An integrated drone control ground station

Abstract

The application discloses an integrated unmanned aerial vehicle control ground station, which comprises a control shelter, an antenna cabin and a working cabin; the antenna cabin is internally provided with antenna cabin equipment, the working cabin is internally provided with working cabin equipment and an unmanned aerial vehicle storage platform, and the control shelter is externally provided with cabin external equipment; the control shelter is detachably fixed on a mobile platform, and the mobile platform can drive the control shelter to move under the action of external force; the working cabin is provided with an equipment door, a hydraulic tail plate is arranged at the equipment door, the hydraulic tail plate is fixed on the mobile platform, and the working cabin equipment and the unmanned aerial vehicle are moved into or out of the working cabin through the hydraulic tail plate and the equipment door. The application has the characteristics of high equipment integration, the control shelter integrates the line-of-sight ground station data terminal equipment and the command control station equipment, has the line-of-sight ground data terminal data transmission function and the function of real-time monitoring of the unmanned aerial vehicle by the command control station, and can quickly respond to the scene change task requirement and realize the mobile scene change mode.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) control technology, and more specifically, relates to an integrated UAV control ground station. Background Technology

[0002] As an emerging aviation technology, drones have made great strides. Their applications are very wide, mainly including fire fighting and disaster relief, search and rescue, nuclear radiation detection, resource exploration, land and resources monitoring, border patrol, and meteorological observation. The technological level of drones is also constantly improving.

[0003] As the combat command center of the entire UAV system, the ground station controls the following: the UAV's flight process, flight path, payload mission functions, normal operation of communication links, and UAV launch and landing.

[0004] Generally, UAV ground stations are modular, with the command and control station and ground data terminal designed separately. This results in high costs, cumbersome transportation, and difficulties in relocation. A standard UAV command and control station has multiple control and operation positions with different functions, distributed along the sides of the modular unit, occupying a significant amount of space and causing wasted space. Typically, UAV ground control stations consist of a line-of-sight ground data terminal, a satellite communication ground data terminal, and a ground command and control station, leading to problems such as limited functionality, high production costs, and transportation difficulties.

[0005] The information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to propose an integrated UAV control ground station that provides a ground command and control and transportation platform for UAVs. It can respond quickly to the needs of relocation missions and, when necessary, can meet the special mission requirements of aerial relocation. It features a high degree of equipment integration, with the control cabin integrating line-of-sight ground station data terminal equipment and command and control station equipment. It has both the function of line-of-sight ground data terminal data transmission and the function of command and control station for real-time monitoring of UAVs.

[0007] To achieve the above objectives, the present invention proposes an integrated unmanned aerial vehicle (UAV) control ground station, comprising:

[0008] The control module includes an antenna compartment and a working compartment;

[0009] The antenna cabin is equipped with antenna cabin equipment, the working cabin is equipped with working cabin equipment and a UAV storage platform, and the control cabin is equipped with external equipment.

[0010] The control shelter is detachably fixed on the mobile platform, and the mobile platform can drive the control shelter to move under the action of an external force.

[0011] The working shelter is provided with an equipment door, and a hydraulic tail plate is arranged at the equipment door and fixed on the mobile platform, so that the working shelter equipment and the unmanned aerial vehicle are moved in and out of the working shelter through the hydraulic tail plate and the equipment door.

[0012] Optionally, the antenna cabin equipment comprises:

[0013] A C-band antenna combination is arranged for outputting and receiving C-band signals.

[0014] An antenna lifting mechanism is arranged, the C-band antenna combination is detachably fixed on the antenna lifting mechanism, the antenna lifting mechanism is detachably fixed on the antenna cabin bottom plate, and the C-band antenna combination is lifted from the inside of the antenna cabin to above the antenna cabin and reset through the antenna lifting mechanism.

[0015] Optionally, the C-band antenna combination comprises:

[0016] A C-band directional antenna is in communication connection with a C-band directional radio frequency front end, and outputs and receives C-band signals through the C-band directional antenna.

[0017] A C-band omnidirectional antenna is in communication connection with a C-band omnidirectional radio frequency front end, and outputs and receives C-band signals through the C-band omnidirectional antenna.

[0018] The C-band directional radio frequency front end and the C-band omnidirectional radio frequency front end are both in communication connection with a radio frequency switch, and the C-band directional radio frequency front end or the C-band omnidirectional radio frequency front end is selected to output and receive C-band signals through the radio frequency switch; a C-band power amplifier is in communication connection with the radio frequency switch and a frequency conversion combination module respectively, and the C-band power amplifier is used to amplify the C-band signals output by the frequency conversion combination and then output to the C-band directional radio frequency front end or the C-band omnidirectional radio frequency front end through the radio frequency switch.

[0019] A duplexer is in communication connection with the radio frequency switch and the frequency conversion combination module respectively, and the duplexer is used to filter and low-noise amplify the C-band signals received by the C-band directional radio frequency front end or the C-band omnidirectional radio frequency front end, and then output to the frequency conversion combination module.

[0020] The variable frequency combination module is used for converting the L-band signal output by the working cabin equipment into a C-band signal through an up-converter of the variable frequency combination module and outputting the C-band signal to the C-band power amplifier, and converting the C-band signal output by the diplexer into an L-band signal through a down-converter of the variable frequency combination module and outputting the L-band signal to the working cabin equipment.

[0021] Optionally, the extravehicular equipment comprises:

[0022] A UHF-band omnidirectional antenna is used for outputting and receiving UHF-band signals.

[0023] An antenna folding mechanism is used for detachably fixing the UHF-band omnidirectional antenna to the antenna folding mechanism, detachably fixing the antenna folding mechanism to the control shelter roof, and erecting / laying the UHF-band omnidirectional antenna on the control shelter roof through the antenna folding mechanism.

[0024] Optionally, the working cabin equipment comprises:

[0025] A link equipment unit is installed in a link equipment cabinet.

[0026] A power distribution unit is installed in a power distribution cabinet.

[0027] A plurality of control seats are communicatively interconnected and communicatively connected to the link equipment unit, and are electrically connected and communicatively connected to the power distribution unit.

[0028] A plurality of seats are movable folding seats.

[0029] The link equipment cabinet, the power distribution cabinet and the seat operating table are detachably fixed to the working cabin floor and are installed on one side of the working cabin, and the unmanned aerial vehicle storage platform is arranged on the other side of the working cabin.

[0030] Optionally, the link equipment unit comprises:

[0031] A signal switching module is communicatively connected to the variable frequency combination module, the UHF-band omnidirectional antenna, the channel combination module, the line-of-sight link terminal combination module, the line-of-sight antenna control combination module, the UHF radio frequency front-end module, the Beidou module, the link network switch and the power distribution unit.

[0032] A first power switching module is electrically connected to the power distribution unit, and the power switching module is used for outputting the power output by the power distribution unit to the power conversion module.

[0033] A power conversion module is electrically connected with the first power adapter module, and is configured to convert alternating current output by the first power adapter module into direct current, and then supply power to the LOS antenna control combination module, the LOS link terminal combination module, the channel combination module, the UHF radio frequency front-end module, the Beidou module and the link network switch.

[0034] The LOS antenna control combination module is electrically connected with the antenna folding mechanism and the antenna lifting mechanism, respectively, and is configured to control the antenna folding mechanism and the antenna lifting mechanism.

[0035] The Beidou module is configured to receive and output Beidou signals, and perform short message testing.

[0036] The LOS link terminal combination module is communicatively connected with the channel combination module and the link network switch, respectively, and is configured to perform channel coding, direct sequence spread spectrum and digital modulation on the main link uplink baseband data and the auxiliary link uplink baseband data output by the link network switch, to form main link uplink intermediate frequency signals and auxiliary link uplink intermediate frequency signals output to the channel combination module; and perform demodulation and decoding on the main link downlink intermediate frequency signals and the auxiliary link downlink intermediate frequency signals output by the channel combination module, to form main link downlink baseband data and auxiliary link downlink baseband data.

[0037] The channel combination module is communicatively connected with the terminal combination module, the frequency conversion combination module and the UHF radio frequency front-end module, and is configured to convert the main link uplink intermediate frequency signals into L-band radio frequency signals, output the L-band radio frequency signals to the frequency conversion combination module through the signal adapter module; convert the auxiliary link uplink intermediate frequency signals into UHF-band radio frequency signals, and output the UHF-band radio frequency signals to the UHF radio frequency front-end module; convert the UHF-band radio frequency signals received by the UHF radio frequency front-end module into auxiliary link downlink intermediate frequency signals, and output the auxiliary link downlink intermediate frequency signals to the LOS link terminal combination module; and convert the L-band radio frequency signals output by the frequency conversion combination module into main link downlink intermediate frequency signals, and output the main link downlink intermediate frequency signals to the LOS link terminal combination module.

[0038] The link network switch is communicatively connected with the link monitoring computer host of the power distribution unit, and is configured to output the main link downlink baseband data and the auxiliary link downlink baseband data to the link monitoring computer host, and output the main link uplink baseband data and the auxiliary link uplink baseband data output by the link monitoring computer host to the LOS link terminal combination module.

[0039] Optionally, the power distribution unit comprises:

[0040] A second power adapter plate is configured to receive an external power supply output to the intelligent power distribution unit, and output the power supply output by the intelligent power distribution unit to the first power adapter plate.

[0041] An intelligent power distribution module is electrically connected with the second power adapter plate and the uninterruptible power supply, and is communicatively connected with the service network switch. The intelligent power distribution unit is configured to perform intelligent power distribution, intelligent power distribution management, intelligent power distribution state information data collection, and power consumption safety protection on the power consumption devices of the control shelter. The intelligent power distribution state information data is transmitted to the link monitoring control position through the service network switch for monitoring.

[0042] An uninterruptible power supply is configured to provide uninterrupted power supply to the intelligent power distribution unit.

[0043] A plurality of control positions correspond to position computer hosts. The control positions include a link monitoring control position, a flight control position, and a task display control position. The position computer hosts include a link monitoring computer host, a flight control computer, and a task control computer, respectively. The position computer hosts are communicatively connected with the service network switch.

[0044] The link monitoring control position, the flight control position, and the task display control position are all configured to perform human-computer interaction and display.

[0045] The flight control computer is configured to receive user instructions output by the link monitoring control position through the service network switch, generate flight control instructions according to the user instructions, output the flight control instructions to the link monitoring computer host through the service network switch for processing, and then output the flight control instructions to the line-of-sight link terminal combination module through the link network switch. The flight control computer is also configured to receive downlink data output by the line-of-sight link terminal combination module through the service network switch, process the downlink data, and output the processed downlink data to the link monitoring control position for display through the service network switch.

[0046] The task control computer is configured to receive user instructions output by the link monitoring control position through the service network switch, generate task control instructions according to the user instructions, output the task control instructions to the link monitoring computer host through the service network switch for processing, and then output the task control instructions to the line-of-sight link terminal combination module through the link network switch. The task control computer is also configured to receive downlink data output by the line-of-sight link terminal combination module through the service network switch, process the downlink data, and output the processed downlink data to the task display control position for display through the service network switch.

[0047] Optionally, the system further includes:

[0048] The satellite communication ground data terminal device includes:

[0049] The satellite communication antenna combination is used for outputting and receiving satellite communication signals, and is a portable design, stored in the control shelter in a non-mission phase and fixedly installed on a servo mechanism in a mission phase; the satellite communication antenna combination comprises a satellite communication antenna, a low-noise amplifier, a transmitter and a frequency downconverter;

[0050] The servo mechanism is a portable design, stored in the control shelter in a non-mission phase and installed and erected outside the control shelter in a mission phase, and the satellite communication antenna is rotated by the servo mechanism to be directed to a satellite;

[0051] The data processing device is arranged in the power distribution cabinet and is used for processing satellite communication data.

[0052] Optionally, the satellite communication ground data terminal device further comprises:

[0053] The satellite communication antenna control module and the satellite communication antenna driving module are arranged in the link equipment cabinet.

[0054] Optionally, the data processing device comprises:

[0055] The debugging demodulator, the data interface unit and the C-band branch-combining device.

[0056] Optionally, the control shelter is provided with a hoisting module around the top thereof.

[0057] Optionally, the antenna shelter is provided with a skylight at the top thereof, and the C-band antenna combination is exposed above the antenna shelter through the skylight.

[0058] The control shelter is divided into an antenna shelter and a working shelter, the antenna shelter carries antenna equipment, the working shelter is internally provided with working shelter equipment and an unmanned aerial vehicle storage platform, has the capability of a transport platform of a small and medium-sized unmanned aerial vehicle body, the control shelter can be detachably fixed on a mobile platform, can quickly respond to a transfer task requirement, realizes a mobile transfer mode, can realize a special task requirement of air transfer when necessary, is provided with a hydraulic tail plate and can be completely opened, serves as an equipment transport door, the unmanned aerial vehicle body and the working shelter equipment can be loaded and unloaded through the door, the working shelter equipment and the unmanned aerial vehicle are quickly loaded and unloaded, the control shelter has the characteristics of high equipment integration, integrates a line-of-sight ground station data terminal device and a command and control station device, has the functions of line-of-sight ground data terminal data transmission and real-time monitoring of the command and control station on the unmanned aerial vehicle.

[0059] The system of the present application has other features and advantages which will be apparent from or which will be elaborated upon in the accompanying drawings and the detailed description which follows, and which, together with the foregoing description, are incorporated by reference herein, and which, together with the foregoing description, are incorporated by reference herein, and which, together with the foregoing description, are intended to explain the principles of the application and to enable a practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0060] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout and in which:

[0061] Figure 1 A schematic diagram of an integrated UAV control ground station according to one embodiment of the present application is shown.

[0062] Figure 2 A schematic diagram of a link equipment cabinet layout according to one embodiment of the present application is shown.

[0063] Figure 3 A signal flow diagram of a link equipment cabinet according to one embodiment of the present application is shown.

[0064] Figure 4 A schematic diagram of a power distribution cabinet layout according to one embodiment of the present application is shown.

[0065] Figure 5 A schematic diagram of an uplink telemetry information processing flow according to one embodiment of the present application is shown.

[0066] Figure 6 A schematic diagram of a downlink telemetry information processing flow according to one embodiment of the present application is shown.

[0067] Figure 7 A schematic diagram of a link equipment cabinet and power distribution cabinet layout with satellite communication according to one embodiment of the present application is shown. DETAILED DESCRIPTION

[0068] The present application will now be described in more detail with reference to the drawings. Although a preferred embodiment of the present application is shown in the drawings, it is understood that the present application can be carried out in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and fully convey the scope of the present application to those skilled in the art.

[0069] An integrated UAV control ground station according to the present application comprises:

[0070] A control shelter comprising an antenna shelter and a working shelter;

[0071] The antenna cabin is internally provided with antenna cabin equipment, the working cabin is internally provided with working cabin equipment and unmanned aerial vehicle storage platforms, and the control shelter is externally provided with cabin external equipment;

[0072] The control shelter is detachably fixed on the mobile platform, and the mobile platform can drive the control shelter to move under the action of external force.

[0073] The working cabin is provided with an equipment door, the equipment door is provided with a hydraulic tail plate, the hydraulic tail plate is fixed on the mobile platform, and the working cabin equipment and the unmanned aerial vehicle are moved into / out of the working cabin through the hydraulic tail plate and the equipment door.

[0074] Specifically, the control shelter is divided into an antenna cabin and a working cabin, the antenna cabin is internally provided with antenna cabin equipment, the working cabin is internally provided with working cabin equipment and unmanned aerial vehicle storage platforms, and has the capability of being used as a transport platform of a small and medium-sized unmanned aerial vehicle body; the control shelter is externally provided with cabin external equipment; the control shelter is detachably fixed on the mobile platform, and the mobile platform can drive the control shelter to move under the action of external force, can quickly respond to the needs of the transfer task, and realizes a mobile transfer mode; when necessary, the special task needs of air transfer can be realized; the working cabin is provided with an equipment door, the equipment door is provided with a hydraulic tail plate, the hydraulic tail plate is fixed on the mobile platform, and the working cabin equipment and the unmanned aerial vehicle are moved into / out of the working cabin through the hydraulic tail plate and the equipment door, the hydraulic tail plate is assembled and can be completely opened, is used as a device transport door, the unmanned aerial vehicle body and the working cabin equipment can be loaded and unloaded through the door, and the working cabin equipment and the unmanned aerial vehicle can be quickly loaded and unloaded; the present application has the characteristics of high equipment integration, the control shelter integrates the line-of-sight ground station data terminal equipment and the command and control station equipment, has the functions of line-of-sight ground data terminal data transmission and real-time monitoring of the command and control station on the unmanned aerial vehicle. The present application has multiple signal testing capabilities, such as small loop testing, channel simulation, short message testing, and the like, has the capability of simulating flight training, and can be assembled with the environment of simulating flight training on the ground command and control station, can perform flight simulation, provides a training platform for improving the task execution capability of various professional personnel, has support conditions such as mounting, power supply, communication, including power supply equipment, elevators, commonly used tools, spare parts, troubleshooting instruments, ground support equipment of various systems, and the like, and provides use and storage space for these support equipment and precision instruments.

[0075] In one example, the antenna cabin equipment includes:

[0076] A C-band antenna combination for outputting and receiving C-band signals;

[0077] An antenna lifting mechanism, the C-band antenna combination is detachably fixed on the antenna lifting mechanism, the antenna lifting mechanism is detachably fixed on the antenna cabin bottom plate, and the C-band antenna combination is lifted from the inside of the antenna cabin to the upper part of the antenna cabin and is reset through the antenna lifting mechanism.

[0078] In one example, the C-band antenna combination includes:

[0079] A C-band directional antenna, in communication with the C-band directional radio frequency front end, outputs and receives C-band signals through the C-band directional antenna;

[0080] A C-band omnidirectional antenna, in communication with the C-band omnidirectional radio frequency front end, outputs and receives C-band signals through the C-band omnidirectional antenna;

[0081] The C-band directional radio frequency front end and the C-band omnidirectional radio frequency front end are both in communication with the radio frequency switch, and the radio frequency switch selects the C-band directional radio frequency front end or the C-band omnidirectional radio frequency front end to output and receive C-band signals;

[0082] A C-band power amplifier, in communication with the radio frequency switch and the frequency conversion combination module, respectively, the C-band power amplifier is used to amplify the C-band signals received by the radio frequency switch and the C-band signals output by the frequency conversion combination;

[0083] A duplexer, in communication with the radio frequency switch and the frequency conversion combination module, respectively, the duplexer is used to filter and low-noise amplify the C-band signals received by the C-band directional radio frequency front end or the C-band omnidirectional radio frequency front end, and then output to the frequency conversion combination module; the frequency conversion combination module is used to convert the L-band signals output by the working cabin equipment into C-band signals through the frequency converter of the frequency conversion combination module and output to the C-band power amplifier, and convert the C-band signals output by the duplexer into L-band signals through the frequency converter of the frequency conversion combination module and output to the working cabin equipment.

[0084] In one example, the out-of-cabin equipment includes:

[0085] A UHF-band omnidirectional antenna, used to output and receive UHF-band signals;

[0086] An antenna folding mechanism, the UHF-band omnidirectional antenna is detachably fixed to the antenna folding mechanism, the antenna folding mechanism is detachably fixed to the control cabin roof, and the UHF-band omnidirectional antenna is erected / laid on the control cabin roof through the antenna folding mechanism.

[0087] In one example, the working cabin equipment includes:

[0088] A link device unit, installed in a link device cabinet;

[0089] A power distribution unit, installed in a power distribution cabinet;

[0090] A plurality of control seats, the plurality of control seats are in communication with each other and in communication with the link device unit, and are in electrical connection and communication with the power distribution unit;

[0091] A plurality of seats, the seats are movable folding seats;

[0092] The link equipment cabinet, the power distribution cabinet and the seat operation table can be detachably fixed on the floor of the working cabin and are all installed on one side of the working cabin, and the unmanned aerial vehicle storage platform is arranged on the other side of the working cabin.

[0093] Specifically, the present application has multiple reusable operation seats, which can expand multiple seats. The control shelter has multiple reusable seats, and the seat roles are assigned by software. When necessary, the task planning seat and the intelligence processing seat can be expanded.

[0094] In one example, the link equipment unit includes:

[0095] The signal switching module is in communication connection with the frequency conversion combination module, the UHF band omnidirectional antenna, the channel combination module, the line-of-sight link terminal combination module, the line-of-sight antenna control combination module, the UHF radio frequency front end module, the Beidou module, the link network switch and the power distribution unit respectively;

[0096] The first power switching module is in electrical connection with the power distribution unit. The power switching module is used to output the power output by the power distribution unit to the power conversion module;

[0097] The power conversion module is in electrical connection with the first power switching module. The power conversion module is used to convert the alternating current output by the first power switching module into direct current, and then supply power to the line-of-sight antenna control combination module, the line-of-sight link terminal combination module, the channel combination module, the UHF radio frequency front end module, the Beidou module and the link network switch;

[0098] The line-of-sight antenna control combination module is in electrical connection with the antenna folding mechanism and the antenna lifting mechanism respectively. The line-of-sight antenna control combination module is used to control the antenna folding mechanism and the antenna lifting mechanism;

[0099] The Beidou module is used to receive and output Beidou signals and perform short message testing;

[0100] The line-of-sight link terminal combination module is in communication connection with the channel combination module and the link network switch respectively. The line-of-sight link terminal combination module is used to perform channel coding, direct sequence spread spectrum and digital modulation on the main link uplink baseband data and the auxiliary link uplink baseband data output by the link network switch, to form main link uplink intermediate frequency signals and auxiliary link uplink intermediate frequency signals output to the channel combination module; and to perform demodulation and decoding on the main link downlink intermediate frequency signals and the auxiliary link downlink intermediate frequency signals output by the channel combination module, to form main link downlink baseband data and auxiliary link downlink baseband data;

[0101] The channel combination module is connected with the terminal combination, the frequency conversion combination and the UHF radio frequency front end module, and is used for converting the main link uplink intermediate frequency signal into L band radio frequency signal and outputting the L band radio frequency signal to the frequency conversion combination module through the signal switching module; converting the sub-link uplink intermediate frequency signal into UHF band radio frequency signal and outputting the UHF band radio frequency signal to the UHF radio frequency front end module; and converting the UHF band radio frequency signal received by the UHF radio frequency front end module into the sub-link downlink intermediate frequency signal and outputting the sub-link downlink intermediate frequency signal to the line-of-sight link terminal combination module, and converting the L band radio frequency signal output by the frequency conversion combination module into the main link downlink intermediate frequency signal and outputting the main link downlink intermediate frequency signal to the line-of-sight link terminal combination module.

[0102] The link network switch is connected with the link monitoring computer host of the power distribution unit, and is used for outputting the main link downlink baseband data and the sub-link downlink baseband data to the link monitoring seat computer host, and outputting the main link uplink baseband data and the sub-link uplink baseband data output by the link monitoring computer host to the line-of-sight link terminal combination module.

[0103] Specifically, the application has the characteristics of high equipment integration, and controls the integrated line-of-sight ground station data terminal equipment and the command and control station equipment, has the functions of line-of-sight ground data terminal data transmission and real-time monitoring of the command and control station to the unmanned aerial vehicle.

[0104] In one example, the power distribution unit includes:

[0105] The second power adapter board is used for receiving the external power output to the intelligent power distribution unit, and outputting the power output by the intelligent power distribution unit to the first power adapter board.

[0106] The intelligent power distribution module is electrically connected with the second power adapter board and the uninterruptible power supply, and is connected with the service network switch, and is used for intelligently distributing, intelligently managing, intelligently collecting the intelligent power distribution state information data and protecting the power safety of the power equipment in the control shelter; and the intelligent power distribution state information data is sent to the link monitoring control seat through the service network switch for monitoring.

[0107] The uninterruptible power supply is used for providing the uninterruptible power supply to the intelligent power distribution unit.

[0108] The seat computer host corresponding to the plurality of control seats, the control seats include the link monitoring control seat, the flight control seat and the task display control seat, and the seat computer host includes the link monitoring computer host, the flight control computer and the task control computer, and the seat computer host is connected with the service network switch in communication.

[0109] The link monitoring control seat, the flight control seat and the task display control seat are all used for human-computer interaction and display.

[0110] The flight control computer receives user commands from the link monitoring and control station via the service network switch, generates flight control commands based on the user commands, outputs them to the link monitoring computer host via the service network switch for processing, and then outputs them to the line-of-sight link terminal assembly module via the link network switch; it also receives downlink data output from the line-of-sight link terminal assembly module via the service network switch, processes the downlink data, and outputs it to the link monitoring and control station for display via the service network switch.

[0111] The task control computer receives user instructions from the link monitoring and control station via the service network switch, generates task control instructions based on the user instructions, outputs them to the link monitoring computer host via the service network switch for processing, and then outputs them to the line-of-sight link terminal combination module via the link network switch; it also receives downlink data output from the line-of-sight link terminal combination module via the service network switch, processes the downlink data, and outputs it to the task display and control station via the service network switch for display.

[0112] Specifically, the present invention has intelligent power distribution function, which can realize the selection of input power supply, collection of power supply and distribution data information, monitoring and display of status information, power distribution operation management, power distribution control of electrical equipment, remote control of electrical equipment, and dedicated output interface for aircraft power supply.

[0113] In one example, it also includes:

[0114] Satellite communication ground data terminal equipment, including:

[0115] The satellite communication antenna assembly is used to output and receive satellite communication signals. The satellite communication antenna assembly is a portable design, stored in the control cabin during non-mission periods, and installed and fixed to the servo mechanism during mission periods. The satellite communication antenna assembly includes a satellite communication antenna, a low-noise amplifier, a transmitter, and a downconverter.

[0116] The servo mechanism is a portable design. During non-mission phases, it is stored inside the control cabin, and during mission phases, it is installed outside the control cabin. The servo mechanism drives the satellite communication antenna to rotate so that the satellite communication antenna points to the satellite.

[0117] The data processing equipment, located inside the power distribution cabinet, is used to process satellite communication data.

[0118] Specifically, the present invention has the capability to expand the satellite communication ground data terminal. When the line-of-sight link is limited by the line-of-sight condition and the line-of-sight flight cannot meet the mission requirements, it is necessary to use satellite communication flight. The control cabin can integrate satellite communication ground station data terminal equipment and integrate satellite communication antenna to realize the function of transmitting UAV remote control and telemetry information via satellite communication data link.

[0119] In one example, the satellite communication ground data terminal equipment also includes:

[0120] The satellite communication antenna control module and the satellite communication antenna driving module are arranged in the link equipment cabinet.

[0121] Specifically, the satellite communication antenna control module controls the servo mechanism to drive the satellite communication antenna to rotate, and the satellite communication antenna driving module drives the servo mechanism.

[0122] In one example, the data processing device comprises:

[0123] The debugging demodulator, the data interface unit and the C-band combining and splitting device.

[0124] In one example, the control shelter is provided with a hoisting module around the top.

[0125] Specifically, the hoisting module can meet the special task requirements of air transfer.

[0126] In one example, the antenna cabin is provided with a skylight, and the C-band antenna combination is exposed above the antenna cabin through the skylight.

[0127] The application will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the application. It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0128] Embodiment:

[0129] As shown in Figure 1 The embodiment provides an integrated unmanned aerial vehicle control ground station, which comprises:

[0130] The control shelter 1, the antenna cabin 2, the working cabin 3, the chassis automobile 4, the hydraulic tail plate 5, the antenna cabin equipment 6, the cabinet 7 and the control seat 8; the control shelter 1 is divided into two cabin rooms, the front cabin is the antenna cabin 2, and the rear cabin is the working cabin 3; the control shelter 1 further comprises shelter accessories; the control shelter 1 is externally provided with external equipment, and the external equipment mainly comprises a UHF band omnidirectional antenna and a UHF band tilting mechanism; the antenna cabin 2 is internally provided with the antenna cabin equipment 6, and the antenna cabin equipment 6 comprises a C-band antenna combination and a C-band antenna lifting mechanism; the working cabin equipment mainly comprises the cabinet 7 and the control seat 8; the cabinet 7 comprises a link equipment cabinet and a power distribution cabinet, as shown in Figure 2As shown, the link equipment cabinet is in the form of a 32U standard cabinet, and seven different functional devices are installed in the cabinet, which are power supply combination, antenna control combination, terminal combination, channel combination, UHF band radio frequency front end, Beidou receiver, link network switch and adapter plate. The adapter plate includes signal adapter plate and power adapter plate. The form of the external interface of the link equipment is the signal adapter plate and the power adapter plate. The lowermost part of the link equipment cabinet is also provided with a storage box, which can store commonly used tools, spare parts, troubleshooting instruments and ground support equipment of each system, etc. The control seat 8 includes a link control seat, a flight control seat and a load device display and control seat. The roles of the seats are allocated by software. The three seats are interconnected through a service network switch to realize data interaction. Each seat includes a seat operation computer and a screen. According to the task requirements, a task planning seat and an intelligence processing seat can be added. The seat computer is connected to the service network switch for data interaction to realize seat expansion.

[0131] A device door is arranged at the rear of the working cabin 3. A hydraulic tail plate 5 is arranged at the device door. The working cabin equipment and the unmanned aerial vehicle are moved into / out of the working cabin through the hydraulic tail plate 5 and the device door.

[0132] The signal flow is as follows Figure 3As shown, the terminal combination receives uplink baseband data through the external interface device, and forms main link uplink intermediate frequency signals and sub-link uplink intermediate frequency signals after channel coding, direct sequence spread spectrum and digital modulation. The main link uplink intermediate frequency signals are output to the L-band upconverter in the channel combination, and then output to the frequency conversion combination. The C-band upconverter in the frequency conversion combination converts the signals to C-band radio frequency signals, which are sent to the C-band power amplifier for power amplification. After switching by the radio frequency switch, the signals are output to the C-band omnidirectional radio frequency front end and transmitted by the C-band omnidirectional antenna, or output to the C-band directional radio frequency front end and transmitted by the C-band directional antenna. The sub-link uplink intermediate frequency signals are output to the UHF-band upconverter in the signal combination, and then output to the UHF radio frequency front end for power amplification and filtering, and then output to the UHF omnidirectional antenna for transmission. After the C-band directional antenna receives the C-band radio frequency signals transmitted by the airborne data terminal (ADT), the signals are output to the C-band directional radio frequency front end, filtered by the duplexer, and then output to the frequency conversion combination after low noise amplification. After the C-band omnidirectional antenna receives the C-band radio frequency signals transmitted by the airborne data terminal (ADT), the signals are output to the C-band omnidirectional radio frequency front end, filtered by the duplex filter, and then output to the frequency conversion combination after low noise amplification. The radio frequency switch can select the downlink signals output by the C-band directional radio frequency front end or the C-band omnidirectional radio frequency front end. After filtering by the duplex filter and low noise amplification, the signals are sent to the frequency conversion combination, downconverted to L-band signals, amplified and filtered, and then output to the terminal processor. After the terminal processor demodulates and decodes the intermediate frequency signals, the main link downlink baseband data is output to the interface device. After the UHF-band omnidirectional antenna receives the UHF-band radio frequency signals transmitted by the airborne data terminal (ADT), the signals are output to the UHF radio frequency front end, filtered by the duplexer, and then output to the channel combination after low noise amplification. The UHF-band downconverter in the channel combination downconverts the UHF radio frequency signals to intermediate frequency signals, which are output to the terminal processor. After the terminal processor demodulates and decodes the intermediate frequency signals, the sub-link downlink baseband data is output to the interface device.

[0133] As shown in Figure 4 The power distribution cabinet is provided with an intelligent power distribution unit, a computer host of each operation position, and a service network switch. The intelligent power distribution unit is mainly used for power distribution of the shelter, and is used for power management, power data acquisition and monitoring, and power safety protection of each electrical equipment in the shelter. The intelligent power distribution unit can realize selection of input power, acquisition of power distribution data, monitoring and display of state information, power distribution operation management, power distribution control of electrical equipment, remote control of electrical equipment, and special output interface for airplane power supply. The intelligent power distribution state information is forwarded to the link monitoring software through the service network switch for display and monitoring. The uplink remote control signal flow is as shown in Figure 5As shown, the seat computer collects and controls the flight control instructions, load control instructions and measurement and control instructions generated by the operation control software to encode and multiplex, and the multiplexed remote control data stream is sent to the line-of-sight ground data terminal through the service network switch; the downlink telemetry signal flow is as shown in Figure 6 As shown, the link monitoring seat computer receives the C-link downlink composite data and UHF-link downlink telemetry data frames sent by the line-of-sight ground data terminal, and performs real-time recording, analysis, distribution on the received downlink data, image data decompression and display, telemetry data processing and display. The line-of-sight data link terminal combination device (satellite data data link data interface unit) accesses the link network switch, receives and processes the aircraft telemetry information, and accesses the service network, and receives the remote control framing information processed by the link monitoring seat to transmit the aircraft remote control information.

[0134] When the line-of-sight link is limited by the line-of-sight condition or the unmanned aerial vehicle performs an over-the-horizon flight task, the remote control and telemetry information transmission between the unmanned aerial vehicle and the ground station relies on the satellite data link. The satellite data link is composed of a satellite ground data terminal and a satellite airborne data terminal, and the two complete bidirectional point-to-point transmission of unmanned aerial vehicle remote control data frames and telemetry / investigation data frames through satellite relay. The satellite airborne data terminal is installed on the unmanned aerial vehicle, and the satellite ground data terminal is integrated on the integrated unmanned aerial vehicle control ground station. The satellite ground data terminal device includes a satellite antenna combination, a servo device and a data processing device integrated on a satellite device cabinet. The satellite antenna combination includes a servo mechanism, a low-noise amplifier, a transmitter and a downconverter, and the satellite antenna portable processing is stored in the control shelter 1 in the non-task stage, and is installed and erected near the control shelter 1 in the task stage, and uses a cable for signal transmission; the servo device includes an antenna control unit and an antenna driving unit, and the data processing device includes a debugging demodulator, a data interface unit and a C-band dividing and combining device, and all devices are integrated on the cabinet 7. The integrated satellite device is as shown in Figure 7 In this state, the integrated unmanned aerial vehicle control ground station has the control ability for the line-of-sight and over-the-horizon flight of the unmanned aerial vehicle.

[0135] The integrated unmanned aerial vehicle control ground station has multiple signal testing capabilities. Firstly, it has a loopback testing capability. The signal sending end of the airborne link device is connected with the signal receiving end of the ground link device, and the signal input end of the airborne device is interconnected with the output end of the ground station link device. This method can detect whether there is a breakpoint in the link and can troubleshoot most link problems. Based on this problem, channel transmission device signal testing can be extended, such as flight control signal and payload measurement and control signal. Secondly, the ground control integrated unmanned aerial vehicle control ground station is equipped with a beacon machine. Through frequency matching, the signal tracking test of the directional antenna part of the ground data terminal can be performed. The aircraft is isolated for calibration test. Combined with the beacon position, the integrated unmanned aerial vehicle control ground station position and the angle of the antenna tracking the beacon machine, the heading angle of the integrated unmanned aerial vehicle control ground station is comprehensively evaluated, which facilitates the improvement of the accuracy of the antenna tracking the aircraft during subsequent flight. Finally, short message testing is performed based on the Beidou positioning device provided by the integrated unmanned aerial vehicle control ground station. Short message, as the "last link", has important significance for emergency communication and ensures the safe return of the aircraft in emergency situations. The most common testing method is self-generation and self-reception or interconnection with the aircraft for data intercommunication to improve the operation ability of the pilot and ensure flight safety. The integrated unmanned aerial vehicle control ground station has the ability to simulate flight training. The integrated unmanned aerial vehicle control ground station is equipped with a simulated flight training environment. The aircraft can be simulated without power-on. Extreme weather conditions and complex terrain conditions can be simulated for training of take-off, landing, flight and taxiing of the aircraft to improve the monitoring ability of the flight personnel on all flight data. In particular, coordinated combat simulation can be performed with multiple aircrafts and even multiple ground stations to provide a training platform for the improvement of flight and task execution ability of professional personnel. The integrated unmanned aerial vehicle control ground station has the ability to serve as a transportation platform for small and medium-sized unmanned aerial vehicle bodies. The control shelter 1 adopts a standard 6-meter shelter, and the machine cabinet 7 and the control seat 8 are concentrated on one side. The seat adopts a movable folding seat. The advantage of this design is that there is a large space left in the control shelter 1, which can be used as a storage and transportation space for small and medium-sized unmanned aerial vehicle bodies. The tail is provided with a hydraulic tail plate 5, which can completely open the rear door as a device transportation door. The unmanned aerial vehicle body can be loaded and unloaded through this door. The ground of the control shelter 1 is provided with a fastening device to provide a reliable and stable transportation platform for the equipment and unmanned aerial vehicle. When the integrated unmanned aerial vehicle control ground station serves as a medium and large-sized unmanned aerial vehicle command and control station, it is limited by the size of the shelter and cannot serve as a transportation platform for medium and large-sized unmanned aerial vehicle bodies. The integrated unmanned aerial vehicle control ground station has support conditions such as rack, power supply, communication, etc. including power supply equipment, lifting vehicles, common tools, spare parts, troubleshooting instruments, ground support equipment of various systems, etc. to provide use and storage space for these support equipment and precision instruments. Under the condition of expanding satellite communication, portable satellite communication antennas can be combined and stored in the control shelter 1, which can also be used as a storage space for materials during transfer. The antenna cabin 2 also has a certain space for tool and cable storage.The unmanned aerial vehicle ground command control and transportation platform are provided for diversified combat requirements of the unmanned aerial vehicle, have the characteristics of high integration and complete functions, are suitable for unmanned aerial vehicle control in scenes such as fire disaster reduction, search and rescue, nuclear radiation detection, resource exploration, land and resource monitoring, border patrol, weather detection and the like, and have the characteristics of convenient transportation. The integrated unmanned aerial vehicle control ground station is composed of a control shelter 1 and a chassis automobile 4. In the face of the requirements of the transfer task, the integrated unmanned aerial vehicle control ground station can quickly respond and realize the mode of mobile transfer. When necessary, the integrated unmanned aerial vehicle control ground station can realize the special task requirement of air transfer. The integrated unmanned aerial vehicle control ground station has the characteristics of high equipment integration. The control shelter 1 integrates the line-of-sight ground station data terminal equipment and the command control station equipment. The control shelter 1 has the functions of line-of-sight ground data terminal data transmission and real-time monitoring of the unmanned aerial vehicle by the command control station. The control shelter 1 has the intelligent power distribution function, and can realize the selection of input power, the acquisition of power supply and distribution data information, the monitoring and display of state information, the operation management of power distribution, the power distribution control of electrical equipment, the remote control of electrical equipment, the special output interface for aircraft power supply and the like.

[0136] The above has described the embodiments of the present application, and the above description is exemplary, is not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An integrated drone control ground station, characterized by, include: The control module includes an antenna compartment and a working compartment; The antenna cabin is equipped with antenna cabin equipment, the working cabin is equipped with working cabin equipment and a UAV storage platform, and the control cabin is equipped with external equipment. The control cabin is detachably fixed to the mobile platform, and the mobile platform can drive the control cabin to move under the action of external force; The work cabin is equipped with an equipment door, and a hydraulic tailgate is provided at the equipment door. The hydraulic tailgate is fixed to the mobile platform. The equipment in the work cabin and the UAV are moved into / out of the work cabin through the hydraulic tailgate and the equipment door. The antenna compartment equipment includes: C-band antenna assembly, used for outputting and receiving C-band signals; The antenna lifting mechanism is detachably fixed to the C-band antenna assembly, and the antenna lifting mechanism is detachably fixed to the bottom plate of the antenna compartment. The antenna lifting mechanism is used to lift the C-band antenna assembly from inside the antenna compartment to above the antenna compartment and to reset the C-band antenna assembly. The C-band antenna assembly includes: A C-band directional antenna is communicatively connected to a C-band directional radio frequency front-end, and outputs and receives C-band signals through the C-band directional antenna. A C-band omnidirectional antenna is communicatively connected to a C-band omnidirectional radio frequency front-end, and outputs and receives C-band signals through the C-band omnidirectional antenna; Both the C-band directional radio frequency front-end and the C-band omnidirectional radio frequency front-end are communicatively connected to a radio frequency switch. The radio frequency switch is used to select the C-band directional radio frequency front-end or the C-band omnidirectional radio frequency front-end to output and receive C-band signals. The C-band power amplifier is communicatively connected to the RF switch and the frequency conversion module. The C-band power amplifier is used to amplify the C-band signal output by the frequency conversion module and then output it to the C-band directional RF front-end or the C-band omnidirectional RF front-end via the RF switch. The duplexer is communicatively connected to the radio frequency switch and the frequency conversion module, respectively. The duplexer is used to filter and amplify the C-band signal received by the C-band directional radio frequency front-end or the C-band omnidirectional radio frequency front-end, and then output it to the frequency conversion module. The frequency conversion module is used to convert the L-band signal output by the working cabin equipment into a C-band signal and output it to the C-band power amplifier through the up-converter of the frequency conversion module, and to convert the C-band signal output by the duplexer into an L-band signal and output it to the working cabin equipment through the down-converter of the frequency conversion module. The extravehicular equipment includes: UHF band omnidirectional antenna, used for outputting and receiving UHF band signals; The antenna tilting mechanism is used to detachably fix the UHF band omnidirectional antenna to the antenna tilting mechanism, and the antenna tilting mechanism is detachably fixed to the top plate of the control cabin. The antenna tilting mechanism is used to erect / lay the UHF band omnidirectional antenna on the top plate of the control cabin. The working cabin equipment includes: Link equipment unit, installed inside the link equipment cabinet; The power distribution unit is installed inside the power distribution cabinet; A plurality of control seats are communicatively interconnected and communicatively connected with the link device unit, and are electrically connected and communicatively connected with the power distribution unit; A plurality of seats, which are movable folding seats; The link device cabinet, the power distribution cabinet and the seat operating table are detachably fixed on the floor of the working cabin and are installed on one side of the working cabin, and the unmanned aerial vehicle storage platform is arranged on the other side of the working cabin; The link device unit comprises: A signal switching module is communicatively connected with the frequency conversion combination module, the UHF band omnidirectional antenna, the channel combination module, the line-of-sight link terminal combination module, the line-of-sight antenna control combination module, the UHF radio frequency front end module, the Beidou module, the link network switch and the power distribution unit; A first power switching module is electrically connected with the power distribution unit, and the power switching module is used for outputting the power output by the power distribution unit to the power conversion module; A power conversion module is electrically connected with the first power switching module, and the power conversion module is used for converting the alternating current output by the first power switching module into direct current, and then supplying power to the line-of-sight antenna control combination module, the line-of-sight link terminal combination module, the channel combination module, the UHF radio frequency front end module, the Beidou module and the link network switch; A line-of-sight antenna control combination module is electrically connected with the antenna folding mechanism and the antenna lifting mechanism, and the line-of-sight antenna control combination module is used for controlling the antenna folding mechanism and the antenna lifting mechanism; A Beidou module is used for receiving and outputting Beidou signals and performing short message testing; A line-of-sight link terminal combination module is communicatively connected with the channel combination module and the link network switch, and the line-of-sight link terminal combination module is used for performing channel coding, direct sequence spread spectrum and digital modulation on the main link uplink baseband data and the auxiliary link uplink baseband data output by the link network switch, forming main link uplink intermediate frequency signals and auxiliary link uplink intermediate frequency signals and outputting the main link uplink intermediate frequency signals and the auxiliary link uplink intermediate frequency signals to the channel combination module; and performing demodulation and decoding on the main link downlink intermediate frequency signals and the auxiliary link downlink intermediate frequency signals output by the channel combination module, forming main link downlink baseband data and auxiliary link downlink baseband data; A channel combination module is communicatively connected with the terminal combination module, the frequency conversion combination module and the UHF radio frequency front end module, and the channel combination module is used for converting the main link uplink intermediate frequency signals into L band radio frequency signals and outputting the L band radio frequency signals to the frequency conversion combination module through the signal switching module; converting the auxiliary link uplink intermediate frequency signals into UHF band radio frequency signals and outputting the UHF band radio frequency signals to the UHF radio frequency front end module; and converting the UHF band radio frequency signals received by the UHF radio frequency front end module into auxiliary link downlink intermediate frequency signals and outputting the auxiliary link downlink intermediate frequency signals to the line-of-sight link terminal combination module, and converting the L band radio frequency signals output by the frequency conversion combination module into main link downlink intermediate frequency signals and outputting the main link downlink intermediate frequency signals to the line-of-sight link terminal combination module. A link network switch is in communication connection with the link monitoring computer host of the power distribution unit, and is configured to output the main link downlink baseband data and the auxiliary link downlink baseband data to the link monitoring seat computer host, and output the main link uplink baseband data and the auxiliary link uplink baseband data output by the link monitoring computer host to the line-of-sight link terminal combination module.

2. The integrated drone control ground station of claim 1, wherein, The power distribution unit comprises: A second power adapter board is configured to receive external power supply output to the intelligent power distribution unit, and output the power supply output by the intelligent power distribution unit to the first power adapter board; An intelligent power distribution module is in electrical connection with the second power adapter board and the uninterruptible power supply, and is in communication connection with the service network switch, and is configured to perform intelligent power distribution, intelligent power distribution management, intelligent power distribution state information data collection and power consumption safety protection on the power consumption equipment of the control shelter, and transmit the intelligent power distribution state information data to the link monitoring control seat through the service network switch for monitoring; An uninterruptible power supply is configured to provide uninterrupted power supply to the intelligent power distribution unit; A plurality of control seats correspond to seat computer hosts, the control seats comprise a link monitoring control seat, a flight control seat and a task display control seat, and the seat computer hosts comprise a link monitoring computer host, a flight control computer and a task control computer respectively, and the seat computer hosts are in communication connection with the service network switch; The link monitoring control seat, the flight control seat and the task display control seat are all configured to perform human-computer interaction and display; The flight control computer is configured to receive user instructions output by the link monitoring control seat through the service network switch, generate flight control instructions according to the user instructions, output the flight control instructions to the link monitoring computer host through the service network switch for processing, and then output the flight control instructions to the line-of-sight link terminal combination module through the link network switch; and receive downlink data output by the line-of-sight link terminal combination module through the service network switch, process the downlink data, and output the downlink data to the link monitoring control seat for display through the service network switch; The task control computer is configured to receive user instructions output by the link monitoring control seat through the service network switch, generate task control instructions according to the user instructions, output the task control instructions to the link monitoring computer host through the service network switch for processing, and then output the task control instructions to the line-of-sight link terminal combination module through the link network switch; and receive downlink data output by the line-of-sight link terminal combination module through the service network switch, process the downlink data, and output the downlink data to the task display control seat for display through the service network switch.

3. The integrated drone control ground station of claim 2, wherein, Further comprising: A satellite communication ground data terminal device comprises: A satellite communication antenna combination is configured to output and receive satellite communication signals, and is designed to be portable, and is stored in the control shelter in a non-task stage and is fixed to a servo mechanism in a task stage; the satellite communication antenna combination comprises a satellite communication antenna, a low-noise amplifier, a transmitter and a downconverter; A servo mechanism is designed to be portable, stored in the control shelter in a non-task phase and installed outside the control shelter in a task phase, and the satellite communication antenna is rotated by the servo mechanism to point to a satellite. A data processing device is arranged in the power distribution cabinet and used to process satellite communication data.

4. The integrated drone control ground station of claim 3, wherein, The satellite communication ground data terminal device further comprises: A satellite communication antenna control module and a satellite communication antenna driving module are arranged in the link equipment cabinet.

5. The integrated drone control ground station of claim 3, wherein, The data processing device comprises: A debugging demodulator, a data interface unit and a C-band branching unit.

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