Autonomous radar communication system based on star chain

Abstract

The invention provides an autonomous radar communication system based on a star chain, which relates to the technical field of air-ground unmanned systems and comprises an unmanned aerial vehicle, a ground control station and a remote controller. The unmanned aerial vehicle is provided with a Pixhawk 6x flight controller, an OFDM communication module, an OFDM radar module and a camera, the ground control station is connected with the PC through the OFDM communication module and operates task planning software, and the remote controller communicates with the unmanned aerial vehicle through an SBUS-UART module. The system adopts an orthogonal frequency division multiplexing (OFDM) technology and a star chain mesh topology, and combines a non-line-of-sight (NLOS) protocol, so that the air-to-ground communication range reaches 20 kilometers, and the ground-to-ground communication range reaches 3-5 kilometers. Through the dynamic frequency band switching and frequency hopping anti-interference technology, the data transmission stability and the anti-interference capability are improved, multi-node task management and communication between the unmanned aerial vehicle and the robot are supported, the system is suitable for remote control and data acquisition scenes in a complex environment, and an efficient solution is provided for intelligent agriculture, disaster monitoring and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of air-to-ground unmanned systems, and in particular to an autonomous radar communication system based on Starlink. Background Art

[0002] As the application of Unmanned Aerial Vehicle (UAV) gradually expands, the demand for its integration in transportation, military operations, logistics and commercial fields has shown a significant upward trend. The operation of drones usually relies on the Ground Control System (GCS), which can be managed by remote operation or autonomous deployment. Wireless connection technology enables operators to observe the drone and its surroundings from a high-altitude perspective and pre-set specific GPS coordinates through the application to plan an automatic flight path for the drone.

[0003] The current data link is mainly transmitted through radio frequency (RF) to realize the information exchange between the UAV and the ground control station, including parameters such as the UAV position, target distance, flight altitude, and payload data. Although autonomous UAVs have the ability to complete safe flights without human intervention, the functional range of existing communication systems is limited, and the management distance is usually no more than 100 meters.

[0004] In the traditional wireless communication model, telemetry antennas are used to connect to ground control stations, and sensors are used for data collection. Some of the latest drone designs have begun to introduce radar systems for target detection and tracking. However, in these designs, the communication system and radar system still operate independently, each using different hardware, waveforms, and functional objectives. The communication system is mainly used for information transmission, while the radar system is used for environmental perception. Although this separation design realizes basic functions, it has significant limitations in integration and efficiency. In addition, the current radar communication (Radcom) system relies on 5G or 6G mobile network technology, and its limitations in coverage, network latency, and data security affect the ability to expand applications.

[0005] UAV communication control systems can be divided into two categories: one is the enhancement of existing system functions, including the optimization of radar communication (Radcom) systems; the other is the development of innovative UAV communication designs and algorithms to address the shortcomings of current technologies.

[0006] Current drone communication technology mainly uses the Line-of-Sight (LOS) protocol to achieve signal connection through a one-way data transmission mode. However, when there are obstacles (such as mountains and buildings) between the drone and the ground control station, the LOS protocol cannot establish a connection, resulting in inter-symbol interference (ISI) and inter-carrier interference (ICI), which significantly limits the communication range. In addition, the multi-antenna independent operation mode and the working mode of different frequency bands used in traditional methods further aggravate the signal interference problem.

[0007] To address these issues, some designs attempt to combine drones with public wireless network infrastructure (such as 5G or WiFi). However, these approaches face significant security issues, such as communication interruptions caused by IP address changes and network uncertainty. In addition, these technologies are still limited in communication when far away from coverage areas (such as mountains and tunnels), especially when communicating between drones or between drones and robots.

[0008] In addition, due to the existence of multipath effects, the delay problem of information transmission is becoming increasingly obvious. Although high transmission rates and high-definition video functions provide convenience for remote operations, the delay can reach 200 milliseconds, seriously affecting the real-time and reliability of task execution. Summary of the invention

[0009] In order to solve the technical problems in the prior art of limited UAV communication range, high data transmission delay, serious multipath interference and insufficient system integration, the present invention provides an autonomous radar communication system based on Starlink.

[0010] The technical solution provided by the present invention is as follows:

[0011] The present invention provides an autonomous radar communication system based on Starlink, comprising:

[0012] The drone includes a Pixhawk 6x flight controller, an OFDM communication module, an OFDM radar module, and a camera;

[0013] The OFDM communication module is connected to the Pixhawk 6x flight controller via a TTL-SBUS module, supports non-line-of-sight protocol, and communicates with the ground control station via the MAVLink protocol;

[0014] The OFDM communication module integrates a multi-band switching circuit, operates in the 800MHz, 1.4GHz and 2.4GHz frequency bands, and implements frequency switching through an adaptive frequency hopping algorithm to reduce multipath interference;

[0015] The ground control station includes a communication module configured with an RS45 interface and a TTL interface, supports Starlink network topology, and performs multi-node management through Mesh Manager software.

[0016] Furthermore, the OFDM communication module realizes the connection between the UAV and the ground control station through the Starlink mesh topology. The network topology includes a master node and a slave node. The master node is the UAV, and the slave node is the ground control station. All nodes are assigned independent IP addresses to achieve efficient communication.

[0017] Furthermore, the OFDM radar module is embedded with QPSK, 16QAM and 64QAM signal modulation units for generating signal waveforms adapted to different communication environments and optimizing signal quality through a circuit-level signal processing module.

[0018] Furthermore, the Pixhawk 6x flight controller is connected to the OFDM radar module via the RS232-TTL module for receiving target detection data and integrating it into a unified data frame, which is transmitted to the ground control station via the communication module.

[0019] Furthermore, the ground control station has a built-in UDP multicast communication module, which realizes low-latency communication between the UAV and the ground station through preset protocol parameters. The preset protocol parameters include baud rate, data bit, stop bit and parity bit.

[0020] Furthermore, the OFDM communication module adopts dynamic frequency switching technology, realizes frequency band switching through an automatic frequency hopping controller, and combines with an anti-interference signal generation module to reduce the impact of signal interference.

[0021] Furthermore, the UAV interacts with the camera and the radar module through an embedded Pixhawk 6x flight controller. The controller has a built-in data fusion unit, which fuses the video stream collected by the camera with the detection data of the radar module and sends it to the ground control station through the OFDM communication module.

[0022] Furthermore, the ground control station uses Mesh Manager software to monitor the signal-to-noise ratio (SNR), reference signal received power (RSRP) and communication distance between nodes, and realizes real-time planning and management of UAV flight missions through QGroundControl software.

[0023] Furthermore, an error detection and correction unit is provided in the OFDM communication module, which detects and corrects data frames through a checksum-based error control technology to improve the reliability of data transmission.

[0024] Furthermore, the communication module and the radar module share a single antenna, and the antenna realizes multi-band signal transmission through a built-in matching network, and optimizes the gain of the transmitted and received signals in combination with the antenna dynamic adjustment module.

[0025] The beneficial effects brought about by the technical solution provided by the present invention include at least:

[0026] (1) In the present invention, by adopting the Starlink network topology and non-line-of-sight (NLOS) protocol, the system of the present invention overcomes the reliance of traditional UAV communications on line-of-sight (LOS), supports air-to-ground communication distances of up to 20 kilometers and ground-to-ground communication distances of up to 5 kilometers, significantly expanding the application scenarios of UAVs, especially in mountainous areas, urban areas with dense buildings, and other complex environments;

[0027] (2) In the present invention, the orthogonal frequency division multiplexing (OFDM) technology is adopted, combined with multi-band switching and dynamic frequency hopping anti-interference algorithm, which can effectively reduce multipath interference and inter-symbol interference (ISI) and improve the stability of data transmission. At the same time, the system transmits data through a unified frequency band and embeds an error correction function, ensuring the reception of high-quality data frames and reducing the risk of data loss and tampering;

[0028] (3) In the present invention, by integrating the communication module and the radar module into a single antenna system and adopting dynamic frequency switching technology, the hardware resources are minimized. Compared with the traditional design, the system reduces the complexity and power consumption of the multi-antenna system, improves the energy utilization of the equipment, extends the flight time of the UAV, and simplifies the system maintenance and deployment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 A schematic diagram of the structure of an autonomous radar communication system based on Starlink provided by an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of a flow chart of a Starlink-based autonomous radar communication system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0033] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0034] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same.

[0035] In the embodiments of the present invention, sometimes a subscript such as W1 may be mistakenly written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are consistent.

[0036] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0037] Reference Manual Attached Figure 1 , showing a schematic structural diagram of a Starlink-based autonomous radar communication system provided in an embodiment of the present invention.

[0038] An embodiment of the present invention provides an autonomous radar communication system based on Starlink, which may include:

[0039] The drone includes a Pixhawk 6x flight controller, an OFDM communications module, an OFDM radar module, and a camera;

[0040] The OFDM communication module is connected to the Pixhawk 6x flight controller via the TTL-SBUS module, supports non-line-of-sight protocol, and communicates with the ground control station via the MAVLink protocol;

[0041] The OFDM communication module integrates a multi-band switching circuit, operates in the 800MHz, 1.4GHz and 2.4GHz bands, and implements frequency switching through an adaptive frequency hopping algorithm to reduce multipath interference;

[0042] The ground control station includes a communication module equipped with RS45 interface and TTL interface, supports Starlink network topology, and performs multi-node management through Mesh Manager software.

[0043] The OFDM communication module connects the UAV to the ground control station through the Starlink mesh topology. The network topology includes master nodes and slave nodes. The master node is the UAV and the slave node is the ground control station. All nodes are assigned independent IP addresses to achieve efficient communication.

[0044] The OFDM radar module is embedded with QPSK, 16QAM and 64QAM signal modulation units to generate signal waveforms that adapt to different communication environments and optimize signal quality through circuit-level signal processing modules.

[0045] The Pixhawk 6x flight controller is connected to the OFDM radar module via an RS232-TTL module, which is used to receive the target detection data and integrate it into a unified data frame, which is transmitted to the ground control station via the communication module.

[0046] The ground control station has a built-in UDP multicast communication module, which enables low-latency communication between the drone and the ground station through preset protocol parameters. The preset protocol parameters include baud rate, data bits, stop bits, and parity bits.

[0047] The OFDM communication module adopts dynamic frequency switching technology, realizes frequency band switching through an automatic frequency hopping controller, and combines with an anti-interference signal generation module to reduce the impact of signal interference.

[0048] The drone interacts with the camera and radar module through the embedded Pixhawk 6x flight controller. The controller has a built-in data fusion unit, which fuses the video stream collected by the camera with the detection data of the radar module and sends it to the ground control station through the OFDM communication module.

[0049] The ground control station uses Mesh Manager software to monitor the signal-to-noise ratio (SNR), reference signal received power (RSRP) and communication distance between nodes, and uses QGroundControl software to realize real-time planning and management of UAV flight missions.

[0050] The OFDM communication module is equipped with an error detection and correction unit, which detects and corrects data frames through error control technology based on checksum to improve the reliability of data transmission.

[0051] The communication module and radar module share a single antenna, which realizes multi-band signal transmission through a built-in matching network and optimizes the gain of the transmitting and receiving signals in combination with the antenna dynamic adjustment module.

[0052] Compared with existing drone communication systems, including telemetry, WiFi, and radar communication (RADCOM) based on 5G networks, these communication technologies have limitations in complex applications and are prone to failure in complex environments (such as buildings, mountains, and the presence of multipath effects).

[0053] The embodiment of the present invention introduces an innovative air-to-ground (A2G) wireless communication system, which is based on autonomous radar communication (Radcom) design, uses cable and orthogonal frequency division multiplexing (OFDM) antenna communication modules and OFDM radar module's Starlink network topology for efficient data collection, transmission and analysis, while supporting remote control of drones (or cluster drones). The system can achieve remote communication in complex environments.

[0054] The system proposes an innovative unified design for drone air-to-ground (A2G) communications. The innovative design is based on autonomous radar communications (Radcom) and does not rely on 5G or 6G networks. The system is able to generate autonomous orthogonal frequency division multiplexing (OFDM) waveform signals and uses signal modulation techniques such as QPSK, 16QAM and 64QAM to effectively solve the communication problems caused by multipath effects.

[0055] To prevent data interference, reduce latency and achieve long-distance communication, the data collected by the camera and radar modules are transmitted to the Pixhawk 6x Jetson flight controller motherboard through the RS232-TTL module. The TTL-SBUS UART connection module serves as an interface between the OFDM module and the Pixhawk 6x Jetson motherboard for flight control and signal processing. In other words, this module establishes a connection between the drone and the remote control device (RC). Subsequently, the OFDM communication module resends the data to the QGroundControl mission planning software, which generates OFDM signal frames through a unified switching frequency (2.4GHz, 1.4GHz or 800MHz).

[0056] The use of OFDM signal frames can reduce the impact of multipath propagation, thereby ensuring the security of long-distance communications. The system uses an automatic cross-band frequency hopping anti-interference technology based on OFDM signals. This technology enhances data and image transmission capabilities through frequency hopping communication and improves anti-interference performance.

[0057] The innovatively designed drone can adaptively switch frequencies between 800MHz, 1.4GHz and 2.4GHz, using a single antenna to send and receive wireless signals, effectively reducing the impact of interference on communication and control. In addition, the network link topology combines MAVLINK and NLOS (non-line-of-sight) protocols within the Starlink Mesh framework, ensuring efficient control and management of the drone system, supporting the reception of stored data and ensuring long-distance communication.

[0058] To ensure the reliability of ground communications and the consistency of data reception, the present invention designs a new remote controller (RC) structure that meets the same standards, protocols and frequency requirements. The design is based on the Starlink RC architecture.

[0059] In this design, the TTL port of the OFDM communication module establishes a connection with the autonomous driving remote controller through the SBUS-UART port to support the MAVLink protocol and non-line-of-sight (NLOS) communication. The remaining RS45 serial port on the OFDM module is connected to the UART interface of the autonomous driving remote controller to achieve bidirectional data transmission. In the new design, data transmission is unified through a single frequency switching band, and the transmission function is independently completed by the OFDM module, thereby simplifying the structure and management of the data channel.

[0060] In addition, the new RC design is connected to the PC port of the ground control station through the RS45 serial port to interact with QGroundControl or MissionPlanner software for the management of UAV flight missions. The new design also combines Mesh Manager software to support real-time analysis and control of data such as signal-to-noise ratio (SNR), reference signal received power (RSRP), and communication distance, improving the communication reliability and system maintainability between the UAV and the ground control station.

[0061] The embodiment of the present invention adopts a non-line-of-sight (NLOS) protocol as a wireless link protocol to ensure long-distance communication between the UAV and the ground control station in the presence of multipath.

[0062] In other words, NLOS communication can still be carried out even if there are obstacles between the transmitter and the receiver (drone and ground control station). The signal will pass through multiple obstacles during the transmission process and will be affected by attenuation, reflection, diffraction and penetration. NLOS communication may cause multiple signal copies to arrive at the receiver at different times and with different amplitudes, resulting in inter-symbol interference (ISI) and inter-carrier interference (ICI) problems. This system effectively avoids these problems through the modulation technology of the OFDM communication module and the cyclic prefix design that exceeds the delay spread value.

[0063] Compared with the traditional communication network architecture, this system adopts the mesh network topology of Starlink, which is based on the master-slave node configuration. The system is configured through Mesh Manager and VIRCOM software. The drone is the master node and is assigned an independent IP address; the ground control station is the slave node and also has an independent IP address. Each node is assigned a unique IP address.

[0064] This configuration enables efficient management of drone clusters and supports communication between drones and robots, while regulating data transmission rates (SNR, RSRP) and the distance between drones and other nodes. In this configuration, only the master node can control the slave nodes, thereby achieving communication management of the entire cluster through a single designated drone (master node) and its IP address.

[0065] To ensure that the ground control station (or RC) and the node (drone) are in the same network segment (same IP address), a Ping test is required to verify the connection of the node serial port module.

[0066] The basic parameters of the serial port include:

[0067] Baud rate: supports configuration in the range of 1200bps to 460800bps.

[0068] Data bits: Supports 5, 6, 7, and 8 bit lengths.

[0069] Stop bits: Supports 1-bit or 2-bit configuration.

[0070] Check bit: supports five modes: no check, odd check, even check, mark check and blank check.

[0071] By setting the serial port parameters consistent with the device, you can ensure the normal operation of data transparent transmission.

[0072] The serial port mode supports multiple operation modes, including TCP server, TCP client and UDP multicast mode.

[0073] In TCP server mode, the module serial port waits for the computer to connect;

[0074] In TCP client mode, the module serial port actively connects to the network server with the specified target IP;

[0075] In UDP mode, data is sent to the computer (ground control station or RC) via the destination port of the destination IP.

[0076] After configuring the serial port parameters, you can control the connection of the network topology and adjust the communication distance between the drone and the ground control station. The drone is the central node, and its IP address is set to 192.168.1.20; the ground control station or remote controller (RC) is the access node, and its IP address is set to 192.168.1.21.

[0077] In addition, the Mesh Manager software allows for easy real-time analysis of data such as signal-to-noise ratio (SNR) and reference signal received power (RSRP); at the same time, the QGroundControl software can display the drone’s mission planning information in real time.

[0078] In this system, in order to achieve low-latency communication between the UAV and the ground control station or between the UAV and the robot / UAV cluster, the system must be configured in UDP multicast mode.

[0079] When the network topology is combined with orthogonal frequency division multiplexing (OFDM), non-line-of-sight (NLOS) protocol and Starlink mesh topology, its complexity is further enhanced. This combined design not only enhances the communication capability of the system, but also improves its adaptability to multi-node and highly dynamic environments, providing strong support for efficient communication between drones and ground stations, drone clusters, and drones and robots.

[0080] like Figure 2 The following is the process flow of the embodiment of the present invention when it is running. Loading flight plan and node configuration

[0081] The system loads the preset flight path and mission plan before the mission begins, and configures the network nodes. The drone is set as the master node (IP address 192.168.1.20), and the ground control station (GCS) or remote controller (RC) is set as the slave node (IP address 192.168.1.21). The Starlink Mesh network topology is used to achieve efficient connection and management between nodes. OFDM radar module: used to collect target detection data, including obstacle location and flight environment perception. Camera: captures real-time video stream and provides visual information of the flight area to support mission execution. After data collection is completed, the data of the radar module and camera are transmitted to the Pixhawk 6x flight controller through the RS232-TTL module, and are integrated and packaged through the OFDM communication module for transmission. The system sets a loop mechanism to continuously monitor the communication quality. If data loss or interference is detected, the data is automatically resent to the OFDM module to ensure the integrity of the transmission. As the core computing unit, the Pixhawk 6x flight controller is responsible for processing the data transmitted by the OFDM module, and performing signal processing and command issuance in combination with the flight control task. The ground controller sends mission control signals to the drone through the MAVLink protocol, including flight path adjustments and real-time mission instructions. Based on the Starlink topology, the OFDM communication module realizes communication between the drone and the ground control station or RC through the NLOS protocol, supporting long-distance data transmission (air-to-ground range up to 20 kilometers, ground-to-ground range up to 3-5 kilometers). The system realizes the flight path control and mission execution management of the drone through the autopilot function and the remote controller. The ground control station displays the mission status of the drone in real time through the QGroundControl software, and monitors parameters such as the signal-to-noise ratio (SNR), reference signal received power (RSRP) and communication distance in combination with the MeshManager software to ensure the safety and reliability of the flight mission. At the end of the mission, the system transmits all collected data back to the ground control station through the OFDM module for subsequent analysis and optimization.

[0082] In general, the Starlink-based autonomous radar communication system of an embodiment of the present invention is intended to achieve efficient communication and mission control between a UAV and a ground control station (GCS) and a remote controller (RC).

[0083] The overall system architecture includes the following key parts:

[0084] Drone part: equipped with Pixhawk 6x flight controller, OFDM communication module, OFDM radar module and camera.

[0085] Ground Control Station (GCS): Contains the OFDM communication module and is connected via RS45 to a PC running mission planning software (such as QGroundControl).

[0086] Remote Controller (RC): Equipped with an SBUS-UART module, it communicates with the drone and GCS via the Starlink Mesh network.

[0087] The system works as follows:

[0088] Initialization of the flight mission: Before the mission begins, the user loads the flight plan through the mission planning software (QGroundControl) of the ground control station. The flight plan includes the path node configuration and target area information of the drone. After the drone receives the flight plan, it parses the path points through the Pixhawk 6x flight controller and completes the network node configuration with the ground control station and remote controller. The Starlink Mesh network assigns a unique IP address, such as 192.168.1.20 for the drone and 192.168.1.21 for the GCS, to ensure the uniqueness of node communication.

[0089] Collaboration between radar module and camera: The OFDM radar module collects environmental information in real time, such as obstacle location and flight altitude. The camera captures high-resolution video streams and provides visual data of the flight environment.

[0090] Data Fusion: Data from the radar module and camera is transmitted to the Pixhawk 6x flight controller via an RS232-TTL module. The flight controller uses a built-in data fusion algorithm to combine the video data with the radar detection data to generate a more comprehensive flight status information.

[0091] Data transmission and communication:

[0092] Function of OFDM communication module: The OFDM communication module receives data from Pixhawk 6x and packages the data frames using orthogonal frequency division multiplexing technology. The data frames are sent to the ground control station or remote controller via NLOS protocol.

[0093] Frequency hopping anti-interference technology: The system dynamically adjusts the frequency band (800MHz, 1.4GHz or 2.4GHz) according to environmental interference. The frequency hopping anti-interference algorithm ensures the stability of signal transmission under multipath effects or complex environments.

[0094] UDP multicast mode:

[0095] Data transmission uses UDP multicast mode to reduce communication delay and ensure real-time interaction between the drone and GCS / RC.

[0096] Task Control and Feedback:

[0097] Mission execution: The ground control station sends mission instructions to the drone through QGroundControl. Mission instructions include flight path adjustment or real-time mission switching. The remote controller (RC) can also send control signals to command the drone to complete specific operations, such as hovering or returning.

[0098] Mission feedback: The drone transmits data such as flight status, signal-to-noise ratio (SNR), and reference signal received power (RSRP) to the GCS and RC in real time through the OFDM module, so that the operator can monitor the progress of the mission.

[0099] Adaptability in complex environments:

[0100] The role of the Starlink Mesh network: In mountainous areas or areas with dense buildings, the NLOS protocol supports signal diffraction or penetration of obstacles to ensure uninterrupted communication between drones and ground stations.

[0101] Master-slave node management: In the Starlink network, the drone acts as the master node, managing communications with multiple slave nodes (such as RC or other drones) to avoid network conflicts and communication interruptions.

[0102] Energy consumption optimization and communication compensation:

[0103] The system optimizes the flight path through Pixhawk 6x to minimize energy consumption while meeting the bit error rate (BER) and transmission rate constraints. Doppler compensation technology is introduced to adjust communication parameters when the drone is flying at high speed to ensure data integrity and accuracy.

[0104] The advantages of the embodiments of the present invention are that long-distance communication (20 kilometers from air to ground and 3-5 kilometers from ground to ground) is achieved through OFDM technology and Starlink Mesh topology. Multi-node task management and drone cluster operation in complex environments are supported. Dynamic frequency band switching and frequency hopping anti-interference technology ensure high reliability and low latency of communication.

[0105] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0106] (1) In the present invention, by adopting the Starlink network topology and non-line-of-sight (NLOS) protocol, the system of the present invention overcomes the reliance of traditional UAV communications on line-of-sight (LOS), supports air-to-ground communication distances of up to 20 kilometers and ground-to-ground communication distances of up to 5 kilometers, significantly expanding the application scenarios of UAVs, especially in mountainous areas, urban areas with dense buildings, and other complex environments;

[0107] (2) In the present invention, the orthogonal frequency division multiplexing (OFDM) technology is adopted, combined with multi-band switching and dynamic frequency hopping anti-interference algorithm, which can effectively reduce multipath interference and inter-symbol interference (ISI) and improve the stability of data transmission. At the same time, the system transmits data through a unified frequency band and embeds an error correction function, ensuring the reception of high-quality data frames and reducing the risk of data loss and tampering;

[0108] (3) In the present invention, by integrating the communication module and the radar module into a single antenna system and adopting dynamic frequency switching technology, the hardware resources are minimized. Compared with the traditional design, the system reduces the complexity and power consumption of the multi-antenna system, improves the energy utilization of the equipment, extends the flight time of the UAV, and simplifies the system maintenance and deployment.

[0109] The above contents are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0110] There are a few points to note:

[0111] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention, and other structures may refer to the general design.

[0112] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is exaggerated or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be intermediate elements.

[0113] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0114] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An autonomous radar communication system based on Starlink, including an unmanned aerial vehicle and a ground control station, characterized in that: The drone includes a Pixhawk 6x flight controller, an OFDM communication module, an OFDM radar module, and a camera; The OFDM communication module is connected to the Pixhawk 6x flight controller via a TTL-SBUS module, supports non-line-of-sight protocol, and communicates with the ground control station via the MAVLink protocol; The OFDM communication module integrates a multi-band switching circuit, operates in the 800MHz, 1.4GHz and 2.4GHz frequency bands, and implements frequency switching through an adaptive frequency hopping algorithm to reduce multipath interference; The ground control station includes a communication module configured with an RS45 interface and a TTL interface, supports Starlink network topology, and performs multi-node management through Mesh Manager software.

2. The Starlink-based autonomous radar communication system according to claim 1, characterized in that: include: The OFDM communication module realizes the connection between the UAV and the ground control station through the Starlink mesh topology. The network topology includes a master node and a slave node. The master node is the UAV, and the slave node is the ground control station. All nodes are assigned independent IP addresses to achieve efficient communication.

3. The Starlink-based autonomous radar communication system according to claim 1, characterized in that: include: The OFDM radar module is embedded with QPSK, 16QAM and 64QAM signal modulation units, which are used to generate signal waveforms that adapt to different communication environments and optimize signal quality through circuit-level signal processing modules.

4. The Starlink-based autonomous radar communication system according to claim 1, characterized in that: include: The Pixhawk 6x flight controller is connected to the OFDM radar module via the RS232-TTL module to receive target detection data and integrate it into a unified data frame, which is then transmitted to the ground control station via the communication module.

5. The Starlink-based autonomous radar communication system according to claim 1, characterized in that: include: The ground control station has a built-in UDP multicast communication module, which realizes low-latency communication between the UAV and the ground station through preset protocol parameters. The preset protocol parameters include baud rate, data bit, stop bit and parity bit.

6. The Starlink-based autonomous radar communication system according to claim 1, characterized in that: include: The OFDM communication module adopts dynamic frequency switching technology, realizes frequency band switching through an automatic frequency hopping controller, and combines with an anti-interference signal generation module to reduce the impact of signal interference.

7. The Starlink-based autonomous radar communication system according to claim 1, characterized in that: include: The drone interacts with the camera and the radar module through an embedded Pixhawk 6x flight controller. The controller has a built-in data fusion unit, which fuses the video stream collected by the camera with the detection data of the radar module and sends it to the ground control station through the OFDM communication module.

8. The Starlink-based autonomous radar communication system according to claim 1, characterized in that: include: The ground control station uses Mesh Manager software to monitor the signal-to-noise ratio (SNR), reference signal received power (RSRP) and communication distance between nodes, and realizes real-time planning and management of UAV flight missions through QGroundControl software.

9. The Starlink-based autonomous radar communication system according to claim 1, characterized in that: include: The OFDM communication module is provided with an error detection and correction unit, which detects and corrects data frames through a checksum-based error control technology to improve the reliability of data transmission.

10. The Starlink-based autonomous radar communication system according to claim 1, characterized in that: include: The communication module and the radar module share a single antenna, which realizes multi-band signal transmission through a built-in matching network and optimizes the gain of the transmitted and received signals in combination with the antenna dynamic adjustment module.

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