Multi-unmanned aerial vehicle measurement and control method based on channel detection

Abstract

The invention relates to the field of unmanned aerial vehicle measurement and control, and discloses a multi-unmanned aerial vehicle measurement and control method based on channel detection, and the method comprises the steps: detecting the occupation condition of an unmanned aerial vehicle reconnaissance information transmission channel, selecting an idle channel as the reconnaissance information transmission channel, and transmitting the information of the reconnaissance information transmission channel to an unmanned aerial vehicle through a telemetering channel; and the unmanned aerial vehicle transmits the reconnaissance information to the ground in real time at the maximum transmission rate by using the channel. According to the method, a technical system of detecting a reconnaissance information transmission channel and dynamically adjusting the transmission channel according to the data volume of the reconnaissance information of the unmanned aerial vehicle is adopted, so that the reconnaissance information transmission of more unmanned aerial vehicle systems is realized in the same frequency bandwidth, and the frequency utilization rate of the unmanned aerial vehicle measurement and control system is greatly improved; and the use number of unmanned aerial vehicle systems in the same airspace is increased.

Description

Technical Field

[0001] The present invention relates to a multi-UAV measurement and control method based on channel detection in the field of UAV measurement and control. Background Art

[0002] Currently, UAV measurement and control systems, both domestically and internationally, primarily perform functions such as remote control, telemetry, and real-time transmission of reconnaissance information, as well as tracking and positioning. Frequency division multiple access (FDMA) is typically used to achieve measurement and control of multiple UAVs. This necessitates significant bandwidth usage when a large number of UAVs are in use simultaneously. Given the limited frequency bandwidth available for UAV measurement and control systems, research on how to efficiently utilize frequency resources to achieve measurement and control of multiple UAVs in the same airspace is a key research area.

[0003] Because each drone's telemetry, telemetry, and reconnaissance information transmission system occupies a certain frequency bandwidth, or channel, the maximum number of drones operating in the same airspace is the available frequency bandwidth divided by the frequency bandwidth occupied by each drone. Increasing the number of drones operating within a limited frequency bandwidth utilizes channel sharing technology. This involves drones performing channel detection during data transmission. Upon detecting an idle channel, they transmit using that channel and cease transmitting signals after data transmission is complete. This multi-drone telemetry and control method, based on channel detection, dynamically utilizes transmission channels, effectively increasing the number of drones operating within a limited frequency bandwidth. Summary of the Invention

[0004] This invention discloses a multi-UAV measurement and control method based on channel detection. This method detects the occupancy of the UAV reconnaissance information transmission channel, selects an idle channel as the reconnaissance information transmission channel, and transmits the reconnaissance information transmission channel information to the UAV via the telemetry channel. The UAV uses this channel to transmit the reconnaissance information to the ground in real time at the maximum transmission rate. This method utilizes a technical system that detects the reconnaissance information transmission channel and dynamically adjusts the transmission channel based on the amount of UAV reconnaissance information. This method enables reconnaissance information transmission from multiple UAV systems within the same frequency bandwidth, significantly improving the frequency utilization of the UAV measurement and control system and increasing the number of UAV systems in use within the same airspace.

[0005] The technical solution adopted in the present invention is:

[0006] A multi-UAV measurement and control method based on channel detection includes the following steps:

[0007] (1) The UAV measurement and control system channels are divided into uplink remote control channels, downlink telemetry channels, and downlink reconnaissance information transmission channels. The measurement and control system equipment is divided into airborne measurement and control equipment and ground measurement and control equipment.

[0008] (2) The uplink remote control channel is divided into S channels. Each channel adopts the direct sequence spread spectrum code division multiple access system and supports m UAVs at the same time. The S channels support a maximum of K = m * S UAVs. Among them, S is set according to the anti-interference capability and m is set according to the direct sequence spread spectrum code division multiple access system.

[0009] (3) Divide the downlink telemetry channel into K channels, which can support the transmission of telemetry information of a maximum of K UAVs; divide the downlink reconnaissance information transmission channel into L channels, and each channel can support a maximum transmission rate of R bmax ,The reconnaissance information transmission rate is different in different stages of the reconnaissance mission, and is divided into multiple gears for transmission, and each transmission rate occupies a different length of time; among them, K is much larger than L;

[0010] (4) When the UAV measurement and control system is working, the remote control and telemetry information transmission workflow is as follows: the ground measurement and control equipment detects the telemetry channel, selects an idle channel as the telemetry channel, and sends the remote control information containing the telemetry channel number to the airborne measurement and control equipment through the pre-agreed remote control channel; the airborne measurement and control equipment receives the remote control information sent by the ground measurement and control equipment, and sends the telemetry information to the ground measurement and control equipment through the telemetry channel. At the same time, the airborne measurement and control equipment detects the remote control channel, selects an idle channel as the new remote control channel, and sends the new remote control channel number to the ground measurement and control equipment through the telemetry channel; the ground measurement and control equipment receives the telemetry information downloaded from the airborne measurement and control equipment, and starts sending the remote control information according to the received updated remote control channel; if the remote control and telemetry information transmission cannot work properly, the remote control and telemetry information transmission workflow is restarted until the remote control and telemetry information transmission works normally;

[0011] (5) The workflow of reconnaissance information transmission is as follows: the ground measurement and control equipment detects the reconnaissance information transmission channel, selects an idle channel as the reconnaissance information transmission channel, and sends the reconnaissance information transmission channel number to the airborne measurement and control equipment through the remote control channel. The airborne measurement and control equipment transmits the reconnaissance information to be transmitted at the maximum transmission rate R bmax Transmit on the reconnaissance information transmission channel, and stop transmitting when the reconnaissance information transmission is completed or there is no reconnaissance information to be sent; the ground measurement and control equipment receives the reconnaissance information sent by the airborne measurement and control equipment, and if the reception of the reconnaissance information data is completed, it sends a response to the end of receiving the data to the airborne measurement and control equipment through the remote control channel; if the received reconnaissance information data is abnormal, it sends a response to the airborne measurement and control equipment for reconnaissance information transmission abnormality through the remote control channel, and the ground measurement and control equipment reselects other idle channels according to the occupancy status of the reconnaissance information transmission channel, and sends the new reconnaissance information transmission channel number to the airborne measurement and control equipment through the remote control channel, and the airborne measurement and control equipment uses the new reconnaissance information transmission channel to resend the reconnaissance information until the ground measurement and control equipment completes receiving the reconnaissance information data.

[0012] The beneficial effects of adopting the above technical solution are:

[0013] This invention discloses a multi-UAV measurement and control method based on channel detection. This method detects the occupancy of the UAV reconnaissance information transmission channel, selects an idle channel as the reconnaissance information transmission channel, and transmits the reconnaissance information transmission channel information to the UAV via the telemetry channel. The UAV uses this channel to transmit the reconnaissance information to the ground in real time at the maximum rate. This method utilizes a technical system that detects the reconnaissance information transmission channel and dynamically adjusts the transmission channel based on the amount of UAV reconnaissance information. This method enables reconnaissance information transmission from multiple UAV systems within the same frequency bandwidth, significantly improving the frequency utilization of the UAV measurement and control system and increasing the number of UAV systems in use within the same airspace. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a flow chart of the present invention.

[0015] Figure 2 It is a schematic diagram of channel division of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described in detail below with reference to the accompanying drawings.

[0017] The present invention provides a multi-UAV measurement and control method based on channel detection. The UAV measurement and control system telemetry and reconnaissance information transmission frequency band is divided into a telemetry channel and a reconnaissance information transmission channel. The ground receiving end detects the reconnaissance information transmission channel and selects an idle channel as the reconnaissance information transmission channel. The UAV uses the reconnaissance information transmission channel for transmission according to the transmission requirements of the reconnaissance information, which can greatly increase the number of UAV systems in the same airspace. Figure 1 As shown, the specific steps include:

[0018] (1) The UAV measurement and control system channels are divided into three channels: uplink remote control, downlink telemetry, and reconnaissance information transmission. The measurement and control system equipment is divided into airborne measurement and control equipment and ground measurement and control equipment. The uplink remote control channel transmits the remote control information of the UAV, including various control information and the control and status information of the measurement and control link. The downlink telemetry channel transmits the telemetry information of the UAV, including the UAV status parameter information and the control and status information of the measurement and control link. The downlink reconnaissance information transmission mainly includes the original reconnaissance information generated by the UAV sensor, pre-processed reconnaissance information or reconnaissance intelligence information, etc. In general, the data rate of remote control and telemetry information is low, the amount of original or pre-processed reconnaissance information generated by the reconnaissance sensor is large, and the amount of reconnaissance intelligence information is low.

[0019] (2) The uplink remote control channel is divided into S channels. Each channel adopts the direct sequence spread spectrum code division multiple access system, which can support m drones at the same time and has strong anti-interference ability. S channels can support up to K = m * S drones. K is generally designed to be the maximum number of drones in use, which is much larger than S. Among them, S is set according to the anti-interference ability. Channel division is as follows Figure 2 shown.

[0020] (3) The downlink channel includes the telemetry channel and the reconnaissance information transmission channel. The downlink telemetry adopts a narrowband modulation system. The downlink telemetry channel is divided into K channels, which can support the telemetry information transmission of a maximum of K UAVs; the downlink reconnaissance information transmission channel is divided into L channels (generally L is less than K), and the maximum transmission rate of each channel is R bmax The transmission rate of reconnaissance information is different in different stages of the UAV reconnaissance mission. It is usually divided into several types of transmission, and each transmission rate takes a different amount of time. Channel division is as follows: Figure 2 shown.

[0021] The utilization rate of the reconnaissance information transmission channel of the UAV measurement and control system is the ratio of the actual amount of information transmitted by the channel during the mission to the maximum amount of information transmitted during the entire mission time, which can be expressed by the formula:

[0022]

[0023] Where U is the utilization rate of the reconnaissance information transmission channel, R i is the i-th transmission rate, J is the number of gears for the entire information transmission rate, T i is the transmission time of the i-th transmission rate, and T is the entire task time.

[0024] The reconnaissance information transmission rate is closely related to the different stages of the UAV system's mission execution and the working status of the reconnaissance mission payload. It is usually divided into several levels, such as the maximum transmission rate R bmax , 0.5R bmax , 0.25R bmax and 0, therefore, in general, the reconnaissance information transmission channel utilization U is less than 1.

[0025] (4) When the UAV measurement and control system is working, the remote control and telemetry information transmission workflow is: the ground measurement and control equipment detects the telemetry channel, selects an idle channel as the telemetry channel, and sends the remote control information containing the telemetry channel number to the airborne measurement and control equipment through the pre-agreed remote control channel; the airborne measurement and control equipment receives the remote control information sent by the ground measurement and control equipment, and sends the telemetry information to the ground measurement and control equipment through the telemetry channel. At the same time, the airborne measurement and control equipment detects the remote control channel, selects an idle channel as the new remote control channel, and sends the new remote control channel number to the ground measurement and control equipment through the telemetry channel; the ground measurement and control equipment receives the telemetry information downloaded by the airborne measurement and control equipment, and starts sending the remote control information according to the received updated remote control channel; if the remote control and telemetry information transmission cannot work properly, the remote control and telemetry information transmission workflow is restarted until the remote control and telemetry information transmission works normally.

[0026] The remote control and telemetry workflow of the UAV measurement and control system is as follows: the airborne measurement and control equipment and the ground measurement and control equipment detect the remote control and telemetry receiving channel, select an idle channel as the working channel, and transmit their respective channel status and remote control and telemetry information to each other on the channel, thereby realizing the transmission of UAV remote control and telemetry information, channel status and other data.

[0027] (5) The workflow of reconnaissance information transmission of the UAV measurement and control system is as follows: the ground measurement and control equipment detects the reconnaissance information transmission channel, selects an idle channel as the reconnaissance information transmission channel, and sends the reconnaissance information transmission channel number to the airborne measurement and control equipment through the remote control channel. The airborne measurement and control equipment transmits the reconnaissance information to be transmitted at the maximum transmission rate R bmax Transmit on the reconnaissance information transmission channel, and stop transmitting when the reconnaissance information transmission is completed or there is no reconnaissance information to be sent; the ground measurement and control equipment receives the reconnaissance information sent by the airborne measurement and control equipment, and if the reception of the reconnaissance information data is completed, it sends a response to the end of receiving the data to the airborne measurement and control equipment through the remote control channel; if the received reconnaissance information data is abnormal, it sends a response to the airborne measurement and control equipment for reconnaissance information transmission abnormality through the remote control channel, and the ground measurement and control equipment reselects other idle channels according to the occupancy status of the reconnaissance information transmission channel, and sends the new reconnaissance information transmission channel number to the airborne measurement and control equipment through the remote control channel, and the airborne measurement and control equipment uses the new reconnaissance information transmission channel to resend the reconnaissance information until the ground measurement and control equipment completes receiving the reconnaissance information data.

[0028] The UAV measurement and control system reconnaissance information transmission workflow is as follows: the ground measurement and control equipment detects the reconnaissance information transmission channel and selects an idle channel as the reconnaissance information transmission channel. When the airborne measurement and control equipment needs to send reconnaissance information, it transmits the information at the maximum transmission rate R on the reconnaissance information transmission channel received by remote control. bmax When the transmission is complete, the signal transmission stops and other users can send data on this channel.

[0029] The number of UAV system measurement and control is mainly limited by the utilization rate of reconnaissance information transmission, which can be expressed by the formula:

[0030]

[0031] Where N is the number of measurement and control units in the UAV system.

[0032] U ranges from 0 to 1. Considering the need for reconnaissance information transmission during UAV system missions, U typically does not exceed 0.5, and in extreme cases, it is 0. The number of measurement and control parameters N for UAV systems typically ranges from 2 × L to infinity. Considering some practical aspects of UAV system use, N generally does not exceed K.

[0033] Considering the need for reconnaissance information transmission in the actual use of UAV systems, this method can greatly increase the number of UAV systems used in the same area.

[0034] In this implementation, when L is 10 and U is 0.2, the number of measurement and control units in the UAV system is:

[0035]

Claims

1. A multi-UAV measurement and control method based on channel detection, characterized in that: The following steps are involved: (1) The UAV measurement and control system channels are divided into uplink remote control channels, downlink telemetry channels, and downlink reconnaissance information transmission channels. The measurement and control system equipment is divided into airborne measurement and control equipment and ground measurement and control equipment. (2) The uplink remote control channel is divided into S channels. Each channel adopts the direct sequence spread spectrum code division multiple access system and supports m UAVs at the same time. The S channels support a maximum of K = m * S UAVs. Among them, S is set according to the anti-interference capability and m is set according to the direct sequence spread spectrum code division multiple access system. (3) Divide the downlink telemetry channel into K channels, which can support the transmission of telemetry information of a maximum of K UAVs; divide the downlink reconnaissance information transmission channel into L channels, and each channel can support a maximum transmission rate of R bmax ,The reconnaissance information transmission rate is different in different stages of the reconnaissance mission, and is divided into multiple gears for transmission, and each transmission rate occupies a different length of time; among them, K is much larger than L; (4) When the UAV measurement and control system is working, the remote control and telemetry information transmission workflow is as follows: the ground measurement and control equipment detects the telemetry channel, selects an idle channel as the telemetry channel, and sends the remote control information containing the telemetry channel number to the airborne measurement and control equipment through the pre-agreed remote control channel; the airborne measurement and control equipment receives the remote control information sent by the ground measurement and control equipment, and sends the telemetry information to the ground measurement and control equipment through the telemetry channel. At the same time, the airborne measurement and control equipment detects the remote control channel, selects an idle channel as the new remote control channel, and sends the new remote control channel number to the ground measurement and control equipment through the telemetry channel; the ground measurement and control equipment receives the telemetry information downloaded from the airborne measurement and control equipment, and starts sending the remote control information according to the received updated remote control channel; if the remote control and telemetry information transmission cannot work properly, the remote control and telemetry information transmission workflow is restarted until the remote control and telemetry information transmission works normally; (5) The workflow of reconnaissance information transmission of the UAV measurement and control system is as follows: the ground measurement and control equipment detects the reconnaissance information transmission channel, selects an idle channel as the reconnaissance information transmission channel, and sends the reconnaissance information transmission channel number to the airborne measurement and control equipment through the remote control channel. The airborne measurement and control equipment transmits the reconnaissance information to be transmitted at the maximum transmission rate R bmax Transmit on the reconnaissance information transmission channel, and stop transmitting when the reconnaissance information transmission is completed or there is no reconnaissance information to be sent; the ground measurement and control equipment receives the reconnaissance information sent by the airborne measurement and control equipment, and if the reception of the reconnaissance information data is completed, it sends a response to the end of receiving the data to the airborne measurement and control equipment through the remote control channel; if the received reconnaissance information data is abnormal, it sends a response to the airborne measurement and control equipment for reconnaissance information transmission abnormality through the remote control channel, and the ground measurement and control equipment reselects other idle channels according to the occupancy status of the reconnaissance information transmission channel, and sends the new reconnaissance information transmission channel number to the airborne measurement and control equipment through the remote control channel, and the airborne measurement and control equipment uses the new reconnaissance information transmission channel to resend the reconnaissance information until the ground measurement and control equipment completes receiving the reconnaissance information data.

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