CN114598595B - Unmanned aerial vehicle dual-redundancy measurement and control communication system for multi-channel data real-time monitoring - Google Patents

Abstract

The embodiment of the present invention discloses a dual-redundant measurement and control communication system for unmanned aerial vehicles for real-time monitoring of multi-channel data, including: an on-board measurement and control communication unit for unmanned aerial vehicles, which is used for processing, sending and receiving business data; A measurement and control communication unit, which includes a ground measurement and control communication device for business data processing, transmission, reception, and network control, which is powered on but does not transmit signals; a single-channel monitoring unit, which includes at least three sets of independent and consistent functional performance. Single-channel monitoring and receiving equipment and supporting antenna are used to receive and demodulate the uplink data sent by the ground measurement and control communication equipment, compare the demodulated data with the original data received from the wired network, and send the obtained comparison results to the chain Channel switching equipment; link switching equipment is used to generate an alarm and issue a channel switching command when judging that the ground measurement and control communication equipment fails according to the periodic comparison result of the original data and the air interface data.

Description

A dual-redundant measurement and control communication system for UAV with real-time monitoring of multi-channel data

technical field

The invention relates to the technical field of communication, in particular to a dual-redundant measurement and control communication system for unmanned aerial vehicles for real-time monitoring of multi-channel data.

Background technique

At present, the UAV measurement and control communication system usually consists of one set of ground data transmission equipment and one airborne data transmission equipment, using phased array antenna system, code division multiple access system (CDMA), frequency division multiple access system (FDMA) , Time Division Multiple Access (TDMA), to achieve full-duplex communication between a UAV ground measurement and control station and an aerial UAV. However, due to the influence of complex factors such as electromagnetic environment and equipment failure, the single-channel UAV measurement and control communication equipment may fail or be interfered, causing communication interruption, resulting in the loss of telemetry and remote control data. If the moment when the single-channel measurement and control communication is interrupted is the key action time point of the UAV, for example, when the UAV is about to land, once the ground command and guidance information is lost, accidents are very likely to occur. Therefore, single-channel UAV measurement and control communication has limitations in terms of reliability.

Although the dual-channel redundant backup measurement and control communication system can improve the communication reliability, the switching of the main/standby measurement and control communication equipment generally adopts the "human-in-the-loop" method, that is, the current main/standby measurement and control communication equipment is manually judged and manually Perform the switching action. This method is limited by human response time, failure plans, etc. The channel switching delay is usually in seconds or even ten seconds, which still cannot solve the measurement and control communication requirements of UAVs with high reliability and low delay.

SUMMARY OF THE INVENTION

In view of the above problems existing in the prior art, the embodiment of the present invention provides a dual-redundant measurement and control communication system for unmanned aerial vehicles for real-time monitoring of multi-channel data. Under the TDMA transmission technology system, the system adopts dual-channel hot backup, multiple Real-time online monitoring of channel data and other technologies can reliably, timely and accurately complete the switching of the main/standby measurement and control channel in the event of an abnormality in the transmission channel, which effectively improves the system reliability, reduces the delay of channel switching, and meets the needs of UAVs. High real-time, high reliability measurement and control communication requirements.

The UAV dual-redundant measurement and control communication system for real-time monitoring of multi-channel data provided by the embodiment of the present invention includes:

The unmanned aerial vehicle on-board measurement and control communication unit, which is deployed on the side of the unmanned aerial vehicle, includes the unmanned aerial vehicle on-board measurement and control communication equipment and supporting antennas, and is used for business data processing, transmission and reception. The unmanned aerial vehicle on-board measurement and control communication unit communicates with the ground Communication connection of measurement and control communication equipment to transmit telemetry and remote control data to each other;

The ground dual redundant measurement and control communication unit, which is deployed on the ground control station side, includes two sets of ground measurement and control communication equipment and supporting antennas that are independent of each other and have the same function and performance, and are used for business data processing, transmission, reception and network control. The ground dual redundant measurement and control communication unit is connected in communication with the unmanned aerial vehicle on-board measurement and control communication equipment, and transmits telemetry and remote control data, wherein the two sets of ground measurement and control communication equipment are both powered on and are used as backup ground measurement and control communication equipment. Electricity but no signal transmission, in hot backup state;

A single-channel monitoring unit, which is deployed on the side of the ground control station, and includes at least three sets of single-channel monitoring and receiving equipment and supporting antennas that are independent of each other and have the same function and performance, and are used to receive and demodulate the uplink data sent by the ground measurement and control communication equipment, Compare the demodulated data with the original data received from the wired network, and send the obtained comparison result to the link switching device;

The link switching device is deployed on the ground control station side, and is used to determine whether the ground measurement and control communication device fails according to the periodic comparison result of the original data and the air interface data, and if a failure occurs, an alarm is generated, and the automatic switching mode is performed. , the channel switching command is automatically issued.

In some embodiments of the present invention, the ground dual redundant measurement and control communication unit, the single-channel monitoring unit, and the link switching device are respectively connected to the supporting software of the ground measurement and control station through an Ethernet switch, and the single channel The IP addresses of the monitoring receiving equipment and the ground measurement and control communication equipment are configured as the same multicast address.

In some embodiments of the present invention, the link switching device determines whether the ground measurement and control communication device is faulty, and specifically includes:

The device heartbeat message is obtained from the main measurement and control communication device and the backup measurement and control communication device through the serial port according to the preset period. The heartbeat message of the device indicates that the main measurement and control communication device is faulty, the channel switching is performed, and the channel switching instruction is issued through the serial port;

If the heartbeat message of the backup measurement and control communication device is not received within the preset number of consecutive timing periods, it indicates that the backup measurement and control communication device is faulty, and a fault alarm prompt is issued.

In some embodiments of the present invention, the link switching device is further configured to:

Periodically compare the air radio data monitoring results, specifically: comparing the wireless data packets independently received by the three sets of single-channel monitoring and receiving equipment through the wireless space and the wired data packets with the same packet number received through the wired network For comparison, the air radio data is a measurement and control data message with a set length and a corresponding message number sent by the ground measurement and control communication unit in one time slot, and the measurement and control data message is composed of three sets of single-channel data. Surveillance receiving equipment independently receives through wireless space;

If the wireless data packets in two consecutive cycles are inconsistent with the wired data packets, it indicates that the ground measurement and control communication equipment is faulty, and a channel switching instruction is sent through the serial port to perform channel switching.

In some embodiments of the present invention, the link switching device is further configured to:

Statistics are respectively used to monitor the power intensity of the power test message received by the receiving equipment through the wireless space through three sets of single-channel monitoring. Each cycle of test data is assigned a message code;

Compare the power intensity of the power test packets received by the three sets of single-channel monitoring and receiving equipment with the target threshold value, if the power values of the power test packets in two consecutive cycles are smaller than the target The threshold value indicates that the main ground measurement and control communication unit is faulty, an alarm prompt is given, and a channel switching instruction is issued through the serial port to perform channel switching.

In some embodiments of the present invention, the link switching device determines that the ground measurement and control communication device is faulty according to the periodic comparison result between the original data and the air interface data, and the delay for issuing the channel switching command is at most 3 time slots period, in which corresponding packets are sent and compared in the first two timeslot periods of the three timeslot periods, if the transmission channel needs to be switched, the third period of the three timeslot periods The channel switching command is issued within the slot cycle and the switching is completed;

In some embodiments of the present invention, the link switching device is further configured to issue a status self-check command to the ground measurement and control communication equipment as a backup at a frequency of every 3 timeslot cycles, and receive the ground measurement and control as a backup After completing the self-test, the communication device sends a self-test message reported by the serial port, so that the link switching device judges whether the standby ground monitoring and control communication device is in good condition through the self-test message.

In some embodiments of the present invention, the two sets of ground measurement and control communication equipment and the unmanned aerial vehicle onboard measurement and control communication equipment work in TDMA mode, and the two sets of ground measurement and control communication equipment share network and equipment parameters in real time through serial ports, Specifically:

As the main ground measurement and control communication equipment, extract the currently used network time slot number and equipment parameters, and send them to the standby ground measurement and control communication equipment through the serial port;

The ground measurement and control communication equipment as a backup receives the currently used network time slot number through the serial port, and adjusts the current time slot number to the network time slot number, so as to communicate with the time slot number used by the main measurement and control communication equipment. the gap remains the same;

After receiving the equipment parameters of the main ground measurement and control communication equipment through the serial port as the backup ground measurement and control communication equipment, adjust the device parameters of the machine to be consistent with the communication parameters used by the main measurement and control communication equipment;

The main ground measurement and control communication equipment and the backup ground measurement and control communication equipment receive external time system signals through the clock synchronization interface, and adjust the local clock according to the time system signals to achieve network synchronization.

In some embodiments of the present invention, the data packet format of the service message is defined as: AGC start segment+preamble segment+frame header+data segment+packet sequence number+protection segment;

The message format of the test message is defined as: AGC start segment + preamble segment + frame header + data segment + protection segment;

Among them, the AGC startup segment is a reserved automatic gain control time segment, and no useful information is transmitted;

The preamble segment is used for packet synchronization and does not transmit user information;

The frame header is fixed data, including at least time slot synchronization, frame type and CRC check information;

The data segment is used to transmit user information;

The packet sequence number is the number of sub-packet transmission;

The protection segment is the guard interval, and the wireless transmission time is reserved according to the communication distance, and no signal is transmitted;

The signal modulation modes of the service message and the test message both adopt continuous phase modulation technology, and the modulation signal is a constant envelope signal.

In some embodiments of the present invention, the link switching device includes:

Main control board, serial port expansion board, dual redundant network expansion board, switching control backplane, power supply module, buttons and indicator lights.

Compared with the prior art, the beneficial effect of the UAV dual redundant measurement and control communication system for real-time monitoring of multi-channel data provided by the embodiment of the present invention is that in order to improve the working reliability of the UAV measurement and control communication system, dual redundancy is adopted. At the same time, real-time monitoring and comparison are carried out through multiple independent monitoring channels, and channel switching decisions are made according to the monitoring results. The equipment adopts the multi-channel monitoring method to reduce the false alarm probability of the system. Assuming that the false alarm probability of using one monitoring channel is p, when three monitoring channels are used, the false alarm probability will be reduced to p ³ , which improves the system reliability. In the process of channel switching, the scheme of keeping the communication time slot and working parameters of the standby channel consistent with the main channel at all times is adopted, and the channel switching is completed within the range of 3 time slots to meet the requirements of low latency for system switching.

Description of drawings

1 is a composition diagram of an unmanned aerial vehicle dual-redundant measurement and control communication system for real-time monitoring of multi-channel data provided by an embodiment of the present invention;

Fig. 2 is the monitoring switching information flow chart of the unmanned aerial vehicle dual redundant measurement and control communication system of multi-channel data real-time monitoring provided by the embodiment of the present invention;

FIG. 3 is a hardware composition diagram of a link switching device of a UAV dual-redundant measurement and control communication system for real-time monitoring of multi-channel data provided by an embodiment of the present invention.

Detailed ways

In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Various aspects and features of the present application are described herein with reference to the accompanying drawings.

These and other features of the present application will become apparent from the following description of preferred forms of embodiment, given as non-limiting examples, with reference to the accompanying drawings.

It is also to be understood that although the application has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalents of the application with certainty, which have the characteristics as claimed in the claims and are therefore located in the places hereby recited. within the limited scope of protection.

The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

Specific embodiments of the present application are hereinafter described with reference to the accompanying drawings; however, it is to be understood that the claimed embodiments are merely examples of the present application, which may be implemented in various ways. Well-known and/or repeated functions and constructions have not been described in detail to discern the true intent from a user's historical operation to avoid obscuring the application with unnecessary or redundant detail. Therefore, specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis for the claims and a representative basis for teaching one skilled in the art to variously employ the present invention in substantially any suitable detailed structure. Application.

This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which can all refer to the same in accordance with the present application or one or more of different embodiments.

An embodiment of the present invention provides a dual-redundant measurement and control communication system for unmanned aerial vehicles for real-time monitoring of multi-channel data, as shown in FIG. 1 , including:

The unmanned aerial vehicle on-board measurement and control communication unit, which is deployed on the side of the unmanned aerial vehicle, includes the unmanned aerial vehicle on-board measurement and control communication equipment and supporting antennas, and is used for business data processing, transmission and reception. The unmanned aerial vehicle on-board measurement and control communication unit communicates with the ground Communication connection of measurement and control communication equipment to transmit telemetry and remote control data to each other;

The ground dual redundant measurement and control communication unit, which is deployed on the ground control station side, includes two sets of ground measurement and control communication equipment and supporting antennas that are independent of each other and have the same function and performance, and are used for business data processing, transmission, reception and network control. The ground dual redundant measurement and control communication unit is connected in communication with the unmanned aerial vehicle on-board measurement and control communication equipment, and used together to complete the telemetry and remote control data transmission, wherein the two sets of ground measurement and control communication equipment are both powered on and used as backup ground The measurement and control communication equipment is powered on but does not transmit signals, and is in a hot backup state, which is convenient for switching between the main and standby channels at any time;

A single-channel monitoring unit, which is deployed on the side of the ground control station, and includes at least three sets of single-channel monitoring and receiving equipment and supporting antennas that are independent of each other and have the same function and performance, and are used to receive and demodulate the uplink data sent by the ground measurement and control communication equipment, Compare the demodulated data with the original data received from the wired network, and send the obtained comparison result to the link switching device;

The link switching device is deployed on the ground control station side, and is used to determine whether the ground measurement and control communication device fails according to the periodic comparison result of the original data and the air interface data, and if a failure occurs, an alarm is generated, and the automatic switching mode is performed. In this case, the channel switching command is automatically issued. In addition, the link switching device is also provided with a manual switching mode, so that the channel switching command can be issued manually by personnel.

In some embodiments of the present invention, the ground dual redundant measurement and control communication unit, the single-channel monitoring unit, and the link switching device are respectively connected to the supporting software of the ground measurement and control station through an Ethernet switch, and the single channel The IP addresses of the monitoring receiving equipment and the ground measurement and control communication equipment are configured as the same multicast address.

At the same time, both the main measurement and control communication equipment and the backup measurement and control communication equipment have a time unified (time system) interface, which can receive external time system information and keep the clocks of the main/standby ground measurement and control communication equipment consistent.

In some embodiments of the present invention, the link switching device determines whether the ground measurement and control communication device is faulty, and specifically includes:

Obtain device heartbeat messages (such as M ₁ and M ₂ respectively) from the main measurement and control communication device and the backup measurement and control communication device according to the preset period through the serial port, that is, to perform device-level state monitoring, if the continuous pre- Within the set number of times (for example, it can be set to at least 3 times) within the timing period (for example, it can be represented by T1), the heartbeat message M1 of the main measurement and control communication device has not been received. When the measurement and control communication equipment fails, perform channel switching, and issue a channel switching instruction through the serial port;

If the heartbeat message M2 of the standby measurement and control communication device has not been received within the continuous preset number of times (for example, it can be set to at least 3 times), the heartbeat message M2 of the standby measurement and control communication device is represented. If a fault occurs, a fault alarm prompt will be issued.

Among them, the reporting period of the heartbeat message of the device is generally set to the second level, for example, it can be 2 seconds/time.

In some embodiments of the present invention, the link switching device is further configured to:

Periodically compare the monitoring results of the air radio data, that is, perform real-time monitoring of the air data, specifically: the wireless data packets independently received by the three sets of single-channel monitoring and receiving equipment through the wireless space have the same characteristics as those received through the wired network. The wired data messages of the message numbers are compared, wherein the air radio data is a measurement and control data message with a set length and a corresponding message number sent by a ground measurement and control communication unit in a time slot, and the measurement and control data Messages are independently received by three sets of single-channel monitoring and receiving equipment through wireless space;

If the wireless data packets in two consecutive cycles are inconsistent with the wired data packets, it indicates that the ground measurement and control communication equipment is faulty (channel switching is required), and a channel switching instruction is sent through the serial port to perform channel switching.

As an example, it is assumed that the ground measurement and control communication unit sends a measurement and control data message with length n and number i in one time slot, denoted as D _i ={d _i1 ,d _i2 ,...d _in }. The measurement and control data packets are received independently by the 3-way single-channel monitoring and receiving equipment through the wireless space, and the 3-way single-channel monitoring and receiving equipment receives the data packet with the message number i and records it as

与

分别与从有线网络收到的具有相同报文编号的有线数据报文D_i分别进行比对，针对连续的2个周期内的数据报文(其编号为i和i+1)，若无线数据报文与有线网络收到的有线数据报文不一致，即

且

则认为地面测控通信设备存在故障，需要进行通道切换，立即通过串口发出通道切换指示。Will

and

Compare with the wired data message D _i with the same message number received from the wired network respectively. The message is inconsistent with the wired data message received by the wired network, that is,

and

Then, it is considered that the ground measurement and control communication equipment is faulty, and channel switching is required, and the channel switching instruction is immediately issued through the serial port.

In some embodiments of the present invention, the link switching device is further configured to:

Statistics are used to monitor the power intensity of the power test packets received by the receiving equipment through the wireless space through three sets of single-channel monitoring, that is, to perform real-time power monitoring, and use special test packets for testing. The power test packets are used as the main ground. The transmission of the measurement and control communication unit has test data with a preset length, and each cycle of test data is assigned a message code;

Compare the power intensity of the power test packets received by the three sets of single-channel monitoring and receiving equipment with the target threshold value, if the power values of the power test packets in two consecutive cycles are smaller than the target The threshold value indicates that the main ground measurement and control communication unit is faulty, and an alarm prompt is given, and a channel switching instruction is sent through the serial port to perform channel switching; if the power of the power test message in two consecutive cycles is If the value is not less than the target threshold value, the power monitoring is continued.

As an example, the main ground measurement and control communication unit sends test data with a length of t, and each cycle of test data is assigned a message number j. The results of receiving the power test message with message number j by the single-channel monitoring receiving device are recorded as:

Count the power intensities P _j1 , P _j2 , and P _j3 of the jth group of power test packets received by the three-way single-channel monitoring receiving device. Compare P _j1 , P _j2 , and P _j3 with the target threshold value P _t , if for the test packets (numbered j and j+1) in two consecutive cycles, count the power values of the power test packets are smaller than the target threshold, satisfying (P _j1 <P _t )&(P _j2 <P _t )&(P _j3 <P _t ), (P _(j+1)1 <P _t )&(P _{(j+1) 2} <P _t )&(P _(j+1)3 <P _t ), then it is considered that the ground measurement and control communication equipment is faulty, the system gives an alarm prompt, the channel switching needs to be performed, and the channel switching instruction is issued through the serial port immediately; otherwise, continue Perform power monitoring.

It can be seen from the above embodiment that if the results of equipment-level status monitoring, air data real-time monitoring and power real-time monitoring indicate that the ground measurement and control communication channel is working normally, the channel switching is not performed, and periodic monitoring is continued.

Before switching the channel, check the status of the device in the hot backup channel. If the device status of the standby channel is normal, the channel switching command will be issued to complete the channel switching; otherwise, the channel switching will not be performed, and a system abnormality alarm will be issued. The link state monitoring switching process is shown in FIG. 2 .

In some embodiments of the present invention, the link switching device determines that the ground measurement and control communication device is faulty according to the periodic comparison result between the original data and the air interface data, and the delay for issuing the channel switching command is at most 3 time slots period, in which corresponding packets are sent and compared in the first two timeslot periods of the three timeslot periods, if the transmission channel needs to be switched, the third period of the three timeslot periods The channel switching command is issued within the slot cycle and the switching is completed;

In this embodiment, the link switching device is further configured to issue a status self-checking instruction (for example, it can be expressed as C) to the ground measurement and control communication device serving as a backup at the frequency of every 3 timeslot cycles, and receive the After the standby ground measurement and control communication equipment completes the self-test, the self-test message (for example, it can be expressed as S) reported through the serial port, so that the link switching device can judge the ground as the standby ground through the self-test message. Check whether the communication equipment is in good condition.

In some embodiments of the present invention, the two sets of ground measurement and control communication equipment and the unmanned aerial vehicle onboard measurement and control communication equipment work in TDMA mode. In this mode, the two sets of ground measurement and control communication equipment share the network in real time through serial ports. and device parameters, specifically:

As the main ground measurement and control communication equipment, extract the currently used network time slot number k and equipment parameters P={p ₁ , p ₂ ... p _m }, and send them to the standby ground measurement and control communication equipment through the serial port;

The ground measurement and control communication equipment used as a backup receives the currently used network time slot number k through the serial port, and adjusts the current time slot number to the network time slot number k, so as to be compatible with the network time slot number k used by the main measurement and control communication equipment. The communication time slot remains the same;

After receiving the equipment parameters P={p ₁ , p ₂ ... p _m } of the main ground measurement and control communication equipment through the serial port as the backup ground measurement and control communication equipment, adjust the equipment parameters of the local machine to match the main measurement and control communication equipment. The communication parameters used by the communication equipment shall be consistent;

The main ground measurement and control communication equipment and the backup ground measurement and control communication equipment receive external time system signals through the clock synchronization interface, and adjust the local clock according to the time system signals to achieve network synchronization.

In some embodiments of the present invention, the data packet format of the service message is defined as: AGC start segment+preamble segment+frame header+data segment+packet sequence number+protection segment;

The message format of the test message is defined as: AGC start segment + preamble segment + frame header + data segment + protection segment;

Among them, the AGC startup segment is a reserved automatic gain control time segment, and no useful information is transmitted;

The preamble segment is used for packet synchronization and does not transmit user information;

The frame header is fixed data, including at least time slot synchronization, frame type and CRC check information;

The data segment is used to transmit user information;

The packet sequence number is the number of sub-packet transmission;

The protection segment is the guard interval, and the wireless transmission time is reserved according to the communication distance, and no signal is transmitted;

The signal modulation mode of the service message and the test message adopts continuous phase modulation technology, and the modulated signal is a constant envelope signal with excellent spectral characteristics, the signal is less affected by the channel, and is not sensitive to the nonlinearity of the amplifier. The optional modulation mode is GMSK, SCCPM, etc.

In some embodiments of the present invention, the link switching device includes: a main control board, a serial port expansion board, a dual-redundant network expansion board, a switching control backplane, a power supply module, buttons, and indicator lights.

Specifically, a) the main control board adopts an embedded computer design, receives 15 serial ports and Gigabit dual redundant network interface information through the PCI bus protocol, and completes the interface communication of the entire data link switching device by analyzing and processing the information. , remote control information processing, system failure ruling and other functions.

In this embodiment, the main control board adopts AT-5010CPU module as the main controller, and the hardware configuration is as follows:

The microprocessor adopts Intel Atom Z520PT processor, the main frequency is 1.33GHz;

SDRAM is 1GB DDR2-533;

The system controller is Intel System Control Hub US15WP;

Communication module coprocessor 4 asynchronous serial ports, support RS-232/RS-422/RS-485 optional.

b) The serial port expansion board, the dual redundant network expansion board and the FPGA module are distributed on the switch control backplane. The main control board communicates with the FPGA on the switch control board through the built-in 1-channel serial port, reports the external key information and displays the indicator light status. The power supply module is installed on the switch control backplane to realize the power supply to the main control board, the expansion board and the FPGA module.

c) The serial port expansion board provides 8 high-speed serial ports, 5 of which have clear connection objects, and the other 3 are used for backup. The specific distribution is:

The 1st to 3rd serial ports are used to connect with single-channel monitoring receiving equipment to realize status monitoring and parameter configuration of 3 sets of single-channel monitoring receiving equipment.

The 4th to 5th serial ports are used to connect with the ground measurement and control communication equipment to realize the status monitoring and parameter configuration of the 2-way ground measurement and control communication equipment.

In this embodiment, the serial port expansion board provides 8 channels of extended serial ports for the main control board, which is implemented by one 8-channel serial port chip, and occupies 1 channel of PCI bus interrupt resources of the main control board. The serial port expansion board adopts the special chip XR17D158 and the UART serial port level conversion chip to realize the conversion of 8-channel serial port to PCI bus interface.

d) Dual-redundant Ethernet interface board, which provides two gigabit dual-redundant network interfaces for the main control board, which are used to communicate with the control station of the ground measurement and control station, and report the system working status information to the control station of the ground measurement and control station. In the manual state, it can receive the link switching command from the control station of the ground measurement and control station, and switch the link after parsing the command.

The dual redundant network board module meets the following technical indicators:

PCI bus requirements: 32bit/33MHz;

Interface standard: 2 10M/100M/1000M copper Ethernet interfaces;

Communication protocol: IEEE802.3 series protocol;

Communication function: support unicast, broadcast and multicast functions;

Support automatic fast dual network switching, switching time ≤ 90ms.

The link switching device has two working modes: master control and remote control. In both working modes, manual switching and automatic switching can be adopted. Among them, the main control mode means that the manual operation is completed on the link switching device, and the remote control mode means that the manual operation is completed through the data transmission monitoring station.

The link switching device has a self-test function, which is divided into three modes: power-on self-test, startup self-test and periodic self-test. The monitoring scope mainly includes the main control board, the serial port expansion board, and the dual-redundant Ethernet interface board. If the result of any one of the self-checking modes is abnormal, a fault alarm signal will be issued.

a) In the power-on self-test mode, the main control board first completes the self-test processes such as program capability integrity check, serial port data loopback test, and working parameter verification, and then performs self-test on other boards or queries their self-test results. The serial port data loopback test self-check is performed on the serial port expansion board, and the ping test is performed on the dual-redundant Ethernet interface board.

Among them, the program capability integrity check collects and saves the program capability reference value according to the instructions of the centralized management platform; completes the program capability integrity check by comparing the actual capability value collected when the program is running with the saved capability reference value. The serial port data loopback test mainly sends data from the sending serial port and receives data from the receiving serial port, and compares the consistency of the sent and received data. Working parameter verification is to read the key parameters stored in several registers in the main control board and compare them with the preset parameters. If they are consistent, the system is working normally. The ping test of the dual redundant Ethernet interface board is mainly to test the integrity of the network connection by sending a ping command to the destination address. If the reply information from the destination address is received within the predetermined feedback time after the ping command is sent, it is considered that the system network port connection is in good condition; otherwise, the system network connection is considered abnormal.

b) In the start-up self-check mode, the data link switching device needs to leave the working state and enter the standby mode, and then perform self-check processes such as program capability check, system serial port data loopback test, and working parameter verification. The check time is in seconds. For the specific method, refer to the self-test process in the power-on self-test mode.

c) Periodic self-check is when the equipment is working normally, the special task program and the instrumentation program code detect the working status of the equipment in real time.

The self-test of the serial communication module is divided into three working modes: initialization, self-test and work. The initialization mode configures the character format and interface speed of serial communication, allocates data buffers, and initializes access pointers. In self-test mode, configure the serial port as loopback test mode, and complete the self-test by comparing the transmitted characters and received characters.

The self-test of the network port communication module is divided into three working modes: initialization, self-test and work. The initialization mode configures the IP address for network port communication, allocates data buffers, and initializes access pointers. In the self-test mode, the self-test is completed through the ping test.

It can be seen from the above technical solutions that the UAV dual redundant measurement and control communication system for real-time monitoring of multi-channel data provided by the above embodiments of the present invention adopts a dual redundant measurement and control communication method in order to improve the operational reliability of the UAV measurement and control communication system. , conduct real-time monitoring and comparison through multiple independent monitoring channels, and make channel switching decisions according to the monitoring results. The equipment adopts the multi-channel monitoring method to reduce the false alarm probability of the system. Assuming that the false alarm probability of using one monitoring channel is p, when three monitoring channels are used, the false alarm probability will be reduced to p ³ , which improves the system reliability. In the process of channel switching, the scheme of keeping the communication time slot and working parameters of the standby channel consistent with the main channel at all times is adopted, and the channel switching is completed within the range of 3 time slots to meet the requirements of low latency for system switching.

The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the protection scope of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present invention within the spirit and protection scope of the present invention, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present invention.

Claims (10)

1. an unmanned aerial vehicle dual redundant measurement and control communication system of multi-channel data real-time monitoring, is characterized in that, comprises: The unmanned aerial vehicle on-board measurement and control communication unit, which is deployed on the side of the unmanned aerial vehicle, includes the unmanned aerial vehicle on-board measurement and control communication equipment and supporting antennas, and is used for business data processing, transmission and reception. The unmanned aerial vehicle on-board measurement and control communication unit communicates with the ground Communication connection of measurement and control communication equipment to transmit telemetry and remote control data to each other; The ground dual redundant measurement and control communication unit, which is deployed on the ground control station side, includes two sets of ground measurement and control communication equipment and supporting antennas that are independent of each other and have the same function and performance, and are used for business data processing, transmission, reception and network control. The ground dual redundant measurement and control communication unit is connected in communication with the unmanned aerial vehicle on-board measurement and control communication equipment, and transmits telemetry and remote control data, wherein the two sets of ground measurement and control communication equipment are both powered on and are used as backup ground measurement and control communication equipment. Electricity but no signal transmission, in hot backup state; A single-channel monitoring unit, which is deployed on the side of the ground control station, and includes at least three sets of single-channel monitoring and receiving equipment and supporting antennas that are independent of each other and have the same function and performance, and are used to receive and demodulate the uplink data sent by the ground measurement and control communication equipment, Compare the demodulated data with the original data received from the wired network, and send the obtained comparison result to the link switching device; The link switching device is deployed on the ground control station side, and is used to determine whether the ground measurement and control communication device fails according to the periodic comparison result of the original data and the air interface data, and if a failure occurs, an alarm is generated, and the automatic switching mode is performed. , the channel switching command is automatically issued. 2. the unmanned aerial vehicle double redundant measurement and control communication system of multi-channel data real-time monitoring according to claim 1, is characterized in that, The ground dual redundant measurement and control communication unit, the single-channel monitoring unit, and the link switching device are respectively connected to the supporting software of the ground measurement and control station through an Ethernet switch, and the single-channel monitoring and receiving device, the ground measurement and control communication The IP addresses of the devices are configured with the same multicast address. 3. The unmanned aerial vehicle dual-redundancy measurement and control communication system of multi-channel data real-time monitoring according to claim 1, is characterized in that, whether described link switching equipment judges whether ground measurement and control communication equipment fails, specifically comprises: The device heartbeat message is obtained from the main measurement and control communication device and the backup measurement and control communication device through the serial port according to the preset period. The heartbeat message of the device indicates that the main measurement and control communication device is faulty, the channel switching is performed, and the channel switching instruction is issued through the serial port; If the heartbeat message of the backup measurement and control communication device is not received within the preset number of consecutive timing periods, it indicates that the backup measurement and control communication device is faulty, and a fault alarm prompt is issued. 4. the unmanned aerial vehicle dual redundant measurement and control communication system of multi-channel data real-time monitoring according to claim 1, is characterized in that, described link switching device is also used for: Periodically compare the air radio data monitoring results, specifically: comparing the wireless data packets independently received by the three sets of single-channel monitoring and receiving equipment through the wireless space and the wired data packets with the same packet number received through the wired network For comparison, the air radio data is a measurement and control data message with a set length and a corresponding message number sent by the ground measurement and control communication unit in one time slot, and the measurement and control data message is composed of three sets of single-channel data. Surveillance receiving equipment independently receives through wireless space; If the wireless data packets in two consecutive cycles are inconsistent with the wired data packets, it indicates that the ground measurement and control communication equipment is faulty, and a channel switching instruction is sent through the serial port to perform channel switching. 5. The unmanned aerial vehicle dual redundant measurement and control communication system of multi-channel data real-time monitoring according to claim 1, is characterized in that, described link switching device is also used for: Statistics are respectively used to monitor the power intensity of the power test message received by the receiving equipment through the wireless space through three sets of single-channel monitoring. Each cycle of test data is assigned a message code; Compare the power intensity of the power test packets received by the three sets of single-channel monitoring and receiving equipment with the target threshold value, if the power values of the power test packets in two consecutive cycles are smaller than the target The threshold value indicates that the main ground measurement and control communication unit is faulty, an alarm prompt is given, and a channel switching instruction is issued through the serial port to perform channel switching. 6. The unmanned aerial vehicle dual redundant measurement and control communication system of multi-channel data real-time monitoring according to claim 1, is characterized in that, According to the periodic comparison result between the original data and the air interface data, the link switching device determines that the ground measurement and control communication device is faulty, and the delay in issuing the channel switching command is at most 3 timeslot cycles, wherein, in the 3 Send corresponding messages and compare the messages in the first two time slot cycles of the time slot cycle. If the transmission channel needs to be switched, the channel switching command is sent and completed in the third time slot cycle of the three time slot cycles. switch. 7. The unmanned aerial vehicle dual redundant measurement and control communication system of multi-channel data real-time monitoring according to claim 1, is characterized in that, The link switching device is also used to issue a state self-check command to the ground measurement and control communication equipment as a backup at the frequency of every 3 time slot cycles, and receive the backup ground measurement and control communication equipment after completing the self-check, through the The self-checking message reported by the serial port, so that the link switching device can judge whether the ground measurement and control communication device used as a backup is in good condition through the self-checking message. 8. The unmanned aerial vehicle dual redundant measurement and control communication system of multi-channel data real-time monitoring according to claim 1, is characterized in that, described two sets of ground measurement and control communication equipment and unmanned aerial vehicle on-board measurement and control communication equipment work under TDMA mode , the network and device parameters are shared in real time through the serial port between the two sets of ground measurement and control communication equipment, specifically: As the main ground measurement and control communication equipment, extract the currently used network time slot number and equipment parameters, and send them to the standby ground measurement and control communication equipment through the serial port; The ground measurement and control communication equipment as a backup receives the currently used network time slot number through the serial port, and adjusts the current time slot number to the network time slot number, so as to communicate with the time slot number used by the main measurement and control communication equipment. gap remains consistent; After receiving the equipment parameters of the main ground measurement and control communication equipment through the serial port as the backup ground measurement and control communication equipment, adjust the device parameters of the machine to be consistent with the communication parameters used by the main measurement and control communication equipment; The main ground measurement and control communication equipment and the backup ground measurement and control communication equipment receive external time system signals through the clock synchronization interface, and adjust the local clock according to the time system signals to achieve network synchronization. 9. The unmanned aerial vehicle dual redundant measurement and control communication system of multi-channel data real-time monitoring according to claim 1, is characterized in that, The data packet format of the service message is defined as: AGC start section + preamble section + frame header + data section + packet sequence number + protection section; The message format of the test message is defined as: AGC start segment + preamble segment + frame header + data segment + protection segment; Among them, the AGC startup segment is a reserved automatic gain control time segment, and no useful information is transmitted; The preamble segment is used for packet synchronization and does not transmit user information; The frame header is fixed data, including at least time slot synchronization, frame type and CRC check information; The data segment is used to transmit user information; The packet sequence number is the number of sub-packet transmission; The protection segment is the guard interval, and the wireless transmission time is reserved according to the communication distance, and no signal is transmitted; The signal modulation modes of the service message and the test message both adopt continuous phase modulation technology, and the modulation signal is a constant envelope signal. 10. The unmanned aerial vehicle dual-redundant measurement and control communication system for real-time monitoring of multi-channel data according to claim 1, wherein the link switching device comprises: Main control board, serial port expansion board, dual redundant network expansion board, switching control backplane, power supply module, buttons and indicator lights.

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