CN108075819A - A kind of aerial UAV Communication system based on MESH - Google Patents

Abstract

The invention discloses a MESH-based aerial UAV communication system. The invention adopts a wireless communication network and adopts a multi-hop network to realize a low-latency and wide-coverage UAV communication network, and the UAV can freely choose to join the network control or directly communicate with the control station in the controlled network. It can greatly expand the controlled distance of the UAV so that the UAV has the ability to fly beyond the visual range.

Description

A MESH-based aerial UAV communication system

technical field

The invention relates to the field of unmanned aerial vehicle communication control, in particular to a MESH-based aerial unmanned aerial vehicle communication system.

Background technique

With the continuous advancement of communication technology and UAV control technology, the application of UAVs has been continuously developed, and its application in the civilian field is becoming more and more extensive. However, in industrial and complex urban application scenarios, it is limited by complex terrain environments. Due to radio interference, wireless signal transmission power of the console, and the signal-to-interference ratio of the carrier signal, the effective remote control distance of the drone has not been able to be broken through. In order to meet the needs of long-distance and high-reliability UAV operation in industrial and complex urban environments, the UAV air communication system was born. UAVs using the air communication network can have a great remote control distance in the communication network, and can realize real-time control of ultra-long-range UAVs. The emergence of the aerial UAV communication system has a huge impetus to the use of UAVs in complex environments such as industry and cities.

The quality of the aerial UAV communication network lies in the level of communication delay. There is not much communication delay in the traditional point-to-point UAV operation. The signal is directly sent to the UAV by the ground station, and the remote control distance is sent by the ground station. The power and the receiving sensitivity of the UAV are determined. However, it is impossible for general commercial UAVs to be equipped with high-power ground station systems, so how to improve the controlled distance of UAVs and reduce communication delays has become the focus of the field of UAV communication control.

Contents of the invention

The purpose of the present invention is to provide a kind of unmanned aerial vehicle air communication system based on MESH.

The invention adopts a wireless communication network and adopts a multi-hop network to realize a low-latency and wide-coverage UAV communication network, and the UAV can freely choose to join the network control or directly communicate with the control station in the controlled network. It can greatly expand the controlled distance of the UAV so that the UAV has the ability to fly beyond the visual range.

The technical solution that realizes the object of the present invention is:

A MESH-based air UAV communication system includes an air mobility relay platform, a ground control station, a communication relay module, an operation platform, a multi-hop control algorithm, a fusion control module, and a communication module. in:

The air mobile relay platform is an air communication relay platform of the UAV air communication network, which realizes storage and forwarding of control data, and receiving, storing and forwarding of system self-inspection data.

The ground control station communicates with the air mobile relay module, communication repeater and controlled UAV in the air wireless network through the wireless system. Responsible for monitoring the operation of the network, automatically controlling the air mobile relay platform, controlling the communication repeater, and automatically dispatching the air mobile platform. It has the ability to dynamically adjust the network according to the traffic volume.

The communication relay module, the communication relay module does not have mobility, and can only realize storage and forwarding of network data. Responsible for message delivery.

The operation platform, the operation platform is the remote operation platform of the UAV, which is used as the access terminal of the network to realize the operation of the remote UAV and display the attitude of the controlled UAV.

The multi-hop control algorithm, the multi-hop control algorithm is the core of the entire UAV control network, and its implementation determines the data transmission delay of the UAV network. The multi-hop control algorithm includes path selection, congestion control, flow control strategy, and maximum access strategy to control the efficient operation of the system.

The fusion control module, the function of the fusion control module is to convert the operator network communication data into the UAV network data, which can realize the expansion of communication distance under the existing public network.

The communication module, the communication module adopts the LORA wireless communication protocol to realize data communication in the system.

Further, the air mobility relay platform adopts STM32F103CET6 as the flight control core, adopts dual MPU6050 gyroscopes as the attitude angle of the aircraft, MS5611 electronic barometer as the altimeter module, and QMC5883L electronic compass to determine the flight course of the aircraft. The SX1278 Lora communication module is mounted on the aircraft, and the communication module works in CLASS C mode. The air mobile relay platform establishes the neighbor table and load table by monitoring the signals received from the surrounding platforms. Combined with the neighbor table, load table and multi-hop control algorithm, the air relay point can select the optimal path for data transmission. Combined with the load control rules, when a single machine cannot bear the access request, the aerial network can automatically reduce the network grid, reduce the coverage area and increase the number of access points in the area.

Further, the ground control station adopts the mode of PC + communication converter. As the brain of the whole system, the ground control station has the capability of displaying system operation status, air scheduling capability, and concurrent processing capability. details as follows:

(1) Running status display capability

The ground control station calculates the position of the cluster by receiving real-time data from the air network, and can determine the approximate position of all drones through the neighbor table in the receiver cluster and according to the GPS coordinates of one of the drones.

(2) Air dispatch capability

The ground control station has the ability to actively dispatch nearby drones or deploy new drones to replace the upcoming or failed air communication nodes when some nodes in the system are detected to fail or are about to fail.

(3) Concurrent processing capability

The ground station has a one-to-many relationship with the air communication network. Therefore, the ground station must have certain congestion handling capabilities.

Further, the communication relay module adopts the SX1278 Lora communication module to work normally in FSRx mode, monitor the communication signal that needs to be relayed, and the relay module stores the data after receiving the signal, and according to the data transmission algorithm, from the data The data is taken out from the buffer and the signal is resent with the maximum transmit power of +20db.

Further, the operating platform adopts SX1278 Lora communication module as the communication core, and the control chip adopts STM32F103CET6, whose function is to receive the flight status signal sent by a specific controlled UAV, and send the control signal to the flight control network.

Further, in the multi-hop control algorithm, when ground station data can be obtained, multi-hop path selection is controlled by the sum of path signal strengths. In the case that the ground station data cannot be obtained, the first access of data transmission adopts the breadth-first traversal method to send the handshake packet first. After receiving the handshake packet, the controlled UAV analyzes the communication hop value in the handshake packet and selects the smallest The hop value is used as the optimal path (there should also be timeout and congestion processing here). After the UAV selects the optimal path, it sends an ACK response to the optimal path, and the relay node on the way confirms the response and solidifies the communication link.

Further, the fusion communication module can use the fusion communication module to convert common network data into UAV communication network data when the ground station cannot be deployed, so as to realize ultra-long-distance operation.

Further, the communication module adopts SX1278 Lora communication chip, generally works in FSRx mode, switches to Tx mode when actively sending, and automatically falls back to FSRx mode after sending is completed.

Beneficial effects of the present invention:

Solved the problem of remote control of drones beyond visual range, and expanded the operating range of drones;

Through network management, a set of elastic air communication network can be established, so that the network has a wider range of usage scenarios;

Each air node can measure the distance between each other, and can provide basic positioning services in the case of loss of GPS;

The integrated control module can be deployed conveniently and quickly, optimize user experience, and reduce network construction costs.

Description of drawings

Fig. 1 is a system structure diagram;

Figure 2 is a work flow chart.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

Combined with Figure 1, a MESH-based aerial UAV communication system includes an air mobility relay platform, a ground control station, a communication relay module, an operating platform, a multi-hop control algorithm, a fusion control module, and a communication module. in:

The air mobile relay platform is an air communication relay platform of the UAV air communication network, which realizes storage and forwarding of control data, and receiving, storing and forwarding of system self-inspection data.

The ground control station communicates with the air mobile relay module, communication repeater and controlled UAV in the air wireless network through the wireless system. Responsible for monitoring the operation of the network, automatically controlling the air mobile relay platform, controlling the communication repeater, and automatically dispatching the air mobile platform. It has the ability to dynamically adjust the network according to the traffic volume.

The communication relay module, the communication relay module does not have mobility, and can only realize storage and forwarding of network data. Responsible for message delivery.

The operation platform, the operation platform is the remote operation platform of the UAV, which is used as the access terminal of the network to realize the operation of the remote UAV and display the attitude of the controlled UAV.

The multi-hop control algorithm, the multi-hop control algorithm is the core of the entire UAV control network, and its implementation determines the data transmission delay of the UAV network. The multi-hop control algorithm includes path selection, congestion control, flow control strategy, and maximum access strategy to control the efficient operation of the system.

The fusion control module, the function of the fusion control module is to convert the operator network communication data into the UAV network data, which can realize the expansion of communication distance under the existing public network.

The communication module, the communication module adopts the LORA wireless communication protocol to realize data communication in the system.

Further, the air mobility relay platform adopts STM32F103CET6 as the flight control core, adopts dual MPU6050 gyroscopes as the attitude angle of the aircraft, MS5611 electronic barometer as the altimeter module, and QMC5883L electronic compass to determine the flight course of the aircraft. The SX1278 Lora communication module is mounted on the aircraft, and the communication module works in CLASS C mode. The air mobile relay platform establishes the neighbor table and load table by monitoring the signals received from the surrounding platforms. Combined with the neighbor table, load table and multi-hop control algorithm, the air relay point can select the optimal path for data transmission. Combined with the load control rules, when a single machine cannot bear the access request, the aerial network can automatically reduce the network grid, reduce the coverage area and increase the number of access points in the area.

Further, the ground control station adopts the mode of PC + communication converter. As the brain of the whole system, the ground control station has the capability of displaying system operation status, air scheduling capability, and concurrent processing capability. details as follows:

(1) Running status display capability

The ground control station calculates the position of the cluster by receiving real-time data from the air network, and can determine the approximate position of all drones through the neighbor table in the receiver cluster and according to the GPS coordinates of one of the drones.

(2) Air dispatch capability

The ground control station has the ability to actively dispatch nearby drones or deploy new drones to replace the upcoming or failed air communication nodes when some nodes in the system are detected to fail or are about to fail.

(3) Concurrent processing capability

The ground station has a one-to-many relationship with the air communication network. Therefore, the ground station must have certain congestion handling capabilities.

Further, the communication relay module adopts the SX1278 Lora communication module to work normally in FSRx mode, monitor the communication signal that needs to be relayed, and the relay module stores the data after receiving the signal, and according to the data transmission algorithm, from the data The data is taken out from the buffer and the signal is resent with the maximum transmit power of +20db.

Further, the operating platform adopts SX1278 Lora communication module as the communication core, and the control chip adopts STM32F103CET6, whose function is to receive the flight status signal sent by a specific controlled UAV, and send the control signal to the flight control network.

Further, in the multi-hop control algorithm, when ground station data can be obtained, multi-hop path selection is controlled by the sum of path signal strengths. In the case that the ground station data cannot be obtained, the first access of data transmission adopts the breadth-first traversal method to send the handshake packet first. After receiving the handshake packet, the controlled UAV analyzes the communication hop value in the handshake packet and selects the smallest The hop value is used as the optimal path (there should also be timeout and congestion processing here). After the UAV selects the optimal path, it sends an ACK response to the optimal path, and the relay node on the way confirms the response and solidifies the communication link.

Further, the fusion communication module can use the fusion communication module to convert common network data into UAV communication network data when the ground station cannot be deployed, so as to realize ultra-long-distance operation.

Further, the communication module adopts SX1278 Lora communication chip, generally works in FSRx mode, switches to Tx mode when actively sending, and automatically falls back to FSRx mode after sending is completed.

Further, in combination with Figure 2, the working steps of the system are as follows:

(1) Deployment of air network

The control station broadcasts the deployment command, and the air relay node in the deployment state flies to the deployment position, and the air relay node that is already in the deployment position but in the dormant state ends the relay dormancy state and begins to search and establish its own neighbor list.

(2) Ground control station establishes ground service

The ground control station receives the neighbor list of all air relay nodes returned by the network, and establishes an air communication network model based on the neighbor list. After building the model, the ground control station broadcasts the system start command.

(3) System work

(1) Ground station maintenance network

The ground station maintains the network by monitoring the working status of the mobile relay platform in the air. When the mobile platform has low power and needs to withdraw from the network, the ground station can automatically dispatch the relay platform in the standby state to replace the network disconnected platform. At this time The network withdrawal platform broadcasts the communication ID of the replacement platform to the access point, and after the replacement platform is in place, the network withdrawal platform sends a switching command to the access point.

In the case of intensive communication, the ground station controls the air network to reduce the size of the network cells, and deploys additional relay platforms to communication-intensive areas.

(2) The client terminal operates the drone on the network through the ground station

The client terminal is connected to the ground station server through the network, and the user's control command is forwarded to the ground station through the server, and then forwarded by the ground station to the air communication network.

(3) The client terminal operates the UAV through the fusion control module

The client terminal realizes the direct network access of the control signal by connecting to the fusion control module. When establishing the connection for the first time, the client needs to perform a handshake operation with the controlled UAV. After the handshake, the client terminal can send the control signal to the air network.

(4) System shutdown

When shutting down the system, first check whether there are controlled drones on the network, if there are controlled drones on the network, the network refuses to shut down. If there is no drone on the network, the air node will close the service and return to the flight accordingly. The fixed relay point is shut down in service but keeps the system link waiting to wake up.

Claims (8)

1. a kind of aerial UAV Communication system based on MESH, including in air mobile relaying platform, ground control station, communication After module, operating platform, fused controlling module, communication module and multi-hop control algolithm module, it is characterised in that：

The air mobile relays platform, is that the air communication of unmanned plane air communication network relays platform, realizes control data Storage, forwarding and System self-test data reception, storage, forwarding；

The ground control station relays platform, communication relay mould by the air mobile in wireless system and on-air radio network Block, controlled UAV Communication；It is responsible for monitoring network operating condition, automatically controls air mobile relaying platform, control communication relay Module, Automatic dispatching air mobile relaying platform；

The communications relay module realizes storage, the forwarding of network data；It is responsible for the transmission of message；

The operating platform is the far-end operation platform of unmanned plane, as the access terminal of network, realizes to distal end unmanned plane Operation and the controlled UAV Attitude of display；

The fused controlling module is that carrier network communication data is converted into unmanned plane network data, realizes in existing public affairs Expanding communication distance in the case of common network network；

The communication module, using LORA wireless communication protocols, the data communication in realization system；

The multi-hop control algolithm module is the core of entire UAV Communication system, and it includes routing strategy, congestion controls System strategy, flow control policy and maximum access strategy.

2. a kind of aerial UAV Communication system based on MESH according to claim 1, it is characterised in that：It is described aerial Motor-driven relaying platform, as flight control core, is used as using double MPU6050 gyroscopes using STM32F103CET6 and obtains flight Device attitude angle, MS5611 electronic barometers determine the flight course of aircraft as high module, QMC5883L electronic compass is surveyed；Fly Carry SX1278 Lora communication modules in row device, communication module are operated under CLASS C modes；Air mobile relaying platform leads to The signal for crossing the circumferential mesas that monitoring receives establishes adjacent area table and load table, with reference to adjacent area table, load table and multi-hop control Algoritic module, air mobile relaying platform can select the optimal path of data transmission；With reference to load control rule, when unit without When method bears access request, network grid can be reduced automatically, reduce number of access point in the increase region of overlay area.

3. a kind of aerial UAV Communication system based on MESH according to claim 1, it is characterised in that：The ground Control station uses PC machine+communication converter pattern, and as the brain of whole system, ground control station is shown with system running state Show ability, aerial dispatching, oncurrent processing ability；

The operating status display capabilities refer to：Ground control station resolves a group of planes by receiving the real time data of air network Position, by receiving the adjacent area table in a group of planes and can determine whole unmanned planes according to the GPS coordinate of wherein one unmanned plane Approximate location；

The aerial dispatching refers to：Ground control station has some node failures in system is monitored or will lose During effect can with the unmanned plane near active schedule or the new unmanned plane of deployment come substitute will or failed air communication node；

The oncurrent processing ability refers to：Earth station is one-to-many relation with aerial communication network, and earth station, which has, gathers around Fill in processing capacity.

4. a kind of aerial UAV Communication system based on MESH according to claim 1, it is characterised in that：The communication Trunk module uses SX1278 Lora communication modules, works normally under FSRx patterns, monitors the signal of communication for needing to relay, Communications relay module stores data after signal has been received, and according to data sending algorithm, is taken out from data buffer zone The maximum transmission power of data and use+20db go out signal repetition.

5. a kind of aerial UAV Communication system based on MESH according to claim 1, it is characterised in that：The operation Platform is using SX1278 Lora communication modules as communication core, and for control chip using STM32F103CET6, effect is to connect The state of flight signal that specific controlled unmanned plane is sent is received, and sends control signals to and flies in control network.

6. a kind of aerial UAV Communication system based on MESH according to claim 1, it is characterised in that：Described is more Control algolithm module is jumped, in the case where that can get earth station's data, multihop path is selected by the sum of path signal strength Control；In the case where that can not get earth station's data cases, data sending accesses by the way of breadth first traversal first for the first time Handshake packet is sent, after handshake packet is received, the communication jumping figure value in controlled unmanned plane parsing handshake packet chooses minimum hop count Value is as optimal path；ACK responses are sent after unmanned plane selection optimal path on optimal path, air mobile relaying is flat in way Platform confirms response, cures communication link.

7. a kind of aerial UAV Communication system based on MESH according to claim 1, it is characterised in that：The fusion Communication module can not dispose earth station using converged communication module, ordinary network data is converted to unmanned plane and is led to Believe network data, realize overlength distance operation.

8. a kind of aerial UAV Communication system based on MESH according to claim 1, it is characterised in that：The communication Module using SX1278 Lora communication chips, is operated under FSRx patterns, Tx patterns is switched to when actively sending, have been sent Under into rear automatic fall-back to FSRx patterns.