A multi-antenna switching method and system for unmanned aerial vehicle

Abstract

The present application provides a multi-antenna switching method and system for a drone, wherein the method includes: obtaining the location information, attitude information and location information of the drone and the satellite; calculating the connection line between the drone and the satellite in the ground coordinate system according to the location information of the drone and the satellite; calculating the projection line of the connection line in the XOY coordinate system according to the attitude information of the drone; when judging that the projection line moves from the first critical line to the second critical line, selecting the antenna unit adjacent to the second critical line to receive the satellite signal; when judging that the projection line moves from the second critical line to the first critical line, selecting the antenna unit adjacent to the first critical line to receive the satellite signal. By adding a buffer zone between the two antenna units, the antenna unit to be used will be switched only when the projection line passes through the first critical line first and then the second critical line or passes through the second critical line first and then the first critical line, thereby avoiding frequent switching of antennas and facilitating communication tracking.

Description

Technical Field

[0001] The present disclosure generally relates to the field of satellite communication technology onboard unmanned aerial vehicles, and more particularly to a multi-antenna switching method and system for unmanned aerial vehicles. Background Art

[0002] In the existing field of satellite communication on drones, satellite signal tracking devices are installed on drones to enable communication between drones and satellites, and remote control of drones can be achieved through satellite signal forwarding. When the satellite tracking device on drones uses a multi-antenna solution, it is necessary to switch the antenna used.

[0003] The commonly used antenna switching scheme is to switch according to the angle of the average distribution of the antenna position. When the connection between the drone and the satellite passes the critical angle, the drone will immediately switch the antenna to be used. The disadvantage of this is that when the angle swings back and forth near the critical angle, the antenna will be switched frequently, making it difficult to track the communication. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a multi-antenna switching method and system for a drone.

[0005] On one hand, the present application provides a multi-antenna switching method for a drone, comprising:

[0006] Acquire the position information, attitude information and satellite position information of the drone; the drone has an XOY coordinate system, the origin of the XOY coordinate system is the center of mass of the drone, the X axis of the XOY coordinate system is parallel to the width direction of the drone, and the Y axis of the XOY coordinate system is parallel to the height direction of the drone; a plurality of antenna units are arranged circumferentially on the drone, a first critical line and a second critical line located in the plane where the XOY coordinate system is located and passing through the origin are arranged between every two adjacent antenna units, and a buffer zone is formed between the first critical line and the second critical line;

[0007] Calculate the connection line between the center of mass of the drone and the satellite in the ground coordinate system according to the location information of the drone and the location information of the satellite;

[0008] Calculate the projection line of the connecting line in the XOY coordinate system according to the attitude information of the UAV;

[0009] When it is determined that the projection line moves from the first critical line to the second critical line, the antenna unit adjacent to the second critical line is selected to receive satellite signals;

[0010] When it is determined that the projection line moves from the second critical line to the first critical line, the antenna unit adjacent to the first critical line is selected to receive satellite signals.

[0011] According to the technical solution provided in the embodiment of the present application, the beam width ranges of two adjacent antenna units overlap with each other to form an overlapping area, and the buffer zone is located in the overlapping area and is smaller than or equal to the overlapping area.

[0012] According to the technical solution provided in the embodiment of the present application, at least three antenna units are provided and are evenly arranged along the circumference of the drone.

[0013] According to the technical solution provided in the embodiment of the present application, a middle line is connected between the midpoint of the buffer zone and the origin; the angular bisector of the angle between the midpoints of the two mutually adjacent antenna units and the origin coincides with the middle line; the first critical line and the second critical line have the same set angle with the middle line.

[0014] On the other hand, the present application provides a multi-antenna switching system for an unmanned aerial vehicle, comprising:

[0015] Drones;

[0016] An antenna unit, wherein a plurality of antenna units are provided and are circumferentially mounted on the UAV;

[0017] An acquisition module, the acquisition module is used to: acquire the position information, attitude information of the drone and the position information of the satellite; the drone has an XOY coordinate system, the origin of the XOY coordinate system is the center of mass of the drone, the X axis of the XOY coordinate system is parallel to the width direction of the drone, and the Y axis of the XOY coordinate system is parallel to the height direction of the drone; a plurality of antenna units are arranged circumferentially on the drone, and a first critical line and a second critical line located in the plane where the XOY coordinate system is located and passing through the origin are arranged between every two adjacent antenna units, and a buffer zone is formed between the first critical line and the second critical line;

[0018] A processing module, wherein the input end of the processing module is connected to the acquisition module, the output end of the processing module is connected to the antenna unit, and the processing module is configured to:

[0019] According to the position information of the UAV and the position information of the satellite, a connecting line between the center of mass of the UAV and the satellite in the ground coordinate system is calculated;

[0020] Calculate the projection line of the connecting line in the XOY coordinate system according to the attitude information of the UAV;

[0021] When it is determined that the projection line moves from the first critical line to the second critical line, the antenna unit adjacent to the second critical line is selected to receive satellite signals;

[0022] When it is determined that the projection line moves from the second critical line to the first critical line, the antenna unit adjacent to the first critical line is selected to receive satellite signals.

[0023] According to the technical solution provided in the embodiment of the present application, the beam width ranges of two adjacent antenna units overlap with each other to form an overlapping area, and the buffer zone is located in the overlapping area and is smaller than or equal to the overlapping area.

[0024] According to the technical solution provided in the embodiment of the present application, at least three antenna units are provided and are evenly arranged along the circumference of the drone.

[0025] According to the technical solution provided in the embodiment of the present application, a middle line is connected between the midpoint of the buffer zone and the origin; the angular bisector of the angle between the midpoints of the two mutually adjacent antenna units and the origin coincides with the middle line; the first critical line and the second critical line have the same set angle with the middle line.

[0026] The beneficial effects of this application are:

[0027] Acquire the position information, attitude information of the UAV and the position information of the satellite; calculate the connection line between the center of mass of the UAV and the satellite in the ground coordinate system according to the position information of the UAV and the position information of the satellite; calculate the projection line of the connection line in the XOY coordinate system according to the attitude information of the UAV.

[0028] When it is determined that the projection line moves from the first critical line to the second critical line, the antenna unit adjacent to the second critical line is selected to receive the satellite signal; when it is determined that the projection line moves from the second critical line to the first critical line, the antenna unit adjacent to the first critical line is selected to receive the satellite signal.

[0029] By adding a buffer zone between the two antenna units, the antenna unit to be used is switched only when the projection line passes through the first critical line first and then the second critical line or passes through the second critical line first and then the first critical line, thereby avoiding frequent switching of antennas and facilitating communication tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0031] Figure 1 A schematic diagram of four antennas of a multi-antenna switching method and system for a UAV provided in this application;

[0032] Figure 2 A flowchart of a multi-antenna switching method for a drone provided in this application;

[0033] Figure 3 A working principle diagram of a multi-antenna switching method for a drone provided in this application;

[0034] Among them: 1. UAV; 2. Antenna unit; 3. First critical line; 4. Second critical line; 5. Projection line; 6. Buffer zone; 7. Acquisition module; 8. Processing module. DETAILED DESCRIPTION

[0035] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0036] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] Example 1

[0038] Please refer to Figure 1 , Figure 2 and Figure 3 , is a schematic diagram of a multi-antenna switching method for a drone provided in this embodiment, including:

[0039] S1: Acquire the position information, attitude information and satellite position information of the drone 1; the drone 1 has an XOY coordinate system, the origin of the XOY coordinate system is the center of mass of the drone 1, the X axis of the XOY coordinate system is parallel to the width direction of the drone 1, and the Y axis of the XOY coordinate system is parallel to the height direction of the drone 1; the drone 1 is provided with a plurality of antenna units 2 along the circumferential direction, and a first critical line 3 and a second critical line 4 located in the plane where the XOY coordinate system is located and passing through the origin are provided between every two adjacent antenna units 2, and a buffer zone 6 is formed between the first critical line 3 and the second critical line 4;

[0040] S2: Calculate the connection line between the center of mass of the drone 1 and the satellite in the ground coordinate system according to the location information of the drone 1 and the location information of the satellite;

[0041] S3: Calculate the projection line 5 of the connecting line in the XOY coordinate system according to the attitude information of the drone 1;

[0042] S4: when it is determined that the projection line 5 moves from the first critical line 3 to the second critical line 4, the antenna unit 2 adjacent to the second critical line 4 is selected to receive satellite signals;

[0043] When it is determined that the projection line 5 moves from the second critical line 4 to the first critical line 3, the antenna unit 2 adjacent to the first critical line 3 is selected to receive satellite signals.

[0044] In some embodiments, during the actual movement process, the XOY coordinate system changes synchronously with the position and posture of the drone 1. The X axis is parallel to the axis of the pitch motion of the drone 1, the Y axis is parallel to the axis of the yaw motion of the drone 1, and the straight line perpendicular to the plane where the XOY coordinate system is located is parallel to the axis of the roll motion of the drone 1. The projection line 5 of the connecting line in the XOY coordinate system can be easily calculated.

[0045] In some embodiments, the initial position information and attitude information of the drone 1 are manually set so that the projection line 5 is in the non-buffered area, which enables the drone to work normally and avoids the situation of randomly cutting the antenna.

[0046] In some embodiments, the angle between the first critical line 3 and the positive direction of the X axis in the XOY coordinate system is smaller than that of the second critical line 4. The process of the projection line 5 passing through the buffer zone includes: a first process, a second process, a third process and a fourth process.

[0047] The first process includes: the projection line 5 first passes through the first critical line 3 to enter the buffer zone 6, and then passes through the second critical line 4 to leave the buffer zone 6;

[0048] The second process includes: the projection line 5 first passes through the first critical line 3 to enter the buffer zone 6, and then passes through the second critical line 4 to leave the buffer zone 6;

[0049] The third process includes: the projection line 5 first passes through the first critical line 3 to enter the buffer zone 6, and then passes through the first critical line 3 to leave the buffer zone 6;

[0050] The fourth process includes: the projection line 5 first passes through the second critical line 4 to enter the buffer zone 6, and then passes through the second critical line 4 to leave the buffer zone 6;

[0051] Only when the projection line 5 passes through the first process or the second process, the antenna unit 2 used will be switched; and when the projection line 5 passes through the third process or the fourth process, the antenna unit 2 will not be switched. The number of antenna switching times can be further reduced, and the situation where the antenna unit 2 is the same after the third process or the fourth process is avoided.

[0052] Working principle: When the projection line 5 passes through the first critical line 3 from the non-buffer zone to enter the buffer zone 6 and then passes through the second critical line 4 to leave the buffer zone 6 ; it switches to the antenna unit 2 adjacent to the second critical line 4 .

[0053] When the projection line 5 passes through the first critical line 3 from the non-buffer zone to enter the buffer zone 6 , and then passes through the second critical line 4 to leave the buffer zone 6 , it switches to the antenna unit 2 adjacent to the first critical line 3 .

[0054] When the projection line 5 passes through the first critical line 3 from the non-buffer zone and enters and leaves the buffer zone 6 or passes through the second critical line 4 and enters and leaves the buffer zone 6, the antenna unit 2 used is not switched.

[0055] Furthermore, the beam width ranges of two adjacent antenna units 2 overlap with each other to form an overlapping area, and the buffer zone 6 is located in the overlapping area and is smaller than or equal to the overlapping area.

[0056] In some embodiments, the size of the overlapping area between the beam width ranges of adjacent antenna units 2 is greater than or equal to the size of the buffer zone 6, and the buffer zone 6 is completely contained within the range of the overlapping area. This can avoid the situation where the projection line 5 has left the beam width range of the antenna unit 2 but has not left the buffer zone 6, resulting in untimely switching of the antenna and loss of tracking.

[0057] In some embodiments, the buffer zone 6 is equal in size and position to the overlapping region. Setting the buffer zone 6 of the same size as the overlapping region can avoid frequent antenna switching caused by the shaking amplitude of the drone 1 being larger than the range of the buffer zone 6 and smaller than the overlapping region. The drone 1 can adapt to greater shaking, further reduce the frequency of antenna switching, and improve tracking efficiency.

[0058] Furthermore, at least three antenna units 2 are provided and are evenly arranged along the circumference of the drone 1 .

[0059] In some embodiments, the antenna units 2 are provided with at least three and are evenly arranged along the circumference of the drone 1, so as to receive signals in any direction without blind spots, thereby improving the tracking effect.

[0060] In some implementations, the sum of the beam width ranges of all the antenna units 2 is greater than 360 degrees. The buffer zone 6 can be conveniently set.

[0061] Furthermore, a middle line is connected between the midpoint of the buffer zone 6 and the origin; the bisector of the angle between the midpoints of the two adjacent antenna units 2 and the origin coincides with the middle line; the first critical line 3 and the second critical line 4 have the same set angle with the middle line.

[0062] In some embodiments, the middle line of the buffer zone 6 is located exactly in the middle between the two antenna units 2, which can avoid the situation where the projection line 5 has left the beam width range of the previous antenna unit 2 but has not left the buffer zone 6, causing the drone 1 to be out of tracking.

[0063] In some embodiments, the angle between the first critical line 3 and the middle line is equal to the angle between the second critical line 4 and the middle line, and the size of the angle is less than or equal to half of the angle between the two boundaries of the overlapping area. The projection line 5 can pass through the first critical line 3 or the second critical line 4 without leaving the beam width range of the antenna unit 2, thereby stabilizing the tracking effect.

[0064] Example 2

[0065] The present application also provides a multi-antenna switching system for an unmanned aerial vehicle, comprising:

[0066] Drone 1;

[0067] The antenna unit 2, wherein the antenna unit 2 is provided in plurality and is circumferentially mounted on the drone 1;

[0068] An acquisition module 7, the acquisition module 7 is used to: acquire the position information, attitude information and satellite position information of the drone 1; the drone 1 has an XOY coordinate system, the origin of the XOY coordinate system is the center of mass of the drone 1, the X axis of the XOY coordinate system is parallel to the width direction of the drone 1, and the Y axis of the XOY coordinate system is parallel to the height direction of the drone 1; a plurality of antenna units 2 are arranged on the drone 1 along the circumferential direction, and a first critical line 3 and a second critical line 4 located in the plane where the XOY coordinate system is located and passing through the origin are arranged between every two adjacent antenna units 2, and a buffer zone 6 is formed between the first critical line 3 and the second critical line 4;

[0069] A processing module 8, wherein the input end of the processing module 8 is connected to the acquisition module 7, and the output end is connected to the antenna unit 2, and the processing module 8 is configured to: calculate the connection line between the center of mass of the drone 1 and the satellite in the ground coordinate system according to the location information of the drone 1 and the location information of the satellite;

[0070] According to the attitude information of the drone 1, a projection line 5 of the connecting line in the XOY coordinate system is calculated;

[0071] When it is determined that the projection line 5 moves from the first critical line 3 to the second critical line 4, the antenna unit 2 adjacent to the second critical line 4 is selected to receive satellite signals;

[0072] When it is determined that the projection line 5 moves from the second critical line 4 to the first critical line 3, the antenna unit 2 adjacent to the first critical line 3 is selected to receive satellite signals.

[0073] In some embodiments, the acquisition module 7 includes: an inertial navigation system, which is installed on the drone 1 and can obtain the position information and attitude information of the drone 1.

[0074] In some embodiments, the processing module 8 includes: a multi-channel receiver, and the multi-channel receiver can select the nearest communication satellite according to the location information of the drone 1.

[0075] In some embodiments, when the multi-channel receiver selects a communication satellite, it first obtains all communication satellites within the detectable range, then obtains the position information of all communication satellites, calculates the distance to the drone, and finally selects the communication satellite closest to use.

[0076] Furthermore, the beam width ranges of two adjacent antenna units 2 overlap with each other to form an overlapping area, and the buffer zone 6 is located in the overlapping area and is smaller than or equal to the overlapping area.

[0077] In some embodiments, the buffer zone 6 is included in the overlapping area, which can avoid the situation where the projection line 5 has left the beam width range of the antenna unit 2 but has not left the buffer zone 6, resulting in untimely switching of the antenna and loss of tracking.

[0078] Furthermore, at least three antenna units 2 are provided and are evenly arranged along the circumference of the drone 1 .

[0079] Furthermore, a middle line is connected between the midpoint of the buffer zone 6 and the origin; the bisector of the angle between the midpoints of the two adjacent antenna units 2 and the origin coincides with the middle line; the first critical line 3 and the second critical line 4 have the same set angle with the middle line.

[0080] In some embodiments, the antenna units 2 are provided with at least three and are evenly arranged along the circumference of the drone 1, so as to receive signals in any direction without blind spots, thereby improving the tracking effect.

[0081] In some implementations, the sum of the beam width ranges of all the antenna units 2 is greater than 360 degrees. The buffer zone 6 can be conveniently set.

[0082] Working process:

[0083] 1. The device is powered on, and the position information and attitude information of the drone 1 are manually set.

[0084] 2. The multi-channel receiver obtains the position and attitude information of the UAV 1 through the inertial navigation system of the UAV 1.

[0085] 3. The multi-channel receiver selects the nearest communication satellite according to the position of the UAV 1, thereby obtaining the satellite's position information.

[0086] Fourth, based on the position information of the UAV 1 and the position information of the satellite, a connecting line between the center of mass of the UAV 1 and the satellite in the ground coordinate system is calculated.

[0087] 5. According to the attitude information of the drone 1, the projection line 5 of the connecting line in the XOY coordinate system is calculated.

[0088] 6. When the projection line 5 enters the buffer zone 6 from the non-buffer zone through the first critical line 3 first, and then leaves the buffer zone 6 through the second critical line 4, the antenna unit 2 adjacent to the second critical line 4 is switched to. When the projection line 5 enters the buffer zone 6 from the non-buffer zone through the first critical line 3 first, and then leaves the buffer zone 6 through the second critical line 4, the antenna unit 2 adjacent to the first critical line 3 is switched to. When the projection line 5 enters and leaves the buffer zone 6 from the non-buffer zone through the first critical line 3 first, or enters and leaves the buffer zone 6 through the second critical line 4 first, the antenna unit 2 used is not switched to.

[0089] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A multi-antenna switching method for an unmanned aerial vehicle, characterized in that: include: Acquiring the position information, attitude information and satellite position information of the drone (1); the drone (1) having an XOY coordinate system, the origin of the XOY coordinate system being the mass center of the drone (1), the X-axis of the XOY coordinate system being parallel to the width direction of the drone (1), and the Y-axis of the XOY coordinate system being parallel to the height direction of the drone (1); the drone (1) being provided with a plurality of antenna units (2) along the circumference, a first critical line (3) and a second critical line (4) being located in the plane where the XOY coordinate system is located and passing through the origin being provided between every two adjacent antenna units (2), and a buffer zone (6) being formed between the first critical line (3) and the second critical line (4); The beam width ranges of two adjacent antenna units (2) overlap with each other to form an overlapping area, and the buffer zone (6) is located in the overlapping area and is smaller than or equal to the overlapping area; Calculating a connection line between the center of mass of the drone (1) and the satellite in a ground coordinate system based on the location information of the drone (1) and the location information of the satellite; Calculating a projection line (5) of the connecting line in the XOY coordinate system according to the posture information of the drone (1); When it is determined that the projection line (5) moves from the first critical line (3) to the second critical line (4), an antenna unit (2) adjacent to the second critical line (4) is selected to receive satellite signals; When it is determined that the projection line (5) moves from the second critical line (4) to the first critical line (3), an antenna unit (2) adjacent to the first critical line (3) is selected to receive satellite signals.

2. The multi-antenna switching method of a drone according to claim 1, characterized in that: At least three antenna units (2) are provided and are evenly arranged along the circumference of the drone (1).

3. The multi-antenna switching method of a drone according to claim 1, characterized in that: A middle line is connected between the midpoint of the buffer zone (6) and the origin; the bisector of the angle between the midpoints of the two adjacent antenna units (2) and the origin coincides with the middle line; and the first critical line (3) and the second critical line (4) have the same set angle with the middle line.

4. A multi-antenna switching system for an unmanned aerial vehicle, characterized in that: include: Drone (1); Antenna units (2), the antenna units (2) being provided in plurality and being mounted on the drone (1) along a circumferential direction; An acquisition module (7), the acquisition module (7) being used to: acquire the position information, attitude information and satellite position information of the drone (1); the drone (1) having an XOY coordinate system, the origin of the XOY coordinate system being the mass center of the drone (1), the X axis of the XOY coordinate system being parallel to the width direction of the drone (1), and the Y axis of the XOY coordinate system being parallel to the height direction of the drone (1); a plurality of antenna units (2) being arranged on the drone (1) in a circumferential direction, a first critical line (3) and a second critical line (4) being arranged between every two adjacent antenna units (2) and being located in the plane where the XOY coordinate system is located and passing through the origin, and a buffer zone (6) being formed between the first critical line (3) and the second critical line (4); The beam width ranges of two adjacent antenna units (2) overlap with each other to form an overlapping area, and the buffer zone (6) is located in the overlapping area and is smaller than or equal to the overlapping area; A processing module (8), wherein an input end of the processing module (8) is connected to the acquisition module (7), and an output end is connected to the antenna unit (2), and the processing module (8) is configured to: Based on the position information of the drone (1) and the position information of the satellite; Calculating a connection line between the center of mass of the UAV (1) and the satellite in a ground coordinate system; Calculating a projection line (5) of the connecting line in the XOY coordinate system according to the posture information of the drone (1); When it is determined that the projection line (5) moves from the first critical line (3) to the second critical line (4), an antenna unit (2) adjacent to the second critical line (4) is selected to receive satellite signals; When it is determined that the projection line (5) moves from the second critical line (4) to the first critical line (3), an antenna unit (2) adjacent to the first critical line (3) is selected to receive satellite signals.

5. The multi-antenna switching system for an unmanned aerial vehicle according to claim 4, characterized in that: At least three antenna units (2) are provided and are evenly arranged along the circumference of the drone (1).

6. The multi-antenna switching system for an unmanned aerial vehicle according to claim 4, characterized in that: A middle line is connected between the midpoint of the buffer zone (6) and the origin; the bisector of the angle between the midpoints of the two adjacent antenna units (2) and the origin coincides with the middle line; and the first critical line (3) and the second critical line (4) have the same set angle with the middle line.

Images