarily, the signal transmission apparatus 300 further includes a filter 306 disposed between the radio frequency chip 301 and the duplexer 302, wherein the filter 306 is used for transmitting/receiving the first frequency band signal and/or the second frequency band signal. Filter processing is performed to further improve the quality of the signal, that is, to improve the communication quality of the movable platform 1000 .

Exemplarily, the clocks of at least two radio frequency chips 301 are synchronized. For example, at least two radio frequency chips 301 are connected to the same clock source, so that the at least two radio frequency chips 301 can realize clock synchronization by using the clock pulse signal sent by the clock source.

For another example, use any one of the radio frequency chips 301 of the at least two radio frequency chips 301 as a reference chip, and send a clock pulse signal to the other radio frequency chips 301 through the radio frequency chip 301 serving as a reference chip, so that the at least two radio frequency chips 301 can realize the clock signal. Synchronize.

Exemplarily, the signal transmission apparatus 300 further includes a controller (not shown in the figure), and the controller is configured to control the working mode of the signal transmission apparatus 300 according to the current scene. The operation modes of the signal transmission apparatus 300 include, but are not limited to, a dual-carrier large-bandwidth transmission mode, a dual-carrier anti-interference transmission mode, a single-carrier transmission mode, and the like. In the dual-carrier large-bandwidth transmission mode, the signal transmission device 300 receives/transmits the first frequency band signal and the second frequency band signal, wherein the first frequency band signal and the second frequency band signal correspond to different data, that is, the signal transmission device 300 simultaneously dual-frequency Transmission of different data, improve wireless transmission rate. In the dual-carrier anti-interference transmission mode, the signal transmission device 300 receives/transmits the first frequency band signal and the second frequency band signal, wherein the first frequency band signal and the second frequency band signal correspond to the same data, that is, the signal transmission device 300 simultaneously dual-frequency The same data is transmitted, and the communication will not be interrupted when there is strong interference in one of the frequency bands. In the single-carrier transmission mode, the signal transmission apparatus 300 receives/transmits the first frequency band signal or the second frequency band signal.

Exemplarily, the controller is specifically used to:

determining the signal-to-noise ratio of the first frequency band signal and the second frequency band signal;

When the signal-to-noise ratios of the first frequency band signal and the second frequency band signal are both greater than or equal to a preset threshold, controlling the operating mode of the signal transmission device to be the dual-carrier large-bandwidth transmission mode;

When the signal-to-noise ratios of the first frequency band signal and the second frequency band signal are both less than the preset threshold, controlling the operation mode of the signal transmission device to be the dual-carrier anti-jamming transmission mode;

When the signal-to-noise ratio of the first frequency band signal is greater than or equal to the preset threshold and the signal-to-noise ratio of the second frequency band signal is less than the preset threshold, or when the signal-to-noise ratio of the first frequency band signal When it is less than the preset threshold and the signal-to-noise ratio of the second frequency band signal is greater than or equal to the preset threshold, the operating mode of the signal transmission device is controlled to be the single-carrier transmission mode.

Exemplarily, when the signal-to-noise ratio of the signal in the first frequency band is greater than or equal to the preset threshold and the signal-to-noise ratio of the signal in the second frequency band is smaller than the preset threshold, the signal transmission device transmits/receives the signal. The first frequency band signal; when the signal-to-noise ratio of the first frequency band signal is less than the preset threshold and the signal-to-noise ratio of the second frequency band signal is greater than or equal to the preset threshold, the signal transmission device receives/ sending the second frequency band signal.

The preset threshold corresponding to the signal-to-noise ratio can be flexibly set according to the actual situation, which is not specifically limited here. When the signal-to-noise ratio of the dual-band signals is good, the dual-carrier large-bandwidth transmission mode is adopted, and the dual-band signals are used to transmit different data. When the signal-to-noise ratio of the dual-band signal is not good, the dual-carrier anti-jamming transmission mode is adopted, and the same data is transmitted by using the dual-band. When the signal-to-noise ratio of one of the dual-band signals is not good, the single-carrier transmission mode is adopted, and the frequency band with a good signal-to-noise ratio is used for data transmission.

Exemplarily, when the signal transmission apparatus 300 transmits large-bandwidth data in real time, a dual-carrier large-bandwidth transmission mode may also be adopted, and dual frequency bands are used to transmit different data, thereby increasing the data transmission rate.

For example, taking the drone as an example, if the dual frequency band used for communication with the remote control includes the 2.4GHz frequency band and the 5GHz frequency band, when the distance between the drone and the remote control is relatively close, such as an unobstructed environment within 2000m, the remote control The signal-to-noise ratio of the 2.4GHz and 5GHz wireless signals received by the drone is at the best level, and the dual-carrier large-bandwidth transmission mode is adopted. Increase the wireless transfer rate. For example, the remote control terminal can download photos or video files captured by the drone at a higher speed, shortening the file download time.

In addition, if there are multiple cameras on the drone and need to transmit large-bandwidth data in real time, such as photos or video files captured by multiple cameras, the dual-carrier large-bandwidth transmission mode can also be used to send different data using the 2.4GHz frequency band and the 5GHz frequency band. .

When the drone flies far away, the signal-to-noise ratio of the wireless signals received by the remote control in the 2.4GHz and 5GHz bands of the drone decreases, or it detects that there is a difference between the 2.4GHz and 5GHz bands of the drone. The signal-to-noise ratio of the wireless signal in the 2.4GHz band and the 5GHz band decreases. At this time, the dual-carrier anti-jamming mode is adopted, and the 2.4GHz band and the 5GHz band are used to send/receive different data to ensure that the drone and the remote control are connected. The communication between them will not be interrupted by sudden interference.

When it is detected that there is no interference in one of the 2.4GHz frequency bands and the 5GHz frequency band of the UAV, and there is interference in the other frequency band, the single-carrier transmission mode is adopted, and the frequency band without interference is used for data transmission.

In some embodiments, as shown in FIG. 3 , FIG. 3 is a schematic structural diagram of a signal transmission apparatus provided by an embodiment of the present application. The signal transmission device includes two radio frequency chips transceiver1, transceiver2, four duplexers Diplexer1, Diplexer2, Diplexer3, Diplexer4, two double-pole double-throw switches 2P2T1, 2P2T2, four antennas ANT0, ANT1, ANT2, ANT3, multiple filters filter, multiple RF amplifier devices 2.4G FEM, 5G FEM corresponding to different frequency bands, multiple low-noise amplifiers 2.4G LNA, 5G LNA corresponding to different frequency bands; the RF chip transmitter1 includes interfaces 2.4G RX0, 5G RX0, 2.4 G TX0, 2.4G TX1, 2.4G RX1, 5G RX1, RF chip transmitter2 includes interfaces 2.4G RX2, 5G RX2, 5G TX2, 5G TX3, 2.4G RX3, 5G RX3, four duplexers Diplexer1, Diplexer2, Diplexer3, Diplexer4 includes interfaces 2.4G X0 and 5G X0. Antennas ANT0 and ANT2 are connected to diplexer Diplexer1 and Diplexer3 through double-pole double-throw switch 2P2T1. Antennas ANT1 and ANT3 are connected to duplexer Diplexer2 and Diplexer4 through double-pole double-throw switch 2P2T2. Antennas ANT0 and ANT2 can be switched, ANT1 and ANT3 can be switched, the interface 2.4G X0 of the duplexer Diplexer1 is connected to the interface 2.4G RX0 and 2.4G TX0 of the radio frequency chip transmitter1 through the filter filter and the RF amplifier 2.4G FEM respectively. The interface 5G X0 of the duplexer Diplexer1 is connected to the interfaces 5G RX2 and 5G TX2 of the radio frequency chip transceiver2 through the radio frequency amplifier device 5G FEM, and the interface 2.4G X0 of the duplexer Diplexer2 is connected to the filter filter and the radio frequency amplifier device 2.4G FEM respectively. The interfaces of the radio frequency chip transmitter1 are 2.4G RX1, 2.4G TX1, the interface 5G X0 of the duplexer Diplexer2 is connected to the interfaces 5G RX3 and 5G TX3 of the radio frequency chip transmitter2 through the radio frequency amplifier 5G FEM respectively, and the interface of the duplexer Diplexer3 is 2.4G X0 The filter, low noise amplifier 2.4G LNA is connected to the interface 2.4G RX2 of the radio frequency chip transmitter2, the interface 5G X0 of the duplexer Diplexer3 is connected to the interface 5G RX0 of the radio frequency chip transmitter1 through the low noise amplifier 5G LNA, and the duplexer Diplex The interface 2.4G X0 of er4 is connected to the interface 2.4G RX3 of the radio frequency chip transceiver2 through the filter filter, the low noise amplifier 2.4G LNA, the interface 5G X0 of the duplexer Diplexer4 is connected to the interface 5G of the radio frequency chip transceiver1 through the low noise amplifier 5G LNA RX1.

Exemplarily, the clocks of the radio frequency chips transceiver1 and transceiver2 are synchronized. For example, as shown in FIG. 3 , the radio frequency chip transceiver2 sends a clock pulse signal to the radio frequency chip transceiver1, so that the radio frequency chips transceiver1 and transceiver2 realize clock synchronization.

The radio frequency chips transmitter1 and transmitter2 only support signal reception or transmission of the same frequency at the same time. Therefore, the signal transmission device shown in Figure 3 supports at most 2T4R of the same frequency of 2.4G/5G (2 transmissions and 4 receptions). For example, as shown in FIG. 4 , the flow direction of the 2-transmit signal in the 2.4GHz frequency band is indicated, and as shown in FIG. 5 , the flow direction of the 4-receiver signal in the 2.4GHz frequency band is indicated. It can be understood that the flow direction of the 2T4R signal in the 5GHz frequency band can refer to the schematic diagram of the flow direction of the 2T4R signal in the 2.4GHz frequency band, and details are not repeated here.

In addition to supporting 2T4R with the same frequency of 2.4G/5G, the signal transmission device can also support simultaneous transmission of signals at different frequencies of 2.4G/5G. For example, if there are 3 baseband transmit channels and 4 receive channels, it can support 2T2R in the 2.4GHz band and 1T2R in the 5GHz band, or support 2T2R in the 5GHz band and 1T2R in the 2.4GHz band. If there are 4 baseband transmit channels and 4 receive channels, it can support 2T2R in the 2.4GHz band and 2T2R in the 5GHz band. For example, as shown in Figure 6, Figure 6 shows the signal flow of the 2T2R in the 2.4GHz band and the 2T2R in the 5GHz band. Schematic.

In other embodiments, as shown in FIG. 7 , FIG. 7 is a schematic structural diagram of another signal transmission apparatus provided by an embodiment of the present application. Compared with the signal transmission device shown in FIG. 3 , in this embodiment, the signal transmission device adopts a four-pole four-throw switch 4P4T instead of two double-pole double-throw switches 2P2T1 and 2P2T2. Therefore, any combination of two antennas can be selected for signal transmission. Transmit and receive, further optimize the freedom of antenna selection.

It can be understood that the above naming of the components of the movable platform 1000 is only for the purpose of identification, and therefore does not limit the embodiments of the present application.

The control method of the movable platform provided by the embodiments of the present application will be described in detail below based on the movable platform and the signal transmission device in the movable platform. It should be noted that the movable platform and the signal transmission device in the movable platform do not limit the application scenarios of the control method of the movable platform.

Please refer to FIG. 8. FIG. 8 is a schematic flowchart of a method for controlling a movable platform provided by an embodiment of the present application. The method can be used in any movable platform provided by the above embodiments, so as to ensure the communication quality of the movable platform.

As shown in FIG. 8 , the control method of the movable platform specifically includes steps S101 to S102.

S101. Acquire communication quality information corresponding to the current scene of the mobile platform.

Exemplarily, the communication quality information corresponding to the current scene of the mobile platform includes but is not limited to information such as signal-to-noise ratio and signal strength of the signal.

In one embodiment, the signal sent by the remote controller to the movable platform is detected, and the signal is calculated and analyzed to obtain corresponding communication quality information such as signal-to-noise ratio and signal strength.

In another embodiment, the communication quality information sent by the remote control may also be received by communicating with the remote control. Optionally, the remote control receives a signal sent by the movable platform, performs calculation and analysis on the signal through the remote control, obtains corresponding communication quality information, and sends the communication quality information to the movable platform, thereby receiving and obtaining the communication quality information. .

It should be noted that the above are the two listed methods for obtaining the communication quality information, and other methods may also be included, which are not specifically limited in this application.

S102. Control the working mode of the signal transmission device of the movable platform according to the communication quality information, so as to receive/transmit signals of the first frequency band and/or signals of the second frequency band.

Wherein, the working modes of the signal transmission device of the movable platform include but are not limited to dual-carrier large-bandwidth transmission mode, dual-carrier anti-interference transmission mode, and single-carrier transmission mode.

In different working modes, the signal transmission device of the movable platform uses corresponding different frequency bands for data transmission. For example, the 2.4GHz and/or 5GHz frequency bands are used for data transmission.

Exemplarily, in the dual-carrier large-bandwidth transmission mode, the signal transmission device receives/transmits the first frequency band signal and the second frequency band signal, wherein the first frequency band signal and the second frequency band signal correspond to different data, that is, through the signal transmission device. At the same time, the dual-frequency transmission of different data increases the wireless transmission rate.

In the dual-carrier anti-jamming transmission mode, the first frequency band signal and the second frequency band signal are received/transmitted through the signal transmission device, wherein the first frequency band signal and the second frequency band signal correspond to the same data, that is, the signal transmission device simultaneously dual-frequency The same data is transmitted, and the communication will not be interrupted when there is strong interference in one of the frequency bands, thus ensuring the communication quality.

In the single-carrier transmission mode, the first frequency band signal or the second frequency band signal is received/transmitted by the signal transmission device.

Exemplarily, receiving/transmitting the first frequency band signal and/or the second frequency band signal includes at least one of the following: simultaneously receiving/transmitting multiple channels of the first frequency band signal; Two frequency band signals; simultaneously receiving/transmitting at least one signal of the first frequency band and at least one signal of the second frequency band.

That is, the movable platform based on the signal transmission device supports the simultaneous reception/transmission of multi-channel single-band signals, or simultaneous reception/transmission of dual-band signals, and the movable platform can be selected according to the actual situation, which further enriches the way of signal transmission.

In some embodiments, as shown in FIG. 9 , the step S101 may include sub-step S1011, and the step S102 may include sub-steps S1021, S1022, and S1023.

S1011. Determine the signal-to-noise ratio of the first frequency band signal and the second frequency band signal;

Exemplarily, the signal-to-noise ratio of the signal in the second frequency band is calculated by separately acquiring the power and noise power of the signal in the first frequency band, calculating the signal-to-noise ratio of the signal in the first frequency band, and acquiring the power and noise power of the signal in the second frequency band.

S1021. When the signal-to-noise ratios of the first frequency band signal and the second frequency band signal are both greater than or equal to a preset threshold, control the operating mode of the signal transmission device to be the dual-carrier large-bandwidth transmission mode;

S1022. When the signal-to-noise ratios of the first frequency band signal and the second frequency band signal are both smaller than the preset threshold, control the working mode of the signal transmission device to be the dual-carrier anti-jamming transmission mode;

S1023. When the signal-to-noise ratio of the first frequency band signal is greater than or equal to the preset threshold and the signal-to-noise ratio of the second frequency band signal is less than the preset threshold, or when the signal-to-noise ratio of the first frequency band signal When the noise ratio is less than the preset threshold and the signal-to-noise ratio of the second frequency band signal is greater than or equal to the preset threshold, the operating mode of the signal transmission device is controlled to be the single-carrier transmission mode.

Compare the signal-to-noise ratio of the first frequency band signal and the second frequency band signal with the preset threshold, when the signal-to-noise ratio of the first frequency band signal and the second frequency band signal are both greater than or equal to the preset threshold, that is, when the dual frequency band signal When the signal-to-noise ratio of the control signal is good, the working mode of the control signal transmission device is a dual-carrier large-bandwidth transmission mode, which uses dual frequency bands to transmit different data.

When the signal-to-noise ratio of the first frequency band signal and the second frequency band signal are both smaller than the preset threshold, that is, when the signal-to-noise ratio of the dual-frequency band signal is not good, the operating mode of the control signal transmission device is the dual-carrier anti-jamming transmission mode , transmits the same data using dual frequency bands.

When the signal-to-noise ratio of the first frequency band signal is greater than or equal to the preset threshold and the signal-to-noise ratio of the second frequency band signal is less than the preset threshold, or when the signal-to-noise ratio of the first frequency band signal is less than the preset threshold and the second frequency band signal When the signal-to-noise ratio is greater than or equal to the preset threshold, that is, when the signal-to-noise ratio of one of the dual-band signals is not good, the operating mode of the control signal transmission device is the single-carrier transmission mode, and the frequency band with a good signal-to-noise ratio is used for data transmission. transmission.

Exemplarily, when the signal-to-noise ratio of the signal in the first frequency band is greater than or equal to a preset threshold and the signal-to-noise ratio of the signal in the second frequency band is less than the preset threshold, the signal transmission device receives/transmits the signal in the first frequency band, and uses the first frequency band to perform the signal-to-noise ratio. data transmission. Conversely, when the signal-to-noise ratio of the first frequency band signal is less than the preset threshold and the signal-to-noise ratio of the second frequency band signal is greater than or equal to the preset threshold, the signal transmission device receives/transmits the second frequency band signal, and uses the second frequency band for data transmission. .

Exemplarily, when the mobile platform transmits large-bandwidth data in real time, a dual-carrier large-bandwidth transmission mode can also be used, and dual frequency bands are used to transmit different data to improve the data transmission rate.

For example, taking the mobile platform as an unmanned aerial vehicle as an example, if the dual frequency band used for communication with the remote controller includes the 2.4GHz frequency band and the 5GHz frequency band, when the distance between the drone and the remote controller is relatively close, such as an unobstructed environment in the area Within 2000m, the signal-to-noise ratio of the 2.4GHz and 5GHz wireless signals received by the remote controller is at the best level, and the dual-carrier large-bandwidth transmission mode is adopted. Different data, improve wireless transmission rate. For example, the remote control terminal can download photos or video files captured by the drone at a higher speed, shortening the file download time.

When the drone flies a long distance, the signal-to-noise ratio of the wireless signals received by the remote control in the 2.4GHz and 5GHz bands of the drone decreases, or it detects that there is a difference between the 2.4GHz and 5GHz bands of the drone. The signal-to-noise ratio of the wireless signal in the 2.4GHz band and the 5GHz band decreases. At this time, the dual-carrier anti-jamming mode is adopted, and the 2.4GHz band and the 5GHz band are used to send/receive different data to ensure that the drone and the remote control are connected. The communication between them will not be interrupted by sudden interference.

When it is detected that there is no interference in one of the 2.4GHz frequency bands and the 5GHz frequency band of the UAV, and there is interference in the other frequency band, the single-carrier transmission mode is adopted, and the frequency band without interference is used for data transmission. Exemplarily, when the signal transmission device of the mobile platform supports 2T4R with the same frequency of 2.4G/5G, the 2.4GHz frequency band or the 5GHz frequency band without interference is used for 2T4R data transmission, so as to obtain good wireless transceiver performance.

The above embodiment obtains the communication quality information corresponding to the current scene of the movable platform, and then controls the working mode of the signal transmission device of the movable platform according to the communication quality information, so as to receive/transmit the first frequency band signal and/or the second frequency band signal, That is to say, it supports the simultaneous reception/transmission of dual-band signals, which avoids the interruption of the communication link caused by the frequency band switching, and thus ensures the communication quality of the wireless communication performed by the mobile platform.

Please refer to FIG. 10. FIG. 10 is a schematic block diagram of a mobile platform communication system provided by an embodiment of the present application. As shown in FIG. 10 , the mobile platform communication system includes a mobile platform and a remote control device, wherein the remote control device establishes a communication connection with the mobile platform to control the movement of the mobile platform and perform data transmission with the mobile platform .

Exemplarily, the remote control device includes, but is not limited to, a remote control, a smart terminal, and the like; the movable platform is the movable platform 1000 in the foregoing embodiment.

In the process of wireless communication with the remote control device, the movable platform can receive/transmit the first frequency band signal and/or the second frequency band signal. For specific operations, refer to the steps of the control method for the movable platform provided by the embodiment of the present application, here No longer.

The embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the embodiments of the present application The steps of the control method of the movable platform are provided.

Wherein, the computer-readable storage medium may be the signal transmission device or the internal storage unit of the movable platform described in the foregoing embodiments, such as a hard disk or memory of the signal transmission device or the movable platform. The computer-readable storage medium can also be an external storage device of the signal transmission device or the removable platform, such as a plug-in hard disk equipped on the signal transmission device or the removable platform, a smart memory card (Smart Media Card, SMC), Secure Digital (SD) card, Flash Card (Flash Card), etc.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A signal transmission device, characterized in that the signal transmission device comprises:

At least two RF chips;

at least four duplexers connected to the at least two radio frequency chips;

Multi-pole multi-throw switch;

at least four antennas connected to the at least four duplexers through the multi-pole multi-throw switch;

Wherein, each of the radio frequency chips includes a plurality of first frequency band signal receiving/transmitting interfaces and a plurality of second frequency band signal receiving/transmitting interfaces, and the first frequency band signal receiving/transmitting interfaces are used for receiving/transmitting first frequency band signals , the second frequency band signal receiving/transmitting interface is used to receive/transmit the second frequency band signal, and the signal transmission device can receive/transmit the first frequency band signal and/or select the antenna by switching the multi-pole multi-throw switch. the second frequency band signal.
The device according to claim 1, wherein the signal transmission device further comprises:

The controller is used for controlling the working mode of the signal transmission device according to the current scene.
The device according to claim 2, wherein the working mode comprises at least one of a dual-carrier large-bandwidth transmission mode, a dual-carrier anti-jamming transmission mode, and a single-carrier transmission mode;

In the dual-carrier large-bandwidth transmission mode, the signal transmission device receives/transmits the first frequency band signal and the second frequency band signal, wherein the first frequency band signal and the second frequency band signal correspond to different data;

In the dual-carrier anti-interference transmission mode, the signal transmission device receives/transmits the first frequency band signal and the second frequency band signal, wherein the first frequency band signal and the second frequency band signal correspond to the same data;

In the single-carrier transmission mode, the signal transmission device receives/transmits the first frequency band signal or the second frequency band signal.
The device according to claim 3, wherein the controller is specifically configured to:

determining the signal-to-noise ratio of the first frequency band signal and the second frequency band signal;

When the signal-to-noise ratios of the first frequency band signal and the second frequency band signal are both greater than or equal to a preset threshold, controlling the operating mode of the signal transmission device to be the dual-carrier large-bandwidth transmission mode;

When the signal-to-noise ratios of the first frequency band signal and the second frequency band signal are both less than the preset threshold, controlling the operation mode of the signal transmission device to be the dual-carrier anti-jamming transmission mode;

When the signal-to-noise ratio of the first frequency band signal is greater than or equal to the preset threshold and the signal-to-noise ratio of the second frequency band signal is less than the preset threshold, or when the signal-to-noise ratio of the first frequency band signal When it is less than the preset threshold and the signal-to-noise ratio of the second frequency band signal is greater than or equal to the preset threshold, the operating mode of the signal transmission device is controlled to be the single-carrier transmission mode.
The device according to claim 4, wherein when the signal-to-noise ratio of the first frequency band signal is greater than or equal to the preset threshold and the signal-to-noise ratio of the second frequency band signal is less than the preset threshold , the signal transmission device receives/transmits the first frequency band signal; when the signal-to-noise ratio of the first frequency band signal is less than the preset threshold and the signal-to-noise ratio of the second frequency band signal is greater than or equal to the preset When the threshold is set, the signal transmission device receives/transmits the second frequency band signal.
The device according to claim 1, wherein the signal transmission device for receiving/transmitting the first frequency band signal and/or the second frequency band signal comprises at least one of the following:

Simultaneously receive/transmit multiple signals of the first frequency band;

Simultaneously receive/transmit multiple channels of the second frequency band signal;

Simultaneously receive/transmit at least one signal of the first frequency band and at least one signal of the second frequency band.
The device according to claim 1, wherein the at least two radio frequency chips include a first radio frequency chip and a second radio frequency chip, and each of the duplexers includes a first communication interface and a second communication interface, and the The first communication interfaces of two duplexers in the at least four duplexers are connected to the plurality of first frequency band signal receiving/transmitting interfaces of the first radio frequency chip, and the two duplexers The second communication interface is connected to the plurality of second frequency band signal receiving/transmitting interfaces of the second radio frequency chip, and the first two duplexers of the at least four duplexers The communication interface is connected to the plurality of first frequency band signal receiving/transmitting interfaces of the second radio frequency chip, and the second communication interface of the other two duplexers is connected to the first radio frequency chip. Multiple second-band signal receiving/transmitting interfaces.
The device according to claim 7, wherein the signal transmission device further comprises a plurality of radio frequency amplifying devices, and one end of each of the radio frequency amplifying devices is connected to the first communication interface or the other communication interface of the duplexer. the second communication interface, the other end of each radio frequency amplifier is connected to the first frequency band signal receiving/transmitting interface or the second frequency band signal receiving/transmitting interface, the radio frequency amplifier is used to A frequency band signal or the second frequency band signal is amplified.
The device according to claim 8, wherein the radio frequency amplifier comprises a power amplifier, a low noise amplifier and a single-pole double-throw switch, and the power amplifier or the low-noise amplifier is selected by switching the single-pole double-throw switch to convert the first A frequency band signal or the second frequency band signal is amplified.
The device according to claim 1, wherein the signal transmission device further comprises a filter arranged between the radio frequency chip and the duplexer, the filter is used to and/or the second frequency band signal is filtered.
The device of claim 1, wherein the multi-pole multi-throw switch comprises a plurality of double-pole double-throw switches or at least one four-pole four-throw switch.
The device according to any one of claims 1 to 11, wherein the clocks of the at least two radio frequency chips are synchronized.
The apparatus according to claim 12, wherein the at least two radio frequency chips are connected to the same clock source, so that the clock pulse signals sent by the clock source are used to synchronize the clocks of the at least two radio frequency chips.
The apparatus according to claim 12, wherein any one of the at least two radio frequency chips sends a clock pulse signal to the other radio frequency chips, so as to synchronize the clocks of the at least two radio frequency chips.
A movable platform, characterized in that the movable platform comprises a body, a power system arranged in the body, and the signal transmission device according to any one of claims 1 to 14, the power system is used for The movable platform is powered, the movable platform communicates with a remote control device through the signal transmission means.
A movable platform communication system, characterized in that, the movable platform communication system comprises the movable platform according to claim 15, and a remote control device, and the remote control device establishes a communication connection with the movable platform.
A method for controlling a movable platform, wherein the movable platform is the movable platform according to claim 15, and the method comprises:

Obtain the communication quality information corresponding to the current scene of the mobile platform;

According to the communication quality information, the working mode of the signal transmission device of the movable platform is controlled to receive/transmit the first frequency band signal and/or the second frequency band signal.
The method according to claim 17, wherein the operating mode comprises at least one of a dual-carrier large-bandwidth transmission mode, a dual-carrier anti-jamming transmission mode, and a single-carrier transmission mode;

In the dual-carrier large-bandwidth transmission mode, the signal transmission device receives/transmits the first frequency band signal and the second frequency band signal, wherein the first frequency band signal and the second frequency band signal correspond to different data;

In the dual-carrier anti-interference transmission mode, the signal transmission device receives/transmits the first frequency band signal and the second frequency band signal, wherein the first frequency band signal and the second frequency band signal correspond to the same data;

In the single-carrier transmission mode, the signal transmission device receives/transmits the first frequency band signal or the second frequency band signal.
The method according to claim 17, wherein the communication quality information includes a signal-to-noise ratio of the first frequency band signal and the second frequency band signal, and the acquiring communication quality information corresponding to the current scene of the mobile platform ,include:

determining the signal-to-noise ratio of the first frequency band signal and the second frequency band signal;

The controlling the working mode of the signal transmission device of the mobile platform according to the communication quality information includes:

When the signal-to-noise ratios of the first frequency band signal and the second frequency band signal are both greater than or equal to a preset threshold, controlling the operating mode of the signal transmission device to be the dual-carrier large-bandwidth transmission mode;

When the signal-to-noise ratios of the first frequency band signal and the second frequency band signal are both less than the preset threshold, controlling the operation mode of the signal transmission device to be the dual-carrier anti-jamming transmission mode;

When the signal-to-noise ratio of the first frequency band signal is greater than or equal to the preset threshold and the signal-to-noise ratio of the second frequency band signal is less than the preset threshold, or when the signal-to-noise ratio of the first frequency band signal When it is less than the preset threshold and the signal-to-noise ratio of the second frequency band signal is greater than or equal to the preset threshold, the operating mode of the signal transmission device is controlled to be the single-carrier transmission mode.
The method according to claim 19, wherein when the signal-to-noise ratio of the first frequency band signal is greater than or equal to the preset threshold and the signal-to-noise ratio of the second frequency band signal is less than the preset threshold , the signal transmission device receives/transmits the first frequency band signal; when the signal-to-noise ratio of the first frequency band signal is less than the preset threshold and the signal-to-noise ratio of the second frequency band signal is greater than or equal to the preset When the threshold is set, the signal transmission device receives/transmits the second frequency band signal.
The method according to claim 17, wherein the receiving/transmitting the first frequency band signal and/or the second frequency band signal comprises at least one of the following:

Simultaneously receive/transmit multiple signals of the first frequency band;

Simultaneously receive/transmit multiple channels of the second frequency band signal;

Simultaneously receive/transmit at least one signal of the first frequency band and at least one signal of the second frequency band.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 17 to 21. The control method of the movable platform described above.