Submarine-launched unmanned aerial vehicle launch signal monitoring method

Abstract

The invention belongs to the technical field of submarine-launched unmanned aerial vehicle monitoring and control, and particularly relates to a submarine-launched unmanned aerial vehicle launch signal monitoring method. Comprising an MCU module, a signal acquisition module, a serial port expansion module, a communication module and a logic control module, the MCU module comprises an STM32 chip, an AHB system bus, an APB peripheral bus, a BAM data acquisition module and an LQFP minimum hardware module; the signal acquisition module comprises a vibration sensor, an electromagnetic signal sensor and an acoustic vibration signal acquisition chip which are arranged on a submarine-launched unmanned aerial vehicle launch canister, and an accelerometer, an electronic compass and an unmanned aerial vehicle pose signal acquisition chip which are located on an unmanned aerial vehicle; the communication module comprises an LTE communication assembly arranged on the unmanned aerial vehicle; the method and the device are used for monitoring each platform parameter in the launching process of the unmanned aerial vehicle and each parameter attribute in the launching process of the unmanned aerial vehicle so as to realize stable control of the launching process of the unmanned aerial vehicle.

Description

Technical Field

[0001] The invention belongs to the technical field of submarine-launched unmanned aerial vehicle monitoring and control, and in particular relates to a method for monitoring a signal transmitted by a submarine-launched unmanned aerial vehicle. Background Art

[0002] Launching from a launch tube is an important means of launching submarine-launched UAVs. It has good stability and can adapt to various launch platforms. During the launch of a submarine-launched UAV, it is necessary to determine the launch status of the submarine-launched UAV by controlling and monitoring its launch status and various properties during the launch process, and then further control the launch process. Summary of the invention

[0003] The purpose of the present invention is to provide a method mainly used for signal monitoring of a UAV launched from a submarine based on a launch platform such as a launch tube.

[0004] To achieve the above purpose, the present invention adopts the following technical solution.

[0005] A method for monitoring a submarine-launched UAV transmission signal, comprising an MCU module, a signal acquisition module, a serial port expansion module, a communication module, and a logic control module for completing the collection and processing of UAV transmission signals;

[0006] The MCU module includes the Cortex-m4 architecture STM32 chip as the MCU core, four AHB system buses connected to the STM32 chip, two APB peripheral buses, an independent BAM data acquisition module, and an LQFP minimum hardware module;

[0007] The AHB system bus and APB peripheral bus are used to realize data processing and transmission between modules, and the BAM data acquisition module is connected to the STM32 chip data acquisition port to realize batch acquisition;

[0008] The signal acquisition module includes a vibration sensor, an electromagnetic signal sensor and an acoustic vibration signal acquisition chip arranged on the launch tube of the submarine-launched UAV, an accelerometer, an electronic compass and a UAV posture signal acquisition chip located on the UAV;

[0009] The communication module includes an LTE communication component disposed on the drone, and the LTE communication component includes a TTL conversion unit for completing data compatibility with the serial port connection in the MCU module;

[0010] It also includes a logic control module, which is used to complete the following operations or steps:

[0011] A1. The steps for controlling the acquisition of vibration signals specifically refer to:

[0012] The MCU data acquisition instructions are monitored through the signal port. When the MCU needs to obtain the sound vibration signal, the SPI communication module is awakened through the communication control pin of the sound vibration signal acquisition chip, and the level state of the communication control pin is maintained. Based on the cycle of the clock pin, the data transfer between the data modules is completed within the preset acquisition cycle;

[0013] A2. The steps for controlling the acquisition of magnetic signals specifically refer to:

[0014] According to the I2C bus transmission protocol, when the MCU data acquisition instruction is detected, the signal acquisition pin is kept at a high level and the flag pin level is pulled down to start data transmission. After the data transmission is completed, the flag pin is released to restore the high level to stop data transmission.

[0015] A further improvement or preferred implementation of the aforementioned submarine-launched UAV transmission signal monitoring method, the LQFP minimum hardware module includes: a 2.5-3.7V power supply circuit connected to the STM32 chip through four digital power pins and a group of analog power pins; an 8MHz HSE high-speed clock circuit for providing a clock source connected to the STM32 chip through the OSC32 pin, and a 32KHz RTC clock circuit connected to the STM32 chip through the OSC pin; a reset circuit connected to the STM32 chip through the NRST pin and the Vcc pin; a debugging circuit for providing ST-LINK and JTAG debugging interfaces for the STM32 chip; and a hardware mode setting circuit for adjusting the hardware mode connected to the STM32 chip through the BOOT pin.

[0016] A further improvement or preferred implementation of the aforementioned submarine-launched UAV transmission signal monitoring method, the vibration sensor includes at least three axial velocity acquisition channels to realize the acquisition of acceleration signals in three different axes; the electromagnetic signal sensor includes an acoustic vibration chip with an automatic parameter adjustment and anti-interference circuit, and an I2C communication module for data transmission with the acoustic vibration signal acquisition chip; the acoustic vibration signal acquisition chip is provided with an SPI communication module for achieving data transmission compatibility with the STM32 chip in the MCU module.

[0017] A further improvement or preferred implementation of the aforementioned submarine-launched UAV transmission signal monitoring method, the serial port expansion module includes an RS232 serial port adapter component and an HMI serial port conversion component; the RS232 serial port adapter component controls the serial port level to realize binary data transmission; the HMI serial port conversion component is used to realize visual information output of the TJC serial port.

[0018] A further improvement or preferred implementation of the aforementioned submarine-launched UAV transmission signal monitoring method is that the vibration sensor used is a LIS3DH sensor. During the specific implementation process, the logic control module adjusts the CS pin level of the LIS3DH sensor to a low level to wake up the SPI communication function, and maintains the low level state of the CS pin, and gives a preset collection period through the SCLK pin timing, and collects complete data packets or sequentially arranged vibration data packets in each collection period.

[0019] A further improvement or preferred implementation of the aforementioned submarine-launched UAV transmission signal monitoring method is that the acoustic vibration chip transmits in 8-bit bytes through the I2C bus. Each time the acoustic vibration chip completes data transmission, it releases the data line SDA after the rising edge of the clock pulse, and the MCU module feeds back a response signal to the acoustic vibration chip. If the MCU module feedback signal is low, it is a valid confirmation character, that is, the MCU module successfully receives the byte data; if the MCU module feedback signal is high, it is an invalid confirmation character, and it is considered that the MCU module data reception has failed and a preset secondary collection or other collection process is executed.

[0020] A further improvement or preferred implementation of the aforementioned submarine-launched UAV transmission signal monitoring method, wherein the STM32 chip refers to the STM32 F412RET6 chip.

[0021] Its beneficial effects are:

[0022] The submarine-launched UAV launch signal monitoring method of the present application is used for various types of submarine-launched UAV launch scenarios with a stable launch platform, and is used to monitor various platform parameters and various parameter attributes during the UAV launch process, so as to achieve stable control of the UAV launch process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is the common tube-launched submarine-launched UAV launch scheme one;

[0024] Figure 2 This is the second common launch scheme for tube-launched and submarine-launched UAVs. DETAILED DESCRIPTION

[0025] The present invention is described in detail below in conjunction with specific embodiments.

[0026] The present invention relates to a method for monitoring the transmission signal of a submarine-launched UAV, which is mainly used in a transmitter structure with a stable launch platform such as a launch tube, for example Figure 1 , Figure 2The submarine-launched launch scenario shown is used to monitor and collect various signal parameters during the launch of submarine-launched UAVs, to further improve the acquisition and processing of control parameters during the launch of submarine-launched UAVs, and to improve the effectiveness of the submarine-launched UAV control system.

[0027] The submarine-launched UAV transmission signal monitoring method of the present application mainly relies on the MCU module, signal acquisition module, serial port expansion module communication module, logic control module, logic control module, signal extraction module and other structures used to complete the collection and processing of UAV transmission signals.

[0028] The MCU module includes a Cortex-m4 architecture STM32 chip of the MCU core (the STM32F412RET6 chip is used in this embodiment), four AHB system buses connected to the STM32 chip, two APB peripheral buses, an independent BAM data acquisition module, and an LQFP minimum hardware module;

[0029] The AHB system bus and APB peripheral bus are used to realize data processing and transmission between modules, and the BAM data acquisition module is connected to the STM32 chip data acquisition port to realize batch acquisition;

[0030] The LQFP minimum hardware module includes: a 2.5-3.7V power supply circuit connected to the STM32 chip through four digital power pins and a group of analog power pins; an 8MHz HSE high-speed clock circuit connected to the STM32 chip through the OSC32 pin for providing a clock source, and a 32KHz RTC clock circuit connected to the STM32 chip through the OSC pin; a reset circuit connected to the STM32 chip through the NRST pin and the Vcc pin; a debugging circuit for providing ST-LINK and JTAG debugging interfaces for the STM32 chip; and a hardware mode setting circuit for adjusting the hardware mode connected to the STM32 chip through the BOOT pin.

[0031] The signal acquisition module includes a vibration sensor, an electromagnetic signal sensor and an acoustic vibration signal acquisition chip arranged on the launch tube of the submarine-launched UAV, an accelerometer, an electronic compass and a UAV posture signal acquisition chip located on the UAV;

[0032] The vibration sensor includes at least three axial velocity acquisition channels to realize the acquisition of acceleration signals in three different axes; the electromagnetic signal sensor includes an acoustic vibration chip with an automatic parameter adjustment and anti-interference circuit, and an I2C communication module for data transmission with the acoustic vibration signal acquisition chip; the acoustic vibration signal acquisition chip is provided with an SPI communication module for achieving data transmission compatibility with the STM32 chip in the MCU module;

[0033] The serial port expansion module includes RS232 serial port adapter component and HMI serial port conversion component; RS232 serial port adapter component controls the serial port level to realize binary data transmission; HMI serial port conversion component is used to realize the visual information output of TJC serial port;

[0034] The communication module includes an LTE communication component disposed on the drone, and the LTE communication component includes a TTL conversion unit for completing data compatibility with the serial port connection in the MCU module;

[0035] It also includes a logic control module, which is used to complete the following operations or steps:

[0036] A1. The steps for controlling the acquisition of vibration signals specifically refer to:

[0037] The MCU data acquisition instructions are monitored through the signal port. When the MCU needs to obtain the sound vibration signal, the SPI communication module is awakened through the communication control pin of the sound vibration signal acquisition chip, and the level state of the communication control pin is maintained. Based on the cycle of the clock pin, the data transfer between the data modules is completed within the preset acquisition cycle;

[0038] In this embodiment, the vibration sensor used is a LIS3DH sensor. During the specific implementation process, the logic control module adjusts the CS pin level of the LIS3DH sensor to a low level to wake up the SPI communication function, and keeps the CS pin in a low level state, and gives a collection period of preset cycles through the SCLK pin timing, and collects a complete data packet or sequentially arranged vibration data packets in each collection period;

[0039] A2. The steps for controlling the acquisition of magnetic signals specifically refer to:

[0040] According to the I2C bus transmission protocol, when the MCU data acquisition instruction is detected, the signal acquisition pin is kept at a high level and the flag pin level is pulled down to start data transmission. After the data transmission is completed, the flag pin is released to restore the high level to stop data transmission;

[0041] In particular, in this embodiment, the acoustic vibration chip transmits in 8-bit bytes through the I2C bus. Each time the acoustic vibration chip completes data transmission, it releases the data line SDA after the rising edge of the clock pulse. At the same time, the MCU module feeds back a response signal to the acoustic vibration chip. If the feedback signal of the MCU module is at a low level, it is a valid confirmation character, that is, the MCU module successfully receives the byte data; if the feedback signal of the MCU module is at a high level, it is an invalid confirmation character, and it is considered that the MCU module fails to receive the data and executes the preset secondary collection or other collection process.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A method for monitoring the transmission signal of a submarine-launched UAV, characterized in that: It includes MCU module, signal acquisition module, serial port expansion module communication module and logic control module for collecting and processing the signals transmitted by UAV; The MCU module includes the Cortex-m4 architecture STM32 chip as the MCU core, four AHB system buses connected to the STM32 chip, two APB peripheral buses, an independent BAM data acquisition module, and an LQFP minimum hardware module; The AHB system bus and APB peripheral bus are used to realize data processing and transmission between modules, and the BAM data acquisition module is connected to the STM32 chip data acquisition port to realize batch acquisition; The signal acquisition module includes a vibration sensor, an electromagnetic signal sensor and an acoustic vibration signal acquisition chip arranged on the launch tube of the submarine-launched UAV, an accelerometer, an electronic compass and a UAV posture signal acquisition chip located on the UAV; The communication module includes an LTE communication component disposed on the drone, and the LTE communication component includes a TTL conversion unit for completing data compatibility with the serial port connection in the MCU module; It also includes a logic control module, which is used to complete the following operations or steps: A1. The steps for controlling the acquisition of vibration signals specifically refer to: The MCU data acquisition instructions are monitored through the signal port. When the MCU needs to obtain the sound vibration signal, the SPI communication module is awakened through the communication control pin of the sound vibration signal acquisition chip, and the level state of the communication control pin is maintained. Based on the cycle of the clock pin, the data transfer between the data modules is completed within the preset acquisition cycle; A2. The steps for controlling the acquisition of magnetic signals specifically refer to: According to the I2C bus transmission protocol, when the MCU data acquisition instruction is detected, the signal acquisition pin is kept at a high level and the flag pin level is pulled down to start data transmission. After the data transmission is completed, the flag pin is released to restore the high level to stop data transmission.

2. The method for monitoring the transmission signal of a submarine-launched UAV according to claim 1 is characterized in that: The LQFP minimum hardware module includes: a 2.5-3.7V power supply circuit connected to the STM32 chip through four digital power pins and a group of analog power pins; an 8MHz HSE high-speed clock circuit connected to the STM32 chip through the OSC32 pin for providing a clock source, and a 32KHz RTC clock circuit connected to the STM32 chip through the OSC pin; a reset circuit connected to the STM32 chip through the NRST pin and the Vcc pin; a debugging circuit for providing ST-LINK and JTAG debugging interfaces for the STM32 chip; and a hardware mode setting circuit for adjusting the hardware mode connected to the STM32 chip through the BOOT pin.

3. The method for monitoring the transmission signal of a submarine-launched UAV according to claim 2 is characterized in that: The vibration sensor includes at least three axial velocity acquisition channels to realize the acquisition of acceleration signals in three different axes; the electromagnetic signal sensor includes a magnetic sensing chip with an automatic parameter adjustment and anti-interference circuit, and an I2C communication module for data transmission with the acoustic vibration signal acquisition chip; the acoustic vibration signal acquisition chip is provided with an SPI communication module for achieving data transmission compatibility with the STM32 chip in the MCU module.

4. The method for monitoring the transmission signal of a submarine-launched UAV according to claim 3 is characterized in that: The serial port expansion module includes RS232 serial port adapter component and HMI serial port conversion component; RS232 serial port adapter component controls the serial port level to realize binary data transmission; HMI serial port conversion component is used to realize the visual information output of TJC serial port.

5. The method for monitoring the transmission signal of a submarine-launched UAV according to claim 1 is characterized in that: The vibration sensor used is the LIS3DH sensor. During the specific implementation process, the logic control module adjusts the CS pin level of the LIS3DH sensor to a low level to wake up the SPI communication function, and keeps the CS pin in a low level state. The SCLK pin is used to give a preset collection period, and a complete data packet or sequentially arranged vibration data packets are collected in each collection period.

6. The method for monitoring the transmission signal of a submarine-launched UAV according to claim 1, characterized in that: The magnetic induction chip transmits data in 8-bit bytes through the I2C bus. Each time the magnetic induction chip completes data transmission, it releases the data line SDA after the rising edge of the clock pulse. At the same time, the MCU module feeds back a response signal to the magnetic induction chip. If the feedback signal of the MCU module is at a low level, it is a valid confirmation character, that is, the MCU module successfully receives the byte data; if the feedback signal of the MCU module is at a high level, it is an invalid confirmation character, and it is considered that the MCU module fails to receive data and executes the preset secondary collection or other collection process.

7. The method for monitoring the transmission signal of a submarine-launched UAV according to claim 1, characterized in that: The STM32 chip refers to the STM32 F412RET6 chip.

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