Self-interference elimination device in unmanned aerial vehicle communication sensing system

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a self-interference elimination device in an unmanned aerial vehicle communication sensing system, which comprises an unmanned aerial vehicle body, a communication sensing integrated device and a fastener, and the fastener comprises a base, a hook, a base cover and a fixing rod; the communication and sensing integrated equipment provides efficient communication and environment intelligent sensing capacity for the unmanned aerial vehicle body, the fixing rod is hung at the bottom of the unmanned aerial vehicle body, the base is fixed to the top of the communication and sensing integrated equipment through bolts, the base is hung at the bottom of the fixing rod through an internal hook, the fixing rod is clamped through the base cover, and the hanging stability of the base is enhanced; according to the arrangement of the fastener, the communication and induction integrated equipment is hung at the bottom of the unmanned aerial vehicle body, compared with a traditional mode of fixing the communication and induction integrated equipment through bolts, the communication and induction integrated equipment does not need to be disassembled through tools, the seat cover can be directly opened, the fixing rod and a hook in the base can be separated, the communication and induction integrated equipment can be directly taken down, and the disassembly and assembly process is faster and more convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially relates to a self interference cancellation device in unmanned plane communication sensing system. BACKGROUND

[0002] With the development of unmanned plane technology, small intelligent unmanned plane has been widely used in life, for example, aerial photography, position detection etc. Unmanned plane communication sensing system is based on the fusion technology of communication and sensing, which provides efficient communication and environmental intelligent sensing ability for unmanned plane, and the unmanned plane communication sensing system is mainly based on the fusion principle of communication and sensing, which makes the high-precision positioning, imaging and environmental reconstruction ability provided by the unmanned plane sensing can help to improve the communication performance through beamforming.

[0003] But the existing communication sensing system will have serious self interference and cross interference problem, and the communication sensing system is fixed through bolts, when the unmanned plane communication sensing system device is damaged, the unmanned plane communication sensing system needs to be disassembled from the unmanned plane for maintenance using tools, and the maintenance operation is relatively inconvenient. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a self interference cancellation device in unmanned plane communication sensing system, and aims at solving the self interference problem of the existing communication sensing system and the inconvenient disassembly and maintenance problem after the device is damaged.

[0005] To achieve the above object, the utility model provides a self interference cancellation device in unmanned plane communication sensing system, including unmanned plane body, sensing integrated equipment and fastener, the fastener is arranged in the bottom of the unmanned plane body, the sensing integrated equipment is arranged in the side of the fastener, and the fastener includes base, hook, seat cover and fixed rod;The fixed rod is arranged in the bottom of the unmanned plane body, the hook is arranged in the side away from the unmanned plane body of the fixed rod, the base is fixedly connected with the hook and is located the outside of the hook, and the seat cover is arranged in the top of the base.

[0006] Among them, the seat cover has cover hole, the cover hole is located in the side of the seat cover, the fixed rod has the card slot, and the card slot is arranged in the side of the fixed rod.

[0007] Among them, the base is made of carbon fiber reinforced plastic.

[0008] Among them, the fixed rod includes fixed rod body and telescopic hook, the fixed rod body is arranged in the bottom of the unmanned plane body, and the telescopic hook is arranged in the two sides of the fixed rod body.

[0009] The signal receiving and transmitting module, the self-interference cancellation module and the signal processing module are sequentially connected.

[0010] The utility model discloses a self-interference cancellation device in unmanned plane communication sensing system, the ability that the all -in -one of communication and environmental intelligence sensing is provided to the unmanned plane body, the fixed rod is hung in the bottom of unmanned plane body, the base is fixed on the top of all -in -one of communication and environmental intelligence sensing through bolt, the base is hung in the bottom of fixed rod through inside hook, and is kept through the seat cover the fixed rod, strengthens the stability of base hanging, the setting of fastener, the all -in -one of communication and environmental intelligence sensing is hung in the bottom of unmanned plane body, compared with traditional bolt fixed all -in -one of communication and environmental intelligence sensing, need not help tool dismounts, can directly open seat cover, and the hook in fixed rod and base is separated, and all -in -one of communication and environmental intelligence sensing is directly taken down, and the dismounting process is more quick and convenient, improve the maintenance efficiency of unmanned plane communication sensing system and the self-interference cancellation device in it, solve the problem that existing communication sensing system and self-interference cancellation device are damaged and are inconvenient to dismount and maintain. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical scheme in the embodiment of the present application or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced as follows.

[0012] Figure 1 It is the structure schematic diagram of the self-interference cancellation device in unmanned plane communication sensing system of the utility model.

[0013] Figure 2 It is the base part structure schematic diagram of fastener.

[0014] Figure 3 It is the base part overhead view of fastener.

[0015] Figure 4 It is the fixed rod part structure schematic diagram of fastener.

[0016] Figure 5 It is the connection schematic diagram of all -in -one of communication and environmental intelligence sensing.

[0017] Figure 6 It is the whole structure schematic diagram of internal circuit of all -in -one of communication and environmental intelligence sensing.

[0018] Figure 7 It is the operation flow schematic diagram of signal receiving and transmitting module.

[0019] Figure 8 It is the circuit diagram of self-interference cancellation module.

[0020] Figure 9 is the operation flow diagram of the circuit diagram of the signal processing module.

[0021] In the figure: 1 - unmanned aerial vehicle body, 2 - integrated sensing device, 3 - fastener, 4 - base, 5 - hook, 6 - seat cover, 7 - fixed rod, 8 - cover hole, 9 - clamping groove, 10 - fixed rod body, 11 - telescopic hook, 12 - signal receiving and transmitting module, 13 - self-interference cancellation module, 14 - signal processing module. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0023] Please refer to Figures 1 to 9 The utility model provides a kind of self-interference cancellation device in unmanned aerial vehicle communication sensing system, including unmanned aerial vehicle body 1, integrated sensing device 2 and fastener 3, the fastener 3 is set in the bottom of the unmanned aerial vehicle body 1, the integrated sensing device 2 is set in the fastener 3 side, the fastener 3 includes base 4, hook 5, seat cover 6 and fixed rod 7;The fixed rod 7 is set in the bottom of the unmanned aerial vehicle body 1, the hook 5 is set in the fixed rod 7 side away from the unmanned aerial vehicle body 1, the base 4 is fixedly connected with the hook 5, and it is located in the outer side of the hook 5, the seat cover 6 is set in the top of the base 4.

[0024] In the embodiment, the integrated sensing device 2 provides efficient communication and environmental intelligent sensing capability for the unmanned aerial vehicle body 1, the fixed rod 7 is hung on the bottom of the unmanned aerial vehicle body 1, the base 4 is fixed on the top of the integrated sensing device 2 by bolts, the base 4 is hung on the bottom of the fixed rod 7 through the hook 5 inside, and the stability of the base 4 is strengthened by clamping the fixed rod 7 through the seat cover 6. The setting of the fastener 3 hangs the integrated sensing device 2 on the bottom of the unmanned aerial vehicle body 1. Compared with the traditional bolt fixing of the integrated sensing device 2, it does not need to be disassembled with the help of tools, and the seat cover 6 can be directly opened to separate the hook 5 inside the fixed rod 7 and the base 4, and the integrated sensing device 2 can be directly taken down. The disassembly and assembly process is more rapid and convenient, the maintenance efficiency of the unmanned aerial vehicle communication sensing system device is improved, and the problem of inconvenient disassembly and maintenance after the damage of the existing communication sensing system and self-interference cancellation device is solved.

[0025] Further, the seat cover 6 has a cover hole 8 on one side of the seat cover 6, and the fixing rod 7 has a clamping groove 9 on one side of the fixing rod 7.

[0026] In the embodiment, the cover hole 8 and the clamping groove 9 are arranged so that the seat cover 6 can clamp the fixing rod 7, ensuring that the hook 5 is stable and not easy to fall off, and ensuring the stability of the integrated sensing and communication device 2 in flight of the unmanned aerial vehicle body 1.

[0027] Further, the base 4 is made of carbon fiber reinforced plastic.

[0028] In the embodiment, the base 4 is made of carbon fiber reinforced plastic, ensuring strength while reducing weight.

[0029] Further, the fixing rod 7 includes a fixing rod body 10 and a telescopic hook 11, the fixing rod body 10 is arranged at the bottom of the unmanned aerial vehicle body 1, and the telescopic hook 11 is arranged on both sides of the fixing rod body 10.

[0030] In the embodiment, the telescopic hook 11 can be telescoped on the fixing rod body 10, including a telescopic spring and two hook rings, which can hook the hook 5 and thus hook the integrated sensing and communication device 2.

[0031] Further, the integrated sensing and communication device 2 includes a signal receiving and transmitting module 12, a self-interference cancellation module 13, and a signal processing module 14, which are connected in sequence.

[0032] In the embodiment, the transmitting end of the signal receiving and transmitting module 12 realizes dual-function communication and sensing signal transmission with a shared antenna, and the transmission process includes data bit mapping to subcarriers, inverse fast Fourier transform (IFFT), adding a cyclic prefix, digital up-conversion, and signal processing, followed by digital-to-analog conversion, and transmitting radio frequency amplified signals through an antenna. The receiving end receives wireless signals transmitted, reflected, and scattered through an antenna. The received signals are first processed by the self-interference cancellation module 13 to eliminate self-interference signals, and then down-converted and processed in the analog domain. After analog-to-digital conversion, further residual interference signals are eliminated in the digital domain, followed by digital signal processing and fast Fourier transform (FFT) through the signal processing module 14 to complete communication processing. Subsequently, delay estimation is performed through a frequency divider to extract target distance, angle information is extracted using beamforming technology, and speed information is obtained through Doppler effect to realize radar detection function. All digital signal processing steps are implemented on FPGA. In addition, using the sensed target position information, the antenna is adjusted through beamforming technology to optimize communication performance.

[0033] Specifically, the signal transmission of the signal receiving and transmitting module 12 includes the following steps: FPGA control, data bit mapping, IFFT, cyclic prefix addition, digital up-conversion, digital-to-analog conversion (DAC), beamforming, and antenna transmission;

[0034] The FPGA serves as the core control unit, responsible for coordinating and managing the signal transmission process, including data mapping, IFFT processing, digital-to-analog conversion, etc., to ensure the accuracy and efficiency of signal processing. In the data bit mapping step, digital data bits are mapped onto subcarriers using orthogonal frequency division multiplexing (OFDM) technology to ensure effective signal transmission in the wireless channel;

[0035] The IFFT step converts the frequency domain signal to the time domain signal, preparing for signal transmission. Adding a cyclic prefix reduces multipath propagation interference and helps the receiving end synchronize the signal, improving reception accuracy. Digital up-conversion converts the baseband signal to the radio frequency, ensuring effective signal transmission within the specified frequency range;

[0036] The digital-to-analog converter (DAC) converts the digital signal to an analog signal, preparing for antenna transmission. Beamforming technology adjusts the phase and amplitude of the antenna array to form a directional beam, optimizing signal directivity and gain, improving transmission quality and reducing sidelobe radiation;

[0037] Finally, the transmission step transmits the analog signal to the air through the antenna. The design and direction of the antenna are crucial to the signal radiation pattern and coverage range, and the power and phase of the signal must meet the requirements.

[0038] The self-interference cancellation module 13 designs an adjustable antenna-end self-interference suppression circuit, whose main purpose is to achieve self-interference cancellation (SIC) by generating a relatively opposite signal between the transmitting end and the receiving end, thereby achieving full-duplex communication. The generation of self-interference signals in a full-duplex communication system is mainly due to the leakage of antenna-end energy and mutual coupling.

[0039] Circuit composition and working principle

[0040] Transmit path (TX) and receive path (RX):

[0041] Transistors Q1 in the lower left corner and Q3 in the lower right corner are key active components controlling the transmit and receive paths, respectively. These switching devices help form the transmit and receive channels by controlling the transmission path of RF signals. The transmit signal enters the circuit from the transmitter, is amplified by transistor Q1, and is ultimately transmitted through the antenna. The receive signal enters the circuit from the antenna, is filtered by C4 and C3, and then transmitted to the receiver. The signal at the receiver is further processed by amplifier U1 before entering the system.

[0042] In addition, inductors such as L1, L2, L3, L4, and L5, and capacitors such as C1, C2, C4, C5, and C6 form a matching and filtering network to ensure that the RF signal does not suffer excessive loss during transmission and maintain signal integrity.

[0043] Amplifier U1 and resistors R1 and R2 form a negative feedback circuit. When the transmitted signal leaks through the antenna to the receiver, part of the signal is processed by the feedback circuit. This negative feedback mechanism can significantly reduce the impact of self-interference.

[0044] Self-interference suppression:

[0045] The RF signal generated by the transmitter is split into two paths: Path 1 reaches the receiver through Q1 and Q2, and Path 2 reaches the receiver through Q3. Q2 is connected in a common source configuration, while Q1 and Q3 are connected in a common gate configuration. After the RF signal passes through Q1 in Path 1 and is sent to the antenna, a portion of the signal continues through Q2 to reach the receiver. This portion of the signal is the source of the self-interference signal.

[0046] When this self-interference signal is transmitted through R2 to one end of U1, it forms a negative feedback signal, which is processed with the original signal and then re-output. Furthermore, Q2 is connected to the circuit in a common-source manner to generate an inverted signal to facilitate subsequent cancellation. Path 2, through the common-gate amplifier Q3, generates a signal at the same frequency and inversely proportional to the self-interference signal, achieving cancellation of the interference signal and reducing interference from the transmitted signal at the receiving end. The transmitted signal cancels out the received signal by adjusting its phase and amplitude, significantly reducing self-interference.

[0047] Dynamic Adjustment

[0048] This circuit exhibits a degree of dynamic regulation, primarily through U2 controlling the operating state of the transistors within the circuit. By adjusting the transistor gate voltage through pulse-width modulation (PWM), the circuit's impedance matching conditions and the circulator's operating mode can be modified to adapt to different operating frequency bands and interference environments. U2's control signals (TXD, RXD) coordinate the operation of active components in the transmit and receive paths, enabling the circuit to simultaneously transmit and receive signals. This active regulation mechanism enhances the circuit's adaptive capabilities and further improves self-interference suppression.

[0049] Circulator characteristics:

[0050] This circuit uses active elements Q1, Q2, Q3 to replace the traditional passive circulator to achieve signal path isolation and regulation. By accurately adjusting the circuit parameters, the TX signal can pass through the circulator to the antenna while avoiding self-interference on the RX path.

[0051] Through dynamic adjustment of the circuit, this active structure can provide better flexibility and adjustment capability, thus achieving better performance in a variable communication environment.

[0052] The signal processing module 14 performs steps such as analog domain cancellation, analog-to-digital conversion, digital domain cancellation, digital signal processing, communication processing, frequency divider, and perception processing. The workflow and principles are as follows:

[0053] In the signal receiving stage, first, the adjustable active quasi-circulator of the radio frequency front end is used for self-interference cancellation, and then the analog domain cancellation technology is used to reduce interference in the signal transmission process to improve the purity of the signal. Subsequently, the received analog signal is converted into a digital signal by an analog-to-digital converter (ADC), realizing seamless connection between analog and digital signal processing.

[0054] The digital domain cancellation step further processes the digital signal, eliminating residual interference through digital signal processing algorithms to improve the signal-to-noise ratio and ensure signal quality. Digital signal processing includes filtering, equalization, demodulation, and other technologies to optimize signal quality and enhance the overall performance of the communication system.

[0055] In the UAV communication perception system, communication processing and perception processing are closely linked. The task of communication processing is to recover the original data information from the received signal to ensure the accuracy and integrity of the data. This process involves FFT processing, channel estimation and equalization, demodulation, and error detection and correction steps. Conversely, perception processing focuses on extracting key information such as the position, speed, and angle of the target from the signal, and using the extracted perception information to adjust the antenna to improve communication performance.

[0056] The function of the frequency divider is to up-convert the baseband signal to the radio frequency to ensure signal transmission within the specified frequency range, facilitating the differentiation of communication and perception signals. Communication processing and perception processing share received signals and processing resources, forming a cooperative working mechanism: data information extracted by communication processing helps to improve the accuracy of perception processing, while target information obtained by perception processing can be fed back to the communication system to optimize communication performance through methods such as adjusting beamforming direction. This mutually beneficial relationship enables the system to achieve efficient and reliable communication and perception functions.

[0057] The above disclosed is only a preferred embodiment of the self-interference cancellation device in the unmanned aerial vehicle communication sensing system of the present application, and cannot be used to limit the scope of the rights of the present application. Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments are implemented, and equivalent changes made according to the claims of the present application still belong to the scope covered by the present application.

Claims

1. A self-interference cancellation device in a UAV communication sensing system, characterized in that, It comprises a UAV body, a communication and sensing integrated device, and a fastener, the fastener is arranged at the bottom of the UAV body, the communication and sensing integrated device is arranged on one side of the fastener, and the fastener comprises a base, a hook, a seat cover and a fixing rod; The fixing rod is arranged at the bottom of the UAV body, the hook is arranged on the side of the fixing rod away from the UAV body, the base is fixedly connected with the hook and located outside the hook, and the seat cover is arranged at the top of the base.

2. The self-interference cancellation device in the UAV communication sensing system according to claim 1, characterized in that, The seat cover has a cover hole, the cover hole is located on one side of the seat cover, and the fixing rod has a clamping groove, the clamping groove is arranged on one side of the fixing rod.

3. The self-interference cancellation device in the UAV communication sensing system according to claim 1, characterized in that, The base is made of carbon fiber reinforced plastic.

4. The self-interference cancellation device in the UAV communication sensing system according to claim 1, characterized in that, The fixing rod comprises a fixing rod body and a telescopic hook, the fixing rod body is arranged at the bottom of the UAV body, and the telescopic hook is arranged on both sides of the fixing rod body.

5. The self-interference cancellation device in the UAV communication sensing system according to claim 1, characterized in that, The communication and sensing integrated device comprises a signal receiving and transmitting module, a self-interference cancellation module and a signal processing module, and the signal receiving and transmitting module, the self-interference cancellation module and the signal processing module are connected in sequence.

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