CN116232424A - Ad hoc network communication method and system based on unmanned aerial vehicle - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle-based ad hoc network communication method and system. The method includes: receiving the sending data transmitted by the UAV at the sending end through the first switch, and transmitting the sending data to the first terminal station; performing signal modulation processing on the sending data through the first terminal station, and obtaining the sending signal corresponding to the sending data , and transmit the sent signal to the relay station; transmit the sent signal to the second terminal station through the relay station according to the regenerative transfer method; demodulate the sent signal through the second terminal station, obtain the target sent signal, and transmit the target sent signal to the second switch; through the second switch, the target transmission signal transmitted by the second terminal is received, and the target transmission signal is transmitted to the UAV at the receiving end, so as to realize ad hoc network communication. Through the technical solution of the present invention, normal communication between drones can be realized when the communication distance in the drone network is relatively large, and the communication efficiency between drones is improved.

Description

A communication method and system for an ad hoc network based on an unmanned aerial vehicle

technical field

The present invention relates to the technical field of UAV communication, in particular to an ad hoc network communication method and system based on UAV.

Background technique

With the rapid development of UAV communication technology, because UAVs are easy to carry, flexible to take off and land, the cost of use is much lower than manned aircraft and manual inspection, and can adapt to complex terrain, high-precision models can also be obtained in mountainous areas , supports real-time 3D reconstruction, and is convenient for field application with high effectiveness. Therefore, drones have gradually replaced the original manual inspections and are used for tasks such as inspections and construction planning.

However, when the communication distance of the UAV is relatively long, the fourth generation mobile communication system (the4thGenerationcommunicationsystem, 4G), wireless local area network (WirelessFidelity, WiFi), Zigbee protocol (Zigbee), wireless local area network identification and Confidential infrastructure (WirelessLANAuthenticationandPrivacyInfrastructure, WAPI), wireless mesh network (Mesh) or long-distance (Longrange, Lora) and other communication methods usually make UAV communication less effective and less efficient. Therefore, how to ensure the normal communication between UAVs and improve the communication efficiency between UAVs in a scene with a large communication range is an urgent problem to be solved.

Contents of the invention

The present invention provides an ad hoc network communication method and system based on unmanned aerial vehicles, which can solve the problem that unmanned aerial vehicles cannot communicate normally in a scene with a large communication range.

According to one aspect of the present invention, there is provided a UAV-based ad hoc network communication method, which is applied to a scene with a large communication range in the UAV ad hoc network, and the method includes:

receiving the sending data transmitted by the UAV at the sending end through the first switch, and forwarding the sending data to the first terminal station;

receiving the transmission data forwarded by the first exchange through the first terminal station, performing signal modulation processing on the transmission data, obtaining a transmission signal corresponding to the transmission data, and transmitting the transmission signal to the relay station;

receiving the sending signal through a relay station, and transmitting the sending signal to a second terminal station according to a regenerative switching method;

receiving the transmission signal transmitted by the relay station through the second terminal station, performing demodulation processing on the transmission signal to obtain a target transmission signal, and transmitting the target transmission signal to a second switch;

The target transmission signal transmitted by the second terminal is received by the second switch, and the target transmission signal is transmitted to the receiving-end UAV, thereby realizing ad hoc network communication.

According to another aspect of the present invention, a kind of UAV-based ad hoc network communication system is provided, characterized in that, comprising:

The first switch is used to receive the sending data transmitted by the UAV at the sending end, and forward the sending data to the first terminal station;

The first terminal station is configured to receive the transmission data forwarded by the first switch, perform signal modulation processing on the transmission data, obtain a transmission signal corresponding to the transmission data, and transmit the transmission signal to the relay station;

a relay station, configured to receive the sending signal, and transmit the sending signal to a second terminal station according to a regenerative switching method;

The second terminal station is configured to receive the transmission signal transmitted by the relay station, demodulate the transmission signal to obtain a target transmission signal, and transmit the target transmission signal to a second switch;

The second switch is configured to receive the target transmission signal transmitted by the second terminal, and transmit the target transmission signal to the UAV at the receiving end, so as to realize ad hoc network communication.

In the technical solution of the embodiment of the present invention, the sending data transmitted by the UAV at the sending end is received by the first switch, and the sending data is forwarded to the first terminal station; the sending data forwarded by the first switch is received by the first terminal station, and the The transmitted data is subjected to signal modulation processing to obtain the transmitted signal corresponding to the transmitted data, and the transmitted signal is transmitted to the relay station; the transmitted signal is received through the relay station, and the transmitted signal is transmitted to the second terminal station according to the regenerative switching method; through the second terminal station Receive the transmission signal transmitted by the relay station, demodulate the transmission signal to obtain the target transmission signal, and transmit the target transmission signal to the second switch; receive the target transmission signal transmitted by the second terminal through the second switch, and transmit the target transmission signal Transmission to the UAV at the receiving end to realize ad hoc network communication, which solves the problem that UAVs cannot communicate normally in scenarios with large communication ranges, and can ensure normal communication between UAVs in scenarios with large communication ranges, improving Improve the communication efficiency between UAVs.

It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will be easily understood from the following description.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a flow chart of an ad hoc network communication method based on an unmanned aerial vehicle provided according to Embodiment 1 of the present invention;

Fig. 2 is a flow chart of an ad hoc network communication method based on an unmanned aerial vehicle provided according to Embodiment 2 of the present invention;

Fig. 3 is a signal processing flowchart of a microwave signaling device provided according to Embodiment 2 of the present invention;

Fig. 4 is a flow chart of a regenerative transfer mode provided according to Embodiment 2 of the present invention;

Fig. 5 is a signal processing flowchart of a microwave receiving device provided according to Embodiment 2 of the present invention;

FIG. 6 is a flow chart of an optional UAV-based ad hoc network communication method provided according to Embodiment 2 of the present invention;

Fig. 7 is a schematic structural diagram of an unmanned aerial vehicle-based ad hoc network communication system provided according to Embodiment 3 of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first", "second", and "object" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and not necessarily used to describe a specific order or sequentially. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

Embodiment one

Figure 1 is a flow chart of a UAV-based ad hoc network communication method provided by Embodiment 1 of the present invention. This embodiment is applicable to the communication between UAVs when the communication distance is relatively large in the UAV network. , the method can be executed by a UAV-based ad hoc network communication system, and the UAV-based ad hoc network communication system can be implemented in the form of hardware and/or software. As shown in Figure 1, the method includes:

S110. Receive the sending data transmitted by the UAV at the sending end through the first switch, and forward the sending data to the first terminal station.

Wherein, the UAV at the sending end may refer to the UAV sending data in the UAV Ad Hoc Network. Sending data may refer to data sent by the drone at the sending end. Exemplarily, it may be a position command, or it may be image data collected by a drone at the sending end. The first switch may refer to the switch on the side of the UAV at the sending end, and may provide an exclusive electrical signal path between any two nodes in the UAV network. Exemplarily, the first switch may be an analog switch or a digital switch, which is not limited in this embodiment of the present invention.

S120. The first terminal station receives the sent data forwarded by the first switch, performs signal modulation processing on the sent data, obtains a sent signal corresponding to the sent data, and transmits the sent signal to the relay station.

Wherein, the first terminal station may refer to a terminal station on the sending end UAV side. Signal modulation processing can be performed on the transmitted data by the first terminal station. Signal modulation processing may refer to performing frequency modulation processing on a signal for transmitting data. The sending signal may refer to an analog signal corresponding to the sending data obtained after signal modulation processing.

In an optional implementation manner, the sending signal is transmitted through an antenna or a feeder. Wherein, the antenna may refer to a converter, which is used to convert a guided wave propagating on a transmission line into an electromagnetic wave propagating in an unbounded medium, or vice versa. The feeder may refer to a cable for transmitting signals received by the antenna.

S130. Receive the sending signal through the relay station, and transmit the sending signal to the second terminal station according to a regenerative switching manner.

Wherein, the relay station may refer to a device for switching electromagnetic waves. When the communication distance exceeds a certain value, the propagation of electromagnetic waves will be blocked by the ground. Therefore, in order to extend the communication distance, it is necessary to set up several relay stations between two drones with long communication distances for electromagnetic wave transfer.

Wherein, the regenerative transfer mode may refer to a mode in which the relay station performs signal relay. Generally, the relay mode of the relay station can be divided into three types: direct relay (ie, radio frequency transfer), heterodyne relay (ie, intermediate frequency transfer), and baseband relay (ie, regenerative transfer). Because microwaves have the same propagation characteristics as light, microwaves can only propagate along straight lines in free space, and their diffraction ability is very weak, and when they encounter inhomogeneous media during propagation, refraction and reflection will occur. Therefore, in In the case of a certain antenna height, in order to overcome the bulge of the earth and realize long-distance communication, the embodiment of the present invention preferably selects the regenerative transfer mode as the relay mode of the relay station.

S140. The second terminal station receives the transmission signal transmitted by the relay station, demodulates the transmission signal to obtain a target transmission signal, and transmits the target transmission signal to the second switch.

Wherein, the second terminal station may refer to a terminal station on the side of the UAV at the receiving end. The transmitted signal can be demodulated by the second terminal station. The demodulation processing may refer to performing recovery processing on the processed transmission signal. The target sending signal may refer to a processed sending signal, that is, a sending signal that the UAV at the receiving end can finally receive.

S150. Receive the target sending signal transmitted by the second terminal through the second switch, and transmit the target sending signal to the UAV at the receiving end, so as to realize ad hoc network communication.

Wherein, the UAV at the receiving end may refer to a UAV receiving data in the UAV Ad Hoc Network. The second switch may refer to a switch on the side of the UAV at the receiving end. Exemplarily, the second switch may be an analog switch or a digital switch, which is not limited in this embodiment of the present invention.

In the technical solution of the embodiment of the present invention, the sending data transmitted by the UAV at the sending end is received by the first switch, and the sending data is forwarded to the first terminal station; the sending data forwarded by the first switch is received by the first terminal station, and the The transmitted data is subjected to signal modulation processing to obtain the transmitted signal corresponding to the transmitted data, and the transmitted signal is transmitted to the relay station; the transmitted signal is received through the relay station, and the transmitted signal is transmitted to the second terminal station according to the regenerative switching method; through the second terminal station Receive the transmission signal transmitted by the relay station, demodulate the transmission signal to obtain the target transmission signal, and transmit the target transmission signal to the second switch; receive the target transmission signal transmitted by the second terminal through the second switch, and transmit the target transmission signal Transmission to the UAV at the receiving end to realize ad hoc network communication, which solves the problem that UAVs cannot communicate normally in scenarios with large communication ranges, and can ensure normal communication between UAVs in scenarios with large communication ranges, improving Improve the communication efficiency between UAVs.

Embodiment two

Fig. 2 is a flow chart of an ad hoc network communication method based on unmanned aerial vehicles provided by Embodiment 2 of the present invention. This embodiment is based on the above-mentioned embodiment for refinement. The terminal station performs signal modulation processing on the transmitted data, and refines the operation of obtaining the transmitted signal corresponding to the transmitted data, which may specifically include: performing analog-to-digital conversion on the transmitted data by the first digital terminal in the first terminal station , to obtain the first digital signal corresponding to the data to be sent, and transmit the first digital signal to the modulator in the first terminal station; receive the first digital signal through the modulator in the first terminal station, and to the Carrier frequency modulation is performed on the first digital signal to obtain a modulated signal, and the modulated signal is transmitted to the microwave signaling device in the first terminal station; the modulated signal is received by the microwave signaling device in the first terminal station, and The modulation signal is subjected to microwave modulation to obtain a transmission signal corresponding to the transmission data. As shown in Figure 2, the method includes:

S210. Receive the sending data transmitted by the UAV at the sending end through the first switch, and forward the sending data to the first terminal station.

S220. Perform analog-to-digital conversion on the sent data by the first digital terminal in the first terminal station to obtain a first digital signal corresponding to the sent data, and transmit the first digital signal to the first digital terminal in the first terminal station Modulator.

Wherein, a digital terminal may refer to a device that converts a received analog signal into a digital signal, or converts a received digital signal into an analog signal. The first digital terminal may refer to a digital terminal included in the first terminal station.

Wherein, analog-to-digital conversion may refer to an operation of converting an analog signal into a digital signal. The first digital signal may refer to a digital signal obtained by performing analog-to-digital conversion on the sent data.

S230. Receive the first digital signal through the modulator in the first terminal station, perform carrier frequency modulation on the first digital signal to obtain a modulated signal, and transmit the modulated signal to the microwave in the first terminal station Sending equipment.

Wherein, the modulator may refer to a device that modulates a digital signal into an analog signal for transmission. Carrier frequency modulation can refer to the manipulation of a frequency carrier on a digital signal. The modulated signal may refer to an analog signal obtained by modulating a digital signal with a carrier frequency.

In an optional implementation manner, the modulator in the first terminal station performs carrier frequency modulation on the first digital signal to obtain the modulated signal, including: using the modulator in the first terminal station according to a preset carrier frequency The mechanism modulates the first digital signal to obtain a modulated signal.

Wherein, the preset carrier frequency mechanism may refer to a preset mechanism for evaluating the frequency of carrier frequency modulation. Exemplarily, in the embodiment of the present invention, the preset carrier frequency mechanism may be set as an intermediate frequency carrier frequency, and the intermediate frequency carrier frequency is usually 70 MHz or 140 MHz. Thus, the modulated signal finally obtained is an intermediate frequency modulated signal.

S240. Receive the modulation signal through the microwave signaling device in the first terminal station, perform microwave modulation on the modulation signal to obtain a transmission signal corresponding to the transmission data, and transmit the transmission signal to the relay station.

Wherein, the microwave signaling device may refer to a device for transmitting signals in a terminal station. In the embodiment of the present invention, an intermediate frequency modulation transmitter may be selected as the microwave signaling device. Microwave modulation can refer to modulation operations such as power amplification or filtering on the modulated signal.

In an optional implementation manner, microwave modulation is performed on the modulated signal by the microwave signaling device in the first terminal station to obtain a sending signal corresponding to the sending data, including: using an intermediate frequency amplifier in the microwave signaling device to The modulated signal is subjected to power mid-amplification processing to obtain the first mid-amplifier modulation signal; the first mid-amplifier modulation signal is converted into a microwave modulation signal by an up-converter in the microwave signaling device; The power amplifier amplifies the power of the microwave modulation signal to obtain the transmission signal to be selected; the microwave filter in the microwave signaling device performs filtering processing on the transmission signal to be selected to obtain the transmission signal corresponding to the transmission data.

Among them, the intermediate frequency amplifier can refer to an amplifier with a resonant circuit as a load, that is, an amplifying circuit with a circuit composed of capacitors and inductors as a load, and the gain and load impedance vary with frequency. The power of the modulated signal can be amplified by the intermediate frequency amplifier. Power mid-amplification can refer to amplifying the modulated signal to the power level required by subsequent devices. The first intermediate amplifier modulation signal may refer to a modulation signal obtained after power intermediate amplifier processing.

Wherein, the up-converter may refer to a device that frequency-shifts the frequency spectrum of the modulation signal of the first intermediate amplifier to a required higher carrier frequency. The microwave modulation signal may refer to a modulation signal processed by an up-converter. A microwave power amplifier can refer to a device that amplifies a small signal at a transmission frequency to a high enough power level to realize long-distance transmission of microwave signals. The signal to be selected for transmission may refer to a microwave modulation signal after power amplification. A microwave filter can refer to a device that separates microwave signals of different frequencies, which can suppress unwanted signals so that they cannot pass through the filter and only allow the required signals to pass through.

As shown in Figure 3, it is a signal processing flowchart of a microwave signaling device provided by the embodiment of the present invention; specifically, after the modulated signal from the modulator enters the microwave signaling device, it first passes through the intermediate frequency amplifier to perform power intermediate processing , to obtain the first mid-range modulation signal, and then convert it into a microwave modulation signal through an up-converter. Among them, the up-converter needs to cooperate with varactor frequency modulation, main oscillator and isolation amplifier; The power is amplified to obtain the transmission signal to be selected. Finally, the transmission signal is output through the microwave filter, fed to the antenna oscillator, and the transmission signal is sent out by the transmission antenna.

S250. The receiver of the relay station performs mixing and regeneration processing on the transmitted signal according to the local oscillator signal of the receiver to obtain a signal code pulse sequence corresponding to the transmitted signal.

Wherein, the receiver may refer to a device for receiving signals in the relay station. The receiver local oscillator signal may refer to the constant-amplitude carrier generated by the receiver itself. Mixing and regeneration processing can refer to performing product processing and regeneration processing on the transmitted signal. The signal code pulse sequence can refer to the organic combination of radio frequency pulses and gradient pulses combined in a certain time sequence.

In an optional embodiment, the receiver of the relay station performs mixing and regeneration processing on the transmitted signal according to the local oscillator signal of the receiver to obtain the signal code pulse sequence corresponding to the transmitted signal, including: The noise amplifier performs signal amplification on the transmitted signal to obtain an amplified signal; the amplified signal and the local oscillator signal of the receiver are mixed and processed by a mixer in the receiver to obtain an intermediate frequency modulation signal; the intermediate frequency amplifier in the receiver is used to amplify the signal The intermediate frequency modulation signal is subjected to power intermediate processing to obtain a second intermediate modulation signal; the demodulator in the receiver is used to demodulate the second intermediate modulation signal to obtain a first demodulation signal; The regenerative circuit regenerates and restores the first demodulated signal to obtain a signal code pulse sequence corresponding to the transmitted signal.

Among them, the microwave low-noise amplifier can refer to a small-signal amplifier with excellent noise characteristics and high gain. The amplified signal may refer to the transmitted signal after the signal is amplified. A mixer can refer to a device that mixes the amplified signal with the local oscillator signal of the receiver. The intermediate frequency modulated signal may refer to a signal after frequency mixing. The second intermediate amplifier modulation signal may refer to a modulation signal processed by the power intermediate amplifier. A demodulator can refer to a device that modulates a digital signal onto an analog signal for transmission. The first demodulated signal may refer to a demodulated signal obtained after demodulating the second intermediate amplifier modulated signal. A regenerative circuit may refer to a circuit that utilizes positive feedback to enhance an input signal.

S260. The transmitter of the relay station performs frequency conversion processing on the signal code pulse sequence according to the local oscillator signal of the transmitter to obtain a power-amplified transmission signal, and transmits the transmission signal to the second terminal station.

Wherein, the transmitter may refer to a device for transmitting signals in the relay station. The transmitter local oscillator signal can refer to the constant-amplitude carrier generated by the transmitter itself.

In an optional embodiment, the transmitter of the relay station performs frequency conversion processing on the signal code pulse sequence according to the local oscillator signal of the transmitter to obtain a power-amplified transmission signal, including: using the demodulator in the transmitter to The signal code pulse sequence is demodulated to obtain a second demodulated signal; the frequency converter in the transmitter is used to perform frequency conversion processing on the second demodulated signal according to the local oscillator signal of the transmitter to obtain a frequency converted signal; The microwave power amplifier in the power amplifies the frequency conversion signal to obtain a power amplified transmission signal.

Wherein, the second demodulated signal may refer to a demodulated signal obtained after demodulating the signal code pulse sequence. The frequency-converted signal may refer to a signal obtained by performing frequency-conversion processing on the local oscillator signal of the transmitter and the second demodulated signal.

As shown in Figure 4, it is a flow chart of a regenerative transfer mode provided by the embodiment of the present invention; specifically, the transmission signal with the carrier frequency f1 is amplified by the antenna, the feeder line and the microwave low-noise amplifier and then carried out with the local oscillator signal of the receiver Frequency mixing, outputting intermediate frequency modulated signal, after intermediate frequency amplification processing by intermediate frequency amplifier, sent to demodulator, and after obtaining the first demodulated signal, the signal code pulse sequence is restored by regeneration circuit. The demodulator in the transmitter demodulates the signal code pulse sequence, and then transmits it through the antenna with the carrier frequency of f1' after passing through the frequency converter and microwave power amplifier.

S270. Receive the sending signal through the microwave receiving device in the second terminal station, and perform intermediate frequency processing on the sending signal to obtain an intermediate frequency amplified signal corresponding to the sending signal.

Wherein, the intermediate frequency processing may refer to performing intermediate frequency amplification processing on the transmission signal. The intermediate frequency amplified signal may refer to a signal obtained after intermediate frequency processing.

Wherein, the microwave receiving device may refer to a device for receiving signals in a terminal station. Microwave receiving equipment usually consists of three parts: radio frequency system, intermediate frequency system and demodulation system, and adopts superheterodyne receiving mode.

Among them, the radio frequency system can use microwave low-noise amplifiers or direct frequency mixing. The former has higher receiving sensitivity, while the latter has a relatively simple circuit. The intermediate frequency system undertakes most of the amplification of the receiver, and has the function of automatic gain control to ensure that the signal level of the demodulation system is relatively stable. In addition, the intermediate frequency system also plays a decisive role in the passband and frequency response of the entire receiving channel. The demodulation of the demodulation system has two ways: coherent demodulation and non-coherent demodulation. Since coherent demodulation has better anti-error performance, coherent demodulation is preferred in the embodiment of the present invention.

Specifically, the weak transmission signal from the antenna is mixed through the feeder, microwave filter, microwave low-noise amplifier, and local oscillator signal to become an intermediate frequency signal, and then amplified and filtered by the intermediate frequency amplifier and then sent to the demodulation unit to realize signal code decoding. Reconcile and regenerate. Among them, the microwave filter at the output end of the antenna feeder can be used to select the frequency of the working channel and suppress the interference of adjacent channels.

As shown in Figure 5, it is a signal processing flowchart of a microwave receiving device provided by the embodiment of the present invention; specifically, the transmission signal from the antenna 1 is selected through a band-pass filter to select the required operating frequency signal and suppress other channels interference, and then send the useful signal to the low noise amplifier. Low-noise amplification generally uses a microstrip hybrid integrated gallium arsenide FET amplifier. Since the low-noise amplifier is wide-band, it is necessary to add a filter to suppress the image frequency to eliminate the image frequency noise. The image frequency filter can be suppressed by band-pass or band-rejection, and the image frequency noise should be suppressed by 13-20dB. The transmission signal from antenna 2 is the same, and the above operations are carried out so that the signals from the two feeders and the multipath interference signal are processed by the same two channels of filtering, low-noise amplification, frequency mixing, and pre-intermediate amplifier, and then in the adder merge. Finally, the signal is output through the intermediate frequency filter and the main intermediate amplifier. The main middle amplifier provides a large gain and an automatic gain control range of about 50dB.

S280. Use the demodulator in the second terminal station to perform analog-to-digital conversion on the amplified intermediate frequency signal to obtain a second digital signal corresponding to the amplified intermediate frequency signal, and transmit the second digital signal to the amplified intermediate frequency signal in the second terminal station Second digital terminal.

Wherein, the second digital signal may refer to a digital signal obtained by performing analog-to-digital conversion on the intermediate frequency amplified signal.

S290. Use the second digital terminal in the second terminal station to inversely transform and process the second digital signal to obtain a target sending signal, and transmit the target sending signal to a second switch.

Here, the inverse conversion process may refer to an operation of converting a digital signal into an analog signal.

S2100. Receive the target sending signal transmitted by the second terminal through the second switch, and transmit the target sending signal to the UAV at the receiving end, so as to realize ad hoc network communication.

According to the technical solution of the embodiment of the present invention, the sending data transmitted by the UAV at the sending end is received through the first switch, and the sending data is forwarded and transmitted to the first terminal station, and the first digital terminal in the first terminal station sends the data to the first terminal station. Perform analog-to-digital conversion on the sent data to obtain a first digital signal corresponding to the sent data, and transmit the first digital signal to the modulator in the first terminal station, receive the first digital signal through the modulator in the first terminal station, and Carrier frequency modulation is performed on the first digital signal to obtain a modulated signal, and the modulated signal is transmitted to the microwave signaling device in the first terminal station, the modulated signal is received by the microwave signaling device in the first terminal station, and the modulated signal is microwaved Modulation, to obtain the transmission signal corresponding to the transmission data, and transmit the transmission signal to the relay station, the receiver of the relay station performs mixing and regeneration processing on the transmission signal according to the local oscillator signal of the receiver, and obtains the signal code pulse sequence corresponding to the transmission signal, and passes through the relay station The transmitter performs frequency conversion processing on the signal code pulse sequence according to the local oscillator signal of the transmitter, obtains the transmitted signal after power amplification, and transmits the transmitted signal to the second terminal station, and receives and sends it through the microwave receiving equipment in the second terminal station signal, performing intermediate frequency processing on the transmitted signal to obtain an intermediate frequency amplified signal corresponding to the transmitted signal, and performing analog-to-digital conversion on the intermediate frequency amplified signal through the demodulator in the second terminal station to obtain a second digital signal corresponding to the intermediate frequency amplified signal, and The second digital signal is transmitted to the second digital terminal in the second terminal station, and the second digital signal is inversely transformed and processed by the second digital terminal in the second terminal station to obtain the target transmission signal, and the target transmission signal is transmitted to The second switch receives the target transmission signal transmitted by the second terminal through the second switch, and transmits the target transmission signal to the UAV at the receiving end to realize ad hoc network communication, which solves the problem that the UAVs cannot communicate with each other in a scene with a large communication range. The problem of normal communication can ensure the normal communication between UAVs in the scene with a large communication range, and improve the communication efficiency between UAVs.

Fig. 6 is a flow chart of an optional UAV-based ad hoc network communication method provided according to Embodiment 2 of the present invention; specifically, if the UAV terminal system in A is a sending UAV, B The UAV terminal system on the ground is the UAV at the receiving end, and the communication distance between A and B is relatively long. When the UAV at the sending end sends data, the sending data transmitted by the UAV at the sending end is received through the first switch. , and transmit it to the first terminal station, perform analog-to-digital conversion on the sent data through the first digital terminal in the first terminal station, obtain the first digital signal corresponding to the sent data, and transmit the first digital signal to the first terminal The modulator in the station receives the first digital signal through the modulator in the first terminal station, performs carrier frequency modulation on the first digital signal to obtain a modulated signal, and transmits the modulated signal to the microwave signaling in the first terminal station The device receives the modulation signal through the microwave signaling device in the first terminal station, performs microwave modulation on the modulation signal, obtains the transmission signal corresponding to the transmission data, and transmits the transmission signal to the receiver of the relay station; through the receiver of the relay station according to the received The local oscillator signal of the machine performs frequency mixing and regeneration processing on the transmitted signal to obtain the corresponding signal code pulse sequence of the transmitted signal, and the transmitter of the relay station performs frequency conversion processing on the signal code pulse sequence according to the local oscillator signal of the transmitter to obtain the transmitted signal after power amplification , and transmit the transmitted signal to the second terminal station; the transmitted signal is received by the microwave receiving equipment in the second terminal station, and the transmitted signal is subjected to intermediate frequency processing to obtain the intermediate frequency amplified signal corresponding to the transmitted signal, and passed through the second terminal station. The demodulator performs analog-to-digital conversion on the intermediate frequency amplified signal to obtain a second digital signal corresponding to the intermediate frequency amplified signal, and transmits the second digital signal to the second digital terminal in the second terminal station, through the second digital terminal in the second terminal station The second digital terminal reversely transforms and processes the second digital signal to obtain the target transmission signal, and transmits the target transmission signal to the second switch, and finally receives the target transmission signal transmitted by the second terminal through the second switch, and transmits the target transmission signal It is transmitted to the UAV at the receiving end to realize ad hoc network communication. Continuing the above example, if the communication distance between the UAV terminal system of C and the UAV terminal system of B is relatively short and does not exceed the preset threshold distance, then there is no need to add a relay station between C and B . Similarly, the data communication between the UAV terminal system in place A and the UAV terminal system in place C still needs to be realized through a relay station. The specific implementation method is the same as the above example, and will not be repeated here.

It is worth noting that, in the embodiment of the present invention, each UAV terminal system can be used as either a sending-end UAV or a receiving-end UAV, and the specific situation needs to be determined according to the actual business application. In addition, each terminal station may include microwave receiving equipment and microwave sending equipment, and may also include demodulation equipment and modulation equipment at the same time, and the selection is made according to the current signal transmission situation.

Embodiment Three

FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle-based ad hoc network communication system provided by Embodiment 3 of the present invention. As shown in Figure 7, the system includes: a first switch 310, a first terminal station 320, a relay station 330, a second terminal station 340 and a second switch 350;

Wherein, the first switch 310 is used to receive the sending data transmitted by the UAV at the sending end, and forward the sending data to the first terminal station 320;

The first terminal station 320 is configured to receive the transmission data forwarded by the first switch 310, perform signal modulation processing on the transmission data, obtain a transmission signal corresponding to the transmission data, and transmit the transmission signal to the relay station 330;

The relay station 330 is configured to receive the sending signal, and transmit the sending signal to the second terminal station 340 according to a regenerative switching method;

The second terminal station 340 is configured to receive the transmission signal transmitted by the relay station 330, demodulate the transmission signal to obtain a target transmission signal, and transmit the target transmission signal to the second switch 350;

The second switch 350 is configured to receive the target transmission signal transmitted by the second terminal 340, and transmit the target transmission signal to the UAV at the receiving end, so as to realize ad hoc network communication.

In the technical solution of the embodiment of the present invention, the sending data transmitted by the UAV at the sending end is received through the first switch 310, and the sending data is forwarded to the first terminal station 320; Send data, perform signal modulation processing on the sent data, obtain the sent signal corresponding to the sent data, and transmit the sent signal to the relay station 330; receive the sent signal through the relay station 330, and transmit the sent signal to the second terminal station according to the regenerative switching method 340: Receive the transmission signal transmitted by the relay station 330 through the second terminal station 340, perform demodulation processing on the transmission signal, obtain the target transmission signal, and transmit the target transmission signal to the second switch 350; receive the second terminal through the second switch 350 340 transmits the target sending signal, and transmits the target sending signal to the receiving UAV to realize ad hoc network communication, which solves the problem that the UAVs cannot communicate normally in the scene with a large communication range. In the scene, the normal communication between UAVs is guaranteed, and the communication efficiency between UAVs is improved.

Optionally, the first terminal station 320 may specifically include: a first digital terminal, a modulator, and a microwave signaling device;

Wherein, the first digital terminal in the first terminal station 320 is configured to perform analog-to-digital conversion on the sent data to obtain a first digital signal corresponding to the sent data, and transmit the first digital signal to the first terminal a modulator in station 320;

The modulator in the first terminal station 320 is configured to receive the first digital signal, perform carrier frequency modulation on the first digital signal to obtain a modulated signal, and transmit the modulated signal to the first terminal station 320 Microwave signaling equipment;

The microwave signaling device in the first terminal station 320 is configured to receive the modulation signal, perform microwave modulation on the modulation signal, and obtain a transmission signal corresponding to the transmission data.

Optionally, the modulator in the first terminal station 320 may be specifically configured to: modulate the first digital signal according to a preset carrier frequency mechanism to obtain a modulated signal.

Optionally, the microwave signaling equipment in the first terminal station 320 may specifically include: an intermediate frequency amplifier, an upconverter, a microwave power amplifier, and a microwave filter;

Wherein, the intermediate frequency amplifier in the microwave signaling device is used to perform power intermediate amplifier processing on the modulated signal to obtain the first intermediate amplifier modulated signal;

The up-converter in the microwave signaling device is used to convert the first intermediate amplifier modulation signal into a microwave modulation signal;

The microwave power amplifier in the microwave signaling device is used to amplify the power of the microwave modulation signal to obtain the candidate transmission signal;

The microwave filter in the microwave signaling device is configured to perform filtering processing on the to-be-selected transmission signal to obtain a transmission signal corresponding to the transmission data.

Optionally, the relay station 330 may specifically include: a receiver and a transmitter;

Wherein, the receiver of the relay station 330 is used to perform mixing and regeneration processing on the transmitted signal according to the local oscillator signal of the receiver, so as to obtain the signal code pulse sequence corresponding to the transmitted signal;

The transmitter of the relay station 330 is configured to perform frequency conversion processing on the signal code pulse sequence according to the local oscillator signal of the transmitter to obtain a power-amplified transmission signal, and transmit the transmission signal to the second terminal station 340 .

Optionally, the receiver of the relay station 330 may specifically include: a microwave low-noise amplifier, a mixer, an intermediate frequency amplifier, a demodulator, and a regeneration circuit;

Wherein, the microwave low-noise amplifier in the receiver is used to amplify the transmitted signal to obtain the amplified signal;

The mixer in the receiver is used for mixing and processing the amplified signal and the local oscillator signal of the receiver to obtain the intermediate frequency modulation signal;

The intermediate frequency amplifier in the receiver is used to perform power intermediate amplification processing on the intermediate frequency modulation signal to obtain a second intermediate frequency modulation signal;

The demodulator in the receiver is used to demodulate the second intermediate amplifier modulated signal to obtain the first demodulated signal;

The regeneration circuit in the receiver is used to regenerate and restore the first demodulated signal to obtain a signal code pulse sequence corresponding to the transmitted signal.

Optionally, the transmitter of the relay station 330 may specifically include: a demodulator, a frequency converter, and a microwave power amplifier;

Wherein, the demodulator in the transmitter is used to demodulate the signal code pulse sequence to obtain a second demodulated signal;

The frequency converter in the transmitter is used to perform frequency conversion processing on the second demodulated signal according to the local oscillator signal of the transmitter to obtain a frequency conversion signal;

The microwave power amplifier in the transmitter is used to amplify the power of the frequency conversion signal to obtain the amplified transmission signal.

Optionally, the second terminal station 340 may specifically include: a microwave receiving device, a demodulator, and a second digital terminal;

Wherein, the microwave receiving device in the second terminal station 340 is used to receive the transmission signal, perform intermediate frequency processing on the transmission signal, and obtain an intermediate frequency amplified signal corresponding to the transmission signal;

The demodulator in the second terminal station 340 is configured to perform analog-to-digital conversion on the intermediate frequency amplified signal to obtain a second digital signal corresponding to the intermediate frequency amplified signal, and transmit the second digital signal to the second terminal station 340 the second digital terminal in;

The second digital terminal in the second terminal station 340 inversely transforms and processes the second digital signal to obtain the target transmission signal.

Optionally, the sending signal is transmitted through an antenna or a feeder.

The UAV-based ad hoc network communication system provided by the embodiments of the present invention can execute the UAV-based ad hoc network communication method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, each step described in the present invention may be executed in parallel, sequentially, or in a different order, as long as the desired result of the technical solution of the present invention can be achieved, there is no limitation herein.

The above specific implementation methods do not constitute a limitation to the protection scope of the present invention. It should be apparent to those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. The ad hoc network communication method based on the unmanned aerial vehicle is characterized by being applied to scenes with a large communication range in the unmanned aerial vehicle ad hoc network, and comprises the following steps:

receiving sending data transmitted by a sending end unmanned aerial vehicle through a first switch, forwarding the sending data, and transmitting the forwarding data to a first terminal station;

receiving the transmitted data forwarded by a first switch through a first terminal station, performing signal modulation processing on the transmitted data to obtain a transmitted signal corresponding to the transmitted data, and transmitting the transmitted signal to a relay station;

receiving the sending signal through the relay station, and transmitting the sending signal to the second terminal station according to a regeneration switching mode;

receiving the transmission signal transmitted by the relay station through a second terminal station, demodulating the transmission signal to obtain a target transmission signal, and transmitting the target transmission signal to a second switch;

And receiving a target sending signal transmitted by a second terminal through a second switch, and transmitting the target sending signal to the receiving end unmanned aerial vehicle to realize the self-networking communication.

2. The method according to claim 1, wherein the performing signal modulation processing on the transmission data by the first terminal station to obtain a transmission signal corresponding to the transmission data includes:

performing analog-to-digital conversion on the transmission data through a first digital terminal in a first terminal station to obtain a first digital signal corresponding to the transmission data, and transmitting the first digital signal to a modulator in the first terminal station;

receiving the first digital signal through a modulator in a first terminal station, carrying out carrier frequency modulation on the first digital signal to obtain a modulated signal, and transmitting the modulated signal to a microwave signaling device in the first terminal station;

and receiving the modulation signal through microwave signaling equipment in the first terminal station, and performing microwave modulation on the modulation signal to obtain a transmission signal corresponding to the transmission data.

3. The method of claim 2, wherein the carrier frequency modulating the first digital signal by the modulator in the first end station to obtain a modulated signal comprises:

And modulating the first digital signal according to a preset carrier frequency mechanism through a modulator in the first terminal station to obtain a modulated signal.

4. The method according to claim 2, wherein the performing microwave modulation on the modulated signal by the microwave signaling device in the first terminal station to obtain a transmission signal corresponding to the transmission data includes:

performing power intermediate-frequency amplification processing on the modulation signal through an intermediate-frequency amplifier in microwave transmission equipment to obtain a first intermediate-frequency amplification modulation signal;

converting the first intermediate-frequency modulation signal into a microwave modulation signal by an up-converter in the microwave signaling device;

amplifying the power of the microwave modulation signal through a microwave power amplifier in the microwave transmitting equipment to obtain a to-be-selected transmission signal;

and filtering the to-be-selected transmission signal through a microwave filter in the microwave signaling equipment to obtain a transmission signal corresponding to the transmission data.

5. The method of claim 1, wherein the transmitting the send signal to the second end station by the relay station according to a regenerative transfer scheme comprises:

the receiver of the relay station carries out frequency mixing regeneration processing on the sending signal according to the local oscillation signal of the receiver to obtain a signal code pulse sequence corresponding to the sending signal;

And carrying out frequency conversion processing on the signal code pulse sequence according to the local oscillation signal of the transmitter by the transmitter of the relay station to obtain a transmission signal after power amplification, and transmitting the transmission signal to the second terminal station.

6. The method of claim 5, wherein the step of performing, by the receiver of the relay station, a mixing regeneration process on the transmission signal according to a receiver local oscillator signal to obtain a signal code pulse sequence corresponding to the transmission signal, includes:

amplifying the signal of the sending signal by a microwave low-noise amplifier in the receiver to obtain an amplified signal;

the amplified signal and the local oscillation signal of the receiver are processed through frequency mixing of a frequency mixer in the receiver, and an intermediate frequency modulation signal is obtained;

performing power intermediate-frequency amplification processing on the intermediate-frequency modulation signal through an intermediate-frequency amplifier in the receiver to obtain a second intermediate-frequency modulation signal;

demodulating the second intermediate-frequency modulation signal through a demodulator in the receiver to obtain a first demodulation signal;

and regenerating and restoring the first demodulation signal through a regeneration circuit in the receiver to obtain a signal code pulse sequence corresponding to the transmission signal.

7. The method of claim 5, wherein the performing, by the transmitter of the relay station, the frequency conversion processing on the signal code pulse sequence according to the transmitter local oscillator signal to obtain the power amplified transmission signal, comprises:

Demodulating the signal code pulse sequence through a demodulator in the transmitter to obtain a second demodulation signal;

performing frequency conversion processing on the second demodulation signal according to the local oscillation signal of the transmitter through a frequency converter in the transmitter to obtain a frequency conversion signal;

and amplifying the power of the variable frequency signal through a microwave power amplifier in the transmitter to obtain a transmission signal after power amplification.

8. The method of claim 1, wherein demodulating the transmission signal by the second terminal station to obtain the target transmission signal comprises:

receiving the transmission signal through microwave receiving equipment in the second terminal station, and performing intermediate frequency processing on the transmission signal to obtain an intermediate frequency amplified signal corresponding to the transmission signal;

performing analog-to-digital conversion on the intermediate frequency amplified signal through a demodulator in the second terminal station to obtain a second digital signal corresponding to the intermediate frequency amplified signal, and transmitting the second digital signal to a second digital terminal in the second terminal station;

and carrying out inverse transformation processing on the second digital signal through a second digital terminal in the second terminal station to obtain a target transmission signal.

9. The method of claim 1, wherein the transmit signal is transmitted via an antenna or a feeder.

10. An unmanned aerial vehicle-based ad hoc network communication system, comprising:

the first switch is used for receiving the sending data transmitted by the sending end unmanned aerial vehicle, forwarding the sending data and transmitting the forwarding data to the first terminal station;

the first terminal station is used for receiving the transmitted data forwarded by the first switch, carrying out signal modulation processing on the transmitted data to obtain a transmitted signal corresponding to the transmitted data, and transmitting the transmitted signal to the relay station;

the relay station is used for receiving the sending signal and transmitting the sending signal to the second terminal station according to a regeneration switching mode;

the second terminal station is used for receiving the sending signal transmitted by the relay station, demodulating the sending signal to obtain a target sending signal, and transmitting the target sending signal to a second switch;

and the second switch is used for receiving the target sending signal transmitted by the second terminal and transmitting the target sending signal to the receiving end unmanned aerial vehicle so as to realize the self-networking communication.

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