Signal enhancement method for remote striking vehicle in 4G signal weak area

Abstract

The invention provides a signal enhancement method for a remote striking vehicle in a 4G signal weak area. A holographic imaging auxiliary beam tracking module and a quantum entanglement auxiliary anti-interference communication module are included. The holographic imaging auxiliary beam tracking module is used for dynamically capturing a signal source and a reflected signal, and the quantum entanglement auxiliary anti-interference communication module is used for realizing anti-interference data transmission. According to the invention, the technical problems of high communication delay and unstable link in a weak signal environment are effectively solved, and the method has the advantage of remarkably improving the transmission reliability and real-time performance of the control instruction.

Description

Technical Field

[0001] This invention relates to the field of signal enhancement technology, and in particular to a method for enhancing the signal of a long-range strike vehicle in areas with weak 4G signal. Background Technology

[0002] Traditional 4G remote-controlled vehicles face severe technical challenges in areas with weak network coverage. In complex environments such as mountainous areas, basements, and remote rural villages, 4G signals are affected by terrain and building obstructions, resulting in exponential signal attenuation. This signal attenuation not only leads to significant delays and packet loss in control command transmission but can also cause a complete interruption of the communication link, leaving the vehicle out of control and posing a significant safety hazard.

[0003] Meanwhile, in weak signal environments, video image transmission suffers severe lag, and key sensor data cannot be transmitted back in a timely manner, making it difficult for remote operators to obtain real-time and accurate vehicle status information, which seriously affects control accuracy and response speed.

[0004] While existing commercial signal enhancement solutions, such as base station repeaters, can partially improve signal quality, their bulky size and high power consumption make them difficult to integrate into small control vehicles. Furthermore, they require professional personnel for deployment and debugging, which fails to meet the flexible application needs of mobile field scenarios.

[0005] Furthermore, these devices perform poorly in complex and ever-changing signal interference environments, making it difficult to guarantee the continuous stability of communication links. These problems severely restrict the widespread application of 4G remote-controlled vehicles in critical fields such as emergency rescue and field exploration. Summary of the Invention

[0006] In view of this, the present invention provides a method for signal enhancement of a remote strike vehicle in areas with weak 4G signal, in order to solve or alleviate the technical problems existing in the prior art.

[0007] To solve the above-mentioned technical problems, the technical solution adopted in this application is: a method for signal enhancement of a long-range strike vehicle in areas with weak 4G signals, comprising:

[0008] The dual-band directional antenna module adopts a foldable parabolic structure, covering the LTE 700MHz low-frequency band and the 2.4GHz mid-to-high-frequency band. It is fixed to the top of the control vehicle via a mechanical angle-adjusting bracket. The antenna has a built-in low-noise amplifier (LNA) with a noise figure ≤2dB and a signal gain ≥15dBi. Its signal reception sensitivity improvement satisfies the formula:

[0009] S out =S in +G LNA -NF LNA

[0010] Among them, S in For the input signal strength, G LNA For LNA gain, NF LNA The noise figure of the LNA;

[0011] The adaptive repeater amplifier unit integrates a 4G signal repeater chip supporting automatic gain control (AGC). This unit continuously monitors the received signal strength indicator (RSSI) of the input signal. When RSSI < -100dBm, it activates a multi-stage amplification circuit, using the formula:

[0012] P out =P in +G AGC

[0013] Amplify the signal to above -70dBm.

[0014] Among them, P in For input power, G AGC The value is the automatic gain, and it has a built-in 200MHz bandwidth bandpass filter. The filter attenuation satisfies the formula:

[0015]

[0016] f is the interference frequency, and f0 is the center frequency;

[0017] The dynamic power regulation module uses a hybrid power supply of lithium polymer batteries and solar panels, and adjusts its power supply based on RSSI fluctuations using the following formula:

[0018]

[0019] When RSSI < -90dBm, the power amplifier module automatically adjusts its power output between 100mW and 500mW, and the battery life meets the formula:

[0020]

[0021] C batt For battery capacity, U batt P is the operating voltage. avg Average power consumption;

[0022] The intelligent control motherboard, built on an STM32 microcontroller, samples RSSI values ​​at a frequency of 10Hz via an ADC interface, driving a stepper motor to adjust the antenna angle with an accuracy of ±1°. The angle adjustment satisfies the following formula:

[0023] θ adj =θ0+k×(RSSI) target -RSSI current )

[0024] k is a proportional coefficient, and it communicates with the main control chip of the control vehicle through the UART interface to synchronously transmit signal delay and packet loss rate data.

[0025] Furthermore, the mechanical angle adjustment bracket of the dual-band directional antenna module supports manual or electric adjustment of the orientation, with an adjustment range of 0-90° elevation angle, and the overall height is ≤15cm when stored.

[0026] Furthermore, in the dynamic power regulation power module, the lithium polymer battery capacity is ≥2000mAh, the solar panel power is ≥5W, the power consumption in standby mode is ≤30mA, and it supports automatic switching to the backup battery for ≥4 hours of battery life when hot-swapped.

[0027] Furthermore, this includes adaptive tuning steps for the signal link:

[0028] A dynamic mapping model of "signal strength - transmission strategy" is established. When RSSI < -90dBm is detected, the data compression algorithm is activated using the formula:

[0029]

[0030] Among them, D compressed D represents the compressed data size. original To reduce the original data volume, the control command compression rate was increased to 70%.

[0031] Command retransmission is implemented using a triple acknowledgment protocol, as shown in the formula:

[0032] R arrival =1-(L loss ) 3

[0033] Among them, L loss This refers to the single packet loss rate;

[0034] Ensure control command arrival rate ≥ 99%. When packet loss rate > 1%, trigger automatic retransmission mechanism. The number of retransmissions satisfies the formula:

[0035]

[0036] Transmission priorities are assigned based on data type, with control commands having higher priority than non-real-time data. Priority is given to transmitting core commands such as braking and steering, and the priority weights satisfy the formula:

[0037] W cmd =10×W video

[0038] Among them, W cmd To control instruction weights, W video Weights for video data.

[0039] Furthermore, it also includes a multi-device collaborative relay step: a multi-vehicle self-organizing network is built via Bluetooth 5.0 or ZigBee. After the master vehicle receives a remote command, it is forwarded to the slave vehicles in the blind spot via the relay vehicle, forming a "relay transmission" link. The total delay satisfies the formula:

[0040] T total =T main +N×T relay

[0041] Where N is the number of relay nodes, T main Master vehicle reception delay, T relay The single relay delay is ≤50ms and the relay vehicle supports automatic switching between receive / transmit modes.

[0042] Furthermore, the signal enhancement device is mounted on the top of the control vehicle via a magnetic interface, with an overall weight ≤300g. It connects to the main controller of the control vehicle via an SPI bus, with a transmission rate ≥10Mbps, satisfying the formula:

[0043] V SPI =f clk ×N bit / 8

[0044] f clk N is the clock frequency. bit Data bit width;

[0045] It also shares a power management system with the control vehicle.

[0046] Battery Management System: Extended Kalman Filter is used to estimate battery state.

[0047] x k |k-1=Fx k-1 |k-1+Bu k-1

[0048] P k|k-1 =FP k-1|k-1 F T +Q

[0049] K k =P k|k-1 H T HP k|k-1 H T +R) -1

[0050] x k| k = x k|k-1 +K k (z k -Hx k|k-1 )

[0051] Pk|k =(IK k H)P k|k-1

[0052] Where x is the state vector (including SOC, temperature, etc.), F is the state transition matrix, B is the input matrix, u is the input vector (current, etc.), P is the covariance matrix, Q is the process noise covariance, K is the Kalman gain, H is the observation matrix, R is the observation noise covariance, and z is the observation vector (voltage, temperature, etc.).

[0053] Charge / discharge control subunit: Model-based charge / discharge control algorithm:

[0054]

[0055] Constraints:

[0056] I min ≤I≤I max

[0057] T min ≤T battery ≤T max

[0058] Among them, I opt For optimal charge / discharge current, SOC target For the target SOC, SOC current Let C be the current SOC, Δt be the time step, and C be the value of SOC. nom Where λ is the rated capacity, T is the penalty coefficient, and T is the rated capacity. battery This refers to the battery temperature.

[0059] Furthermore, the intelligent control motherboard of the signal enhancement device has a reserved USB interface and supports online firmware upgrades to optimize the signal enhancement algorithm;

[0060] The signal enhancement algorithm employs a comprehensive strategy of hardware and software collaboration to optimize weak signals, specifically including the following core logic:

[0061] 1) Signal Strength Dynamic Sensing and Adjustment Algorithm: The intelligent control motherboard samples the RSSI value at a frequency of 10Hz, and adjusts it using the following formula:

[0062] θ adj =θ0+k×(RSSI) target -RSSI current )

[0063] Calculate the antenna angle adjustment amount, drive the stepper motor to align with the signal source with an accuracy of ±1°, and maximize the receiving gain.

[0064] 2) Adaptive power control algorithm: Based on the real-time RSSI value, using the formula:

[0065]

[0066] The power amplifier power is dynamically adjusted to increase the transmission power and enhance the penetration capability when the signal is weak, and to reduce the power consumption when the signal is stable.

[0067] 3) Link Quality Optimization Algorithm: When RSSI < -90dBm, data compression (70% compression rate) and triple acknowledgment retransmission mechanism are activated, using the formula:

[0068] R arrival =1-(L loss ) 3 )

[0069] Guaranteeing an instruction delivery rate of ≥99%, while based on a weighted formula.

[0070] W cmd =10×W video

[0071] Prioritize the transmission of core control commands.

[0072] 4) Multi-device collaborative relay algorithm: A self-organizing network is built via Bluetooth / ZigBee, based on the formula:

[0073] T total =T main +N×T relay

[0074] By controlling relay delay, signal relay transmission can be achieved, thus solving the problem of communication interruption in deep blind areas.

[0075] Furthermore, the data compression algorithm adopts LZ77 encoding, and the transmission path of the triple confirmation protocol is a closed-loop confirmation link of "sender → relay unit → receiver".

[0076] Furthermore, the adaptive repeater amplifier unit uses the Maxim MAX2769 chip as the core repeater chip, and its automatic gain control range covers input signal strengths from -110dBm to -50dBm, with the gain adjustment step size satisfying the formula:

[0077]

[0078] Wherein, ΔG is the actual gain adjustment step size, that is, the gain value adjusted by the adaptive relay amplifier unit each time;

[0079] P target The target output power is the signal power value that the system expects to achieve.

[0080] P in This represents the current input signal power, which is the original signal power detected by the adaptive repeater amplifier unit.

[0081] Furthermore, in areas with weak network coverage, such as mountainous areas, basements, or remote rural villages, the control vehicle achieves a 4G control command transmission delay of ≤50ms through a signal enhancement system, and the signal stability satisfies the formula:

[0082]

[0083] Where, σ RSSI The standard deviation of RSSI is μ. RSSI It is the mean RSSI value, and communication is maintained without interruption in an environment where RSSI < -100dBm.

[0084] The embodiments of the present invention have the following advantages due to the adoption of the above technical solutions:

[0085] By coordinating the dual-band directional antenna module, adaptive repeater amplifier unit, dynamic power adjustment power supply module, and intelligent control motherboard, and by enhancing signal gain through a foldable parabolic antenna structure, combined with automatic gain control and dynamic power management, the technical problems of high communication latency and unstable links in weak signal environments are effectively solved. This approach has the advantage of significantly improving the reliability and real-time performance of control command transmission.

[0086] The above overview is for illustrative purposes only and is not intended to be limiting in any way. Further aspects, embodiments, and features of the invention will become readily apparent from the following detailed description, in addition to the illustrative aspects, embodiments, and features described above. Detailed Implementation

[0087] The following is a detailed description of the embodiments of this disclosure.

[0088] It should be understood that the following specific examples illustrate the implementation of this disclosure, and those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. This disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0089] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0090] In existing technologies, 4G remote-controlled vehicles often face severe signal attenuation issues in complex terrain environments. Mountainous areas, basements, and other locations experience a sharp drop in signal strength due to terrain obstruction. Traditional solutions rely on fixed base station relay equipment, but such equipment is bulky and unsuitable for mobile scenarios. When the control vehicle enters a signal dead zone, the risk of communication link interruption increases significantly, directly impacting the safety and reliability of remote operation.

[0091] To address these issues, researchers identified signal reception sensitivity and transmission stability as key breakthroughs. First, the insufficient directional signal acquisition capability needed to be resolved by adopting a multi-band collaborative working mode. Second, a real-time feedback adjustment mechanism was required to address signal fluctuations in dynamic environments. Finally, a compact power supply system needed to be designed to adapt to vehicle-mounted mobile scenarios. Through a modular design approach, the signal enhancement system was decomposed into three main functional units: directional reception, intelligent processing, and dynamic power supply.

[0092] Therefore, this application proposes a signal enhancement system comprising a dual-band directional antenna module, an adaptive repeater amplifier unit, a dynamic power adjustment power supply module, and an intelligent control motherboard. The dual-band directional antenna module covers electromagnetic waves of different frequency bands and achieves spatial adaptability through a foldable structure; the adaptive repeater amplifier unit detects signal strength in real time and adjusts its gain; the dynamic power adjustment power supply module combines different power supply methods; and the intelligent control motherboard coordinates the operation of each module.

[0093] The dual-band directional antenna module is a receiving device capable of simultaneously processing electromagnetic waves of different frequencies. It can be implemented using a combination of a parabolic reflector and a multi-band vibrator, with optimized physical structure to improve signal acquisition efficiency. The adaptive repeater amplifier unit is a signal processing device with automatic adjustment capabilities, implemented using an RF chip with integrated feedback circuitry, maintaining output signal stability through closed-loop control. The dynamic power regulation power supply module is an energy system supporting multiple power supply modes, implemented using a power management chip to control the charging and discharging circuits, extending device battery life through intelligent scheduling. The intelligent control motherboard is the central processing unit coordinating the operation of various components, implemented using an embedded microprocessor and peripheral interface circuitry, achieving system-wide collaborative control through program algorithms.

[0094] Specifically, the directional antenna module enhances weak signal reception through physical structure optimization, and its foldable design facilitates vehicle deployment. The repeater amplifier unit continuously monitors the input signal quality and dynamically adjusts amplification parameters to compensate for signal attenuation. The power module automatically switches power supply modes according to the workload, optimizing energy consumption while ensuring system operation. The control board coordinates antenna angle adjustment, signal processing parameter optimization, and energy distribution strategies through preset algorithms, forming a closed-loop control system.

[0095] Through the above technical solution, this application effectively solves the problem of unstable communication links in weak signal environments, ensuring reliable transmission of control commands. The directional antenna module enhances signal reception sensitivity, the repeater amplifier unit maintains signal transmission quality, and intelligent power management ensures continuous system operation. The overall solution significantly improves communication reliability in mobile scenarios.

[0096] Furthermore, this application also proposes a mechanical angle adjustment bracket for a dual-band directional antenna module that supports manual or electric adjustment of the orientation, with an adjustment range of 0-90° elevation angle, and an overall height of 15cm when stored.

[0097] Among them, the mechanical angle adjustment bracket refers to the support structure used to fix the antenna and adjust its spatial angle. Specifically, it can be implemented by a metal bracket with a gear transmission mechanism, and the angle can be adjusted by manual knob or electric motor.

[0098] Manual or electric orientation adjustment refers to changing the antenna's pointing direction through physical operation or motor control. Specifically, it can be achieved by using a dual-mode switching switch in conjunction with a stepper motor to meet the operational needs of different scenarios.

[0099] The 0-90° elevation angle adjustment range refers to the vertical angle range that the antenna can be adjusted. Specifically, this can be achieved through the combination of the limit slot and the angle scale to ensure that the antenna can cover signal sources at different heights.

[0100] The overall height when folded is 15cm. Specifically, the bracket can be folded into a flat state using a folding hinge structure, which facilitates transportation and storage.

[0101] Specifically, the mechanical angle-adjusting bracket connects to a stepper motor via a gear transmission mechanism, driving the antenna to adjust its elevation angle upon receiving a control command. For example, in complex terrain, the antenna can be quickly adjusted to the target angle via a manual knob, or remotely controlled precisely via an electric mode. The bracket's folding structure allows for the folding of all joint components during storage, reducing space requirements; for instance, the overall height can be compressed to less than 15cm. This allows the antenna module to be flexibly aligned with the signal source during deployment and is easily portable when not in use.

[0102] Through the above technical solution, this application achieves efficient adjustment and rapid storage of antenna angle, improves the signal acquisition capability of the control vehicle in complex environments, and reduces the space occupation of equipment transportation and storage, meeting the flexible application needs of field mobile scenarios.

[0103] Furthermore, this application also proposes that in the dynamic power regulation power module, the lithium polymer battery capacity can be 2000mAh, the solar panel power can be 5W, the power consumption in standby mode can be 30mA, and it supports automatic switching to the backup battery when hot-swapped, with a battery life of 4 hours.

[0104] Among them, lithium polymer batteries refer to rechargeable batteries that use lithium-ion polymer electrolytes. Specifically, they can be implemented using a wound cell structure. Their energy density is higher than that of traditional nickel-metal hydride batteries, making them suitable for mobile devices that require long-term power supply.

[0105] Among them, solar panel hybrid power supply refers to a power supply method that combines photovoltaic power generation with battery energy storage. Specifically, it can be achieved by using monocrystalline silicon solar cells in conjunction with an MPPT controller, which can continuously replenish power under outdoor sunlight conditions.

[0106] Among them, hot-swappable automatic switching refers to the seamless switching of the power interface to the backup power supply when the external power supply is disconnected. Specifically, it can be achieved by using a combination of dual power supply redundancy circuits and MOSFET switches to ensure that the power supply continuity is not affected by the external power supply plugging and unplugging operation.

[0107] Specifically, when the control vehicle is in an area with weak network coverage, the lithium polymer battery provides basic power, while the solar panels supplement the power reserve through photovoltaic conversion. When the main power supply fails unexpectedly or needs to be replaced, the power management circuit automatically detects voltage changes and activates the backup battery to prevent communication interruptions due to power outages. In standby mode, energy consumption is reduced by lowering the operating frequency of non-core circuits, maintaining the minimum power consumption for essential functions.

[0108] Through the above technical solution, this application solves the problem of unstable power supply of traditional signal enhancement equipment in mobile scenarios, realizes the ability to operate continuously in complex environments, avoids communication link failure caused by power interruption, and extends the effective working time of the equipment in field operations through intelligent power consumption control.

[0109] Furthermore, this application also proposes a method for signal enhancement of remote strike vehicles in areas with weak 4G signals, including signal link adaptive optimization steps: establishing a dynamic mapping model of signal strength-transmission strategy to increase the control command compression rate to 70%; using a triple confirmation protocol to implement command retransmission to ensure that the arrival rate of control commands is ≥99%, and triggering an automatic retransmission mechanism when the packet loss rate is >1%; dividing transmission priorities based on data type, with control commands having higher priority than non-real-time data, and prioritizing the transmission of core commands such as braking and steering.

[0110] Among them, the signal strength-transmission strategy dynamic mapping model refers to establishing a mathematical model by collecting the correlation between signal strength parameters and transmission strategies in real time. Specifically, machine learning algorithms can be used to train historical transmission data to achieve dynamic selection of the optimal transmission strategy based on the current signal strength.

[0111] The triple confirmation protocol refers to performing three data verifications through a closed-loop confirmation link between the sender, relay unit, and receiver. Specifically, it can use a combination of ACK response mechanism and sequence number matching to ensure the integrity of instruction transmission.

[0112] Transmission priority allocation refers to the hierarchical allocation of communication resources based on data type. Specifically, it can be achieved by setting different QoS level labels and embedding priority identifiers in the packet header to realize differentiated scheduling.

[0113] Specifically, during the adaptive optimization of the signal link, the current signal strength is first analyzed using a dynamic mapping model to generate corresponding transmission strategy parameters, such as adjusting the data compression ratio to match channel capacity. When an anomaly in control command transmission is detected, a triple acknowledgment protocol is automatically triggered for data packet retransmission, and the priority scheduling module optimizes the queue for core commands, ensuring that critical commands occupy channel resources first. During this process, non-real-time data is temporarily buffered or downgraded for transmission to avoid resource contention with core commands.

[0114] Through the above technical solutions, this application can effectively reduce the transmission delay and packet loss probability of control commands in weak signal environments, ensure the reliable transmission of key commands such as braking and steering, and at the same time avoid non-real-time data from occupying core communication resources through dynamic resource allocation, thereby maintaining the operational stability of remotely controlled vehicles in complex environments.

[0115] Furthermore, this application also proposes a multi-device collaborative relay step: a multi-vehicle self-organizing network is constructed through Bluetooth or wireless communication protocols. After the master vehicle receives the remote command, it is forwarded to the slave vehicle in the blind spot through the relay vehicle, forming a relay transmission link. The single forwarding delay of the relay vehicle does not exceed a set threshold and supports automatic switching between receiving and transmitting modes.

[0116] Among them, multi-vehicle ad hoc networking refers to a distributed communication network composed of multiple vehicles, which can be implemented using Bluetooth or low-power wireless communication protocols to achieve dynamic networking connections between devices in scenarios without fixed base stations. Automatic switching of receive and transmit modes refers to the relay equipment autonomously switching its working state according to data transmission needs, which can be implemented using time-division duplex technology to eliminate signal transmission and reception conflicts and improve channel utilization. Single forwarding delay refers to the total time for data packets to be processed at the relay node, which can be achieved by optimizing the protocol stack processing flow to ensure the real-time performance of control commands.

[0117] Specifically, when the primary vehicle is in a network dead zone, remote control commands are first transmitted to a relay vehicle with signal coverage. The relay vehicle then forwards the commands to the target slave vehicle via an ad hoc network protocol. During this process, the relay equipment continuously monitors the channel status and automatically switches its operating mode when a data transmission requirement is detected. Upon receiving the command, it immediately switches to transmit mode for forwarding. This dynamic relay mechanism allows control commands to penetrate communication dead zones created by physical obstacles, while optimizing the protocol processing flow to ensure the timeliness of signal forwarding.

[0118] Through the above technical solution, this application effectively solves the problem of vehicle disconnection in network blind spots, enabling vehicles in signal-blocked areas to maintain communication connections via relay vehicles. In complex terrain scenarios, control commands can be reliably transmitted through multi-hop relays, avoiding communication interruptions due to single-point failures. Simultaneously, the automatic mode switching mechanism ensures the real-time nature of the relay process, meeting the stringent low-latency requirements of vehicle control.

[0119] Furthermore, this application also proposes an integrated structure of a 4G remote control vehicle and a signal enhancement device. The signal enhancement device is installed on the top of the control vehicle via a magnetic interface, with an overall weight of no more than 300g. It is connected to the main controller of the control vehicle via an SPI bus, with a transmission rate of no less than 10Mbps and shares a power management system with the control vehicle.

[0120] Among them, the magnetic interface refers to a physical connection method that enables quick installation of equipment through magnetic adsorption. Specifically, it can be achieved by using a combination structure of neodymium iron boron permanent magnets and magnetically conductive metal plates. This structure ensures connection stability while supporting quick disassembly of the equipment.

[0121] Among them, the SPI bus refers to the synchronous serial communication interface, which can be implemented using a four-wire full-duplex communication protocol. This interface enables high-speed data interaction between the control vehicle and the signal enhancement equipment through a master-slave mode.

[0122] The shared power management system refers to the architecture of connecting the signal enhancement equipment to the original power supply line of the control vehicle. Specifically, it can be implemented using voltage conversion chips and intelligent power distribution circuits. This architecture reduces the overall power consumption of the system by uniformly managing power distribution.

[0123] Specifically, the signal enhancement device attaches magnetically to the metal casing of the control vehicle's roof, requiring no tools or bolts during installation. The SPI bus connects the device's main control chip to the control vehicle's central processing unit via four communication cables, employing a master-slave communication mode for bidirectional transmission of control commands and signal data. The power management system uses a voltage conversion module to adjust the control vehicle's battery output voltage to the required operating voltage for the signal enhancement device, while also featuring an intelligent power distribution circuit that dynamically allocates power based on the device's operating status.

[0124] Through the above technical solutions, this application realizes the rapid installation and efficient collaboration between signal enhancement equipment and control vehicle, simplifies the equipment deployment process while ensuring communication quality, improves the real-time transmission of control commands through direct bus connection, and reduces the overall power consumption and equipment weight of the system by using a unified power supply architecture.

[0125] Furthermore, this application also proposes that the intelligent control motherboard of the signal enhancement device has a reserved USB interface and supports online firmware upgrades to optimize the signal enhancement algorithm.

[0126] The USB interface refers to the Universal Serial Bus physical connection port, which can be implemented using a Type-C interface. It is used to connect external devices for data transfer or power supply. This interface allows users to perform firmware updates without disassembling the device, avoiding the risk of device damage caused by hardware disassembly.

[0127] Firmware online upgrades refer to remotely updating the device's internal programs via wireless or wired communication, specifically through HTTP protocol or USB connection. This feature enables signal enhancement algorithms to dynamically optimize based on the actual environment, such as by adjusting signal gain parameters or anti-interference strategies, thereby improving communication stability in complex scenarios.

[0128] Specifically, the intelligent control motherboard establishes a physical connection with external devices via a USB interface. When a new firmware version is detected, it automatically triggers the upgrade process. During the upgrade, the original algorithm parameters are temporarily stored in non-volatile memory, and the new firmware overwrites the original program after verification. In signal enhancement algorithm optimization scenarios, such as addressing multipath interference or frequency-selective fading issues, the upgraded firmware can adjust the gain control logic of the repeater amplifier unit or the antenna angle adjustment strategy to adapt to the signal propagation characteristics under different terrain conditions.

[0129] Through the above technical solution, this application solves the problems of poor scene adaptability and high maintenance cost caused by the fixed algorithm of traditional equipment, realizes remote dynamic optimization of signal enhancement algorithm, ensures that the equipment maintains a stable communication link in different network environments, and reduces the risk of failure caused by hardware disassembly and assembly.

[0130] Furthermore, this application proposes a data compression algorithm using LZ77 encoding, and a triple confirmation protocol transmission path consisting of a closed-loop confirmation link between the sender, relay unit, and receiver.

[0131] LZ77 encoding refers to a dictionary compression algorithm based on a sliding window. Specifically, it can be implemented by dynamically matching repeating strings and generating pointer markers, thereby improving the compression ratio by identifying repeating sequences in the data stream. The closed-loop acknowledgment link of the triple acknowledgment protocol refers to a bidirectional communication path involving three nodes: the sender, the relay unit, and the receiver. This can be implemented using a step-by-step feedback acknowledgment mechanism, where each node sends an acknowledgment signal to the previous node after receiving data.

[0132] Specifically, during the adaptive optimization of the signal link, control command data is compressed using LZ77 encoding to form data packets, which are then transmitted to the relay unit via the transmitting end. Upon receiving the data packet, the relay unit immediately returns a first-level acknowledgment signal to the transmitting end and then forwards the data packet to the receiving end. The receiving end parses the data packet and sends a second-level acknowledgment signal to the relay unit, which then sends the acknowledgment signal back to the transmitting end to form a third-level acknowledgment. If any first-level acknowledgment signal is missing, the transmitting end automatically triggers a data packet retransmission process until all nodes in the closed-loop link have completed their acknowledgments.

[0133] Through the above technical solutions, this application can effectively distinguish faulty nodes in the transmission path under weak signal environment, reduce the amount of retransmitted data by combining data compression, reduce the transmission delay of control commands caused by link instability, and ensure the reliable arrival of critical commands in complex communication environment.

[0134] Furthermore, this application also proposes that the adaptive repeater amplifier unit uses the MaximMAX2769 chip as the core repeater chip, and the automatic gain control range covers the input signal strength from -110dBm to -50dBm.

[0135] The MaximMAX2769 chip is an integrated circuit that integrates RF front-end and automatic gain control functions. Specifically, the built-in programmable gain amplifier and mixer module of the chip can be used to realize the signal relay amplification function. Its internal integrated digital control interface can communicate with the microcontroller.

[0136] The automatic gain control range, covering input signal strength from -110dBm to -50dBm, refers to automatically adjusting the gain value according to the strength of the input signal. Specifically, this can be dynamically adjusted through the internal RSSI detection circuit and gain control logic module of the chip to ensure a stable relay signal output under different signal strengths.

[0137] Specifically, when the input signal strength is in the range of -110dBm to -50dBm, the chip's internal automatic gain control circuit adjusts the amplification factor according to a preset gain curve. For example, it activates the highest gain mode under extremely weak signal conditions, while reducing the gain under stronger signal conditions to avoid signal overload. This process achieves closed-loop regulation by having the microcontroller monitor the signal strength in real time and send control commands to the chip's registers.

[0138] In some specific implementations, the gain adjustment parameters of the chip can be stored in an external EEPROM with optimized configurations for different environments. For example, a specific gain switching threshold can be set for multipath interference scenarios in mountainous areas, thereby improving the adaptability of signal processing.

[0139] Through the above technical solution, this application can stably process input signals of different intensities in areas with weak network coverage, avoid communication interruption caused by signal fluctuations, and at the same time reduce the need for manual intervention through the built-in automatic adjustment function of the chip, thereby improving the system's autonomous operation capability in complex environments.

[0140] Furthermore, this application also proposes a 4G remote control vehicle based on the aforementioned system and method. In areas with weak network coverage, such as mountainous areas, basements, or remote rural areas, the control vehicle can achieve a 4G control command transmission delay of no more than 50ms through a signal enhancement system and maintain uninterrupted communication even when the received signal strength is below -100dBm.

[0141] Among them, areas with weak network coverage refer to geographical environments with physical obstructions or sparse base station distribution. Specifically, three-dimensional terrain modeling combined with signal attenuation models can be used to identify the area, and the signal enhancement system can be activated by setting up a geofence.

[0142] The signal enhancement system refers to a composite device that integrates an antenna module and dynamic adjustment function. Specifically, it can be achieved by using a dual-band directional antenna in conjunction with adaptive power adjustment, and triggering a gain adjustment mechanism by real-time monitoring of signal strength.

[0143] Among them, uninterrupted communication means that the control command transmission link remains continuously available. Specifically, it can be achieved by using multi-path redundant transmission and automatic retransmission protocols, and by using priority scheduling to ensure the reliability of core command transmission.

[0144] Specifically, when the control vehicle enters a signal attenuation area, the directional antenna module automatically deploys and locks onto the base station direction, establishing a stable communication link through precise adjustment of the mechanical angle adjustment bracket. Signal strength monitoring data is transmitted to the control motherboard at a fixed frequency, triggering gain adjustment of the relay amplifier unit and power allocation of the power module. In extremely weak signal environments, a compression algorithm is used to reduce the amount of data in control commands, while a relay transmission link is formed through multi-device collaborative relay to ensure redundancy of the command transmission path.

[0145] Through the above technical solutions, this application effectively solves the problems of command delay and communication interruption of the control vehicle in weak signal areas. The rapid deployment capability of the directional antenna module ensures the signal acquisition efficiency in complex environments. The dynamic adjustment mechanism ensures stable gain output under different signal strengths. The multi-path transmission strategy significantly improves the arrival rate of control commands and anti-interference capability.

[0146] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0147] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A method for signal enhancement of a long-range strike vehicle in areas with weak 4G signal, characterized in that, include: The dual-band directional antenna module adopts a foldable parabolic structure, covering the LTE 700MHz low-frequency band and the 2.4GHz mid-to-high-frequency band. It is fixed to the top of the control vehicle via a mechanical angle-adjusting bracket. The antenna has a built-in low-noise amplifier (LNA) with a noise figure ≤2dB and a signal gain ≥15dBi. Its signal reception sensitivity improvement satisfies the formula: S out =S in +G LNA -NF LNA Among them, S in For the input signal strength, G LNA For LNA gain, NF LNA The noise figure of the LNA; The adaptive repeater amplifier unit integrates a 4G signal repeater chip supporting automatic gain control (AGC). This unit continuously monitors the received signal strength indicator (RSSI) of the input signal. When RSSI < -100dBm, it activates a multi-stage amplification circuit, using the formula: P out =P in +G AGC Amplify the signal to above -70dBm. Among them, P in For input power, G AGC The value is the automatic gain, and it has a built-in 200MHz bandwidth bandpass filter. The filter attenuation satisfies the formula: f is the interference frequency, and f0 is the center frequency; The dynamic power regulation module uses a hybrid power supply of lithium polymer batteries and solar panels, and adjusts its power supply based on RSSI fluctuations using the following formula: When RSSI < -90dBm, the power amplifier module automatically adjusts its power output within the range of 100mW to 500mW, and the battery life meets the following formula: C batt For battery capacity, U batt P is the operating voltage. avg Average power consumption; The intelligent control motherboard, built on an STM32 microcontroller, samples RSSI values ​​at a frequency of 10Hz via an ADC interface, driving a stepper motor to adjust the antenna angle with an accuracy of ±1°. The angle adjustment satisfies the following formula: i adj =θ0+k×(RSSI target -RSSI current ) k is a proportional coefficient, and it communicates with the main control chip of the control vehicle through the UART interface to synchronously transmit signal delay and packet loss rate data.

2. The system according to claim 1, characterized in that, The mechanical angle adjustment bracket of the dual-band directional antenna module supports manual or electric adjustment of the orientation, with an adjustment range of 0-90° elevation angle, and the overall height is ≤15cm when stored.

3. The system according to claim 1, characterized in that, The dynamic power regulation power module has a lithium polymer battery capacity of ≥2000mAh, a solar panel power of ≥5W, a power consumption of ≤30mA in standby mode, and supports automatic switching to the backup battery for ≥4 hours of battery life when hot-swapped.

4. A method for enhancing the signal of a 4G remote-controlled vehicle suitable for areas with weak network coverage, characterized in that, Includes signal link adaptive tuning steps: A dynamic mapping model of "signal strength - transmission strategy" is established. When RSSI < -90dBm is detected, the data compression algorithm is activated using the formula: Among them, D compressed D represents the compressed data size. original To reduce the original data volume, the control command compression rate was increased to 70%. Command retransmission is implemented using a triple acknowledgment protocol, as shown in the formula: R arrival =1-(L loss ) 3 Among them, L loss This refers to the single packet loss rate; Ensure control command arrival rate ≥ 99%. When packet loss rate > 1%, trigger automatic retransmission mechanism. The number of retransmissions satisfies the formula: Transmission priorities are assigned based on data type, with control commands having higher priority than non-real-time data. Priority is given to transmitting core commands such as braking and steering, and the priority weights satisfy the formula: IN cmd =10×W video Among them, W cmd To control instruction weights, W video Weights for video data.

5. The method according to claim 4, characterized in that, It also includes a multi-device collaborative relay step: a multi-vehicle self-organizing network is built via Bluetooth 5.0 or ZigBee. After the master vehicle receives a remote command, it is forwarded to the slave vehicles in the blind spot via the relay vehicle, forming a "relay transmission" link. The total delay satisfies the formula: T total =T main +N×T relay Where N is the number of relay nodes, T main Master vehicle reception delay, T relay The single relay delay is ≤50ms and the relay vehicle supports automatic switching between receive / transmit modes.

6. An integrated structure of a 4G remote-controlled vehicle and a signal enhancement device, characterized in that, The signal enhancement device is mounted on the top of the control vehicle via a magnetic interface, with an overall weight of ≤300g. It connects to the main controller of the control vehicle via an SPI bus, with a transmission rate ≥10Mbps, satisfying the formula: V SPI =F clk ×N bit / 8 F clk N is the clock frequency. bit For data bit width; It also shares a power management system with the control vehicle. Battery Management System: Extended Kalman Filter is used to estimate battery state. x k |k-1=Fx k-1 |k-1+This k-1 P k|k-1 =FP k-1|k-1 F T +Q K k =P k|k-1 H T (HP k|k-1 H T +R) -1 x k| k=x k| k-1+K k (z k -Hx k| k-1) P k|k =(I-K k H)P k|k-1 Where x is the state vector (including SOC, temperature, etc.), F is the state transition matrix, B is the input matrix, u is the input vector (current, etc.), P is the covariance matrix, Q is the process noise covariance, K is the Kalman gain, H is the observation matrix, R is the observation noise covariance, and z is the observation vector (voltage, temperature, etc.). Charge / discharge control subunit: Model-based charge / discharge control algorithm: Constraints: I min ≤I≤I max T min ≤T battery ≤T max Among them, I opt For optimal charge / discharge current, SOC target For the target SOC, SOC current Let C be the current SOC, Δt be the time step, and C be the value of SOC. nom Where λ is the rated capacity, T is the penalty coefficient, and T is the rated capacity. battery This refers to the battery temperature.

7. The integrated structure according to claim 6, characterized in that, The intelligent control motherboard of the signal enhancement device has a reserved USB interface and supports online firmware upgrades to optimize the signal enhancement algorithm. The signal enhancement algorithm employs a comprehensive strategy of hardware and software collaboration to optimize weak signals, specifically including the following core logic: 1) Signal Strength Dynamic Sensing and Adjustment Algorithm: The intelligent control motherboard samples the RSSI value at a frequency of 10Hz, and adjusts it using the following formula: i adj =θ0+k×(RSSI target -RSSI current ) Calculate the antenna angle adjustment amount, drive the stepper motor to align with the signal source with an accuracy of ±1°, and maximize the receiving gain. 2) Adaptive power control algorithm: Based on the real-time RSSI value, using the formula... The power amplifier power is dynamically adjusted to increase the transmission power and enhance the penetration capability when the signal is weak, and to reduce the power consumption when the signal is stable. 3) Link Quality Optimization Algorithm: When RSSI < -90dBm, data compression (70% compression rate) and triple acknowledgment retransmission mechanism are activated, using the formula: R arrival =1-(L loss ) 3 ) Guarantee an instruction delivery rate of ≥99%, based on a weighted formula: IN cmd =10×W video Prioritize the transmission of core control commands. 4) Multi-device collaborative relay algorithm: A self-organizing network is built via Bluetooth / ZigBee, based on the formula: T total =T main +N×T relay By controlling relay delay, signal relay transmission can be achieved, thus solving the problem of communication interruption in deep blind areas.

8. The method according to claim 4, characterized in that, The data compression algorithm uses LZ77 encoding, and the transmission path of the triple confirmation protocol is a closed-loop confirmation link of "sender → relay unit → receiver".

9. The system according to claim 1, characterized in that, The adaptive repeater amplifier unit uses the MaximMAX2769 chip as the core repeater chip, and its automatic gain control range covers input signal strengths from -110dBm to -50dBm. The gain adjustment step size satisfies the formula: Wherein, ΔG is the actual gain adjustment step size, that is, the gain value adjusted by the adaptive relay amplifier unit each time; P target The target output power is the signal power value that the system expects to achieve. P in This represents the current input signal power, which is the original signal power detected by the adaptive repeater amplifier unit.

10. A 4G remote-controlled vehicle based on the system and method of any one of claims 1-9, characterized in that, In areas with weak network coverage, such as mountainous regions, basements, or remote rural areas, the control vehicle uses a signal enhancement system to achieve a 4G control command transmission latency of ≤50ms, and the signal stability satisfies the formula: Where, σ RSSI The standard deviation of RSSI is μ. RSSI It is the mean RSSI value, and communication is maintained without interruption in an environment where RSSI < -100dBm.

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