A broadband high-speed ad hoc network unmanned aerial vehicle control device and system

Abstract

The utility model discloses a broadband high -speed ad hoc network unmanned plane controlling means and system, include: ground control broadband ad hoc network equipment, including adaptive frequency selection module, ground broadband ad hoc network baseband module, low noise amplifier, radio frequency switch group, radio frequency power amplifier and with the first antenna connection's first radio frequency interface, install in the airborne broadband ad hoc network equipment of unmanned plane, including airborne broadband ad hoc network baseband module, low noise amplifier, radio frequency switch group, radio frequency power amplifier and with the second antenna connection's second radio frequency interface, between the first antenna with second antenna forms wireless link, makes ground control broadband ad hoc network equipment with airborne broadband ad hoc network equipment on unmanned plane carries out two -way connection. The utility model structure adapts unmanned plane environment and has high reliable radio frequency chain type structure and multi -node extension ability.

Description

Technical Field

[0001] This utility model relates to the field of broadband self-organizing network communication technology, and in particular to a broadband high-speed self-organizing network unmanned aerial vehicle control device and system. Background Technology

[0002] In recent years, drones have been widely used in various fields, including farmland monitoring, crop spraying, and remote sensing mapping in agriculture; traffic management and logistics in the transportation sector; security patrols and counter-terrorism investigations in the public security sector; power transmission line inspections in the power and grid sector; public safety and disaster response in the fire and emergency sectors; and intelligence reconnaissance, communication relay, and logistical support in the military sector. With the increasing prevalence of drone applications, higher demands are placed on long-distance, stable, and high-bandwidth real-time communication links. However, most drones on the market rely on communication methods such as 4G, 5G, or WiFi. These communication methods are easily affected by environmental conditions. For example, 4G / 5G cannot control drones in areas with signal coverage blind spots, and WiFi, limited by link loss and transmission power, typically has an effective range of only a few dozen kilometers, making it difficult to meet the needs of stable communication and long-distance operation in large-scale mission scenarios.

[0003] The invention patent application No. 2022115007949, entitled "A Remote Control Device for Unmanned Aerial Vehicles Based on Microwave Ad Hoc Network Communication," proposes to increase the controllable distance by superimposing a microwave ad hoc network channel onto the existing control link of the unmanned aerial vehicle. However, this method is costly, and the remote control capability is completely lost if the microwave ad hoc network link is interfered with or blocked. Furthermore, the control device lacks backup links and optimized adaptation to the front-end radio frequency structure. In addition, the radio frequency front-end structure of this solution has not been simplified or adapted for the unmanned aerial vehicle's onboard environment, making it difficult to simultaneously meet the needs of long-distance communication, anti-interference capabilities, and simultaneous communication by multiple unmanned aerial vehicles. Utility Model Content

[0004] Based on the shortcomings of the existing technology, this utility model provides a broadband high-speed self-organizing network device and system, which is structurally adapted to the UAV environment and has a highly reliable radio frequency chain structure and multi-node expansion capability.

[0005] To address the aforementioned technical problems, the first aspect of this utility model discloses a broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control device, comprising: The ground-based control broadband self-organizing network equipment includes an adaptive frequency selection module, a ground-based broadband self-organizing network baseband module, a low-noise amplifier, a radio frequency switch group, a radio frequency power amplifier, and a first radio frequency interface connected to the first antenna. The RF input terminal of the low-noise amplifier is connected to the first antenna via the first RF interface, and the RF output terminal of the low-noise amplifier is connected to the RF receiver terminal of the terrestrial broadband self-organizing network baseband module; the RF input terminal of the adaptive frequency selection module is connected to the first antenna via the first RF interface, and the signal output terminal of the adaptive frequency selection module is connected to the signal input terminal of the terrestrial broadband self-organizing network baseband module; the RF transmitter terminal of the terrestrial broadband self-organizing network baseband module is connected to the first RF interface in sequence via an RF switch group and an RF power amplifier to transmit RF signals via the first antenna; The airborne broadband ad hoc networking equipment installed on the drone includes an airborne broadband ad hoc networking baseband module, a low-noise amplifier, an RF switch group, an RF power amplifier, and a second RF interface connected to the second antenna. The RF input terminal of the low-noise amplifier is connected to the second antenna via the second RF interface, and the RF output terminal of the low-noise amplifier is connected to the RF receiver terminal of the airborne broadband ad hoc network baseband module; the RF transmitter terminal of the airborne broadband ad hoc network baseband module is connected to the second RF interface in sequence via an RF switch group and an RF power amplifier to transmit RF signals via the second antenna. A wireless link is formed between the first antenna and the second antenna, enabling bidirectional connection between the ground-based control broadband ad hoc network equipment and the airborne broadband ad hoc network equipment on the UAV.

[0006] In some implementations, the adaptive frequency selection module includes a mixer, a filter, a power detector, an analog-to-digital converter, and a microcontroller connected in sequence; the input of the mixer is connected to a first radio frequency interface via a low-noise amplifier and a group of radio frequency switches; the output of the microcontroller is connected to the signal input of the terrestrial broadband self-organizing network baseband module.

[0007] In some implementations, the adaptive frequency selection module includes a phase-locked loop (PLL) and a voltage-controlled oscillator (VCO). The control terminal of the PLL is connected to a microcontroller, the output terminal of the PLL is connected to the control terminal of the VCO, and the output terminal of the VCO is connected to the local oscillator input of the mixer.

[0008] In some embodiments, the operating frequency band of the broadband high-speed self-organizing network unmanned aerial vehicle control device includes 900MHz, 1.2GHz, 1.5GHz, 2.4GHz, 5.2GHz and / or 5.8GHz.

[0009] In some embodiments, the RF switch group has multiple RF output terminals, each of which is connected to the RF input terminals of multiple RF power amplifiers, and the RF output terminals of the multiple RF power amplifiers are connected to a first RF interface; the RF power amplifiers are LDMOS or GaN power amplifiers with an output power of 40dBm to 47dBm.

[0010] In some embodiments, the airborne broadband ad hoc network equipment and the ground-controlled broadband ad hoc network equipment further include a positioning antenna; the positioning antenna is connected to a satellite positioning module.

[0011] In some implementations, both the first antenna and the second antenna are omnidirectional antennas.

[0012] In some implementations, the number of airborne broadband ad hoc network devices is no more than 32.

[0013] In some implementations, the RF power amplifier uses an LDMOS or GaN power amplifier with an output power of 40 dBm to 47 dBm.

[0014] In a second aspect, a broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control system is disclosed, characterized in that it includes the broadband high-speed self-organizing network UAV control device as described above.

[0015] In some implementations... Compared with the prior art, the beneficial effects of this utility model are as follows: This invention constructs a broadband self-organizing network communication architecture with adaptively selectable operating frequency bands at both the ground and airborne ends. This adaptively determines the current operating frequency band, avoiding link instability caused by interference or obstruction when using a single fixed frequency band. By combining RF switch groups with multiple power amplifiers and low-noise amplifiers, the transmit and receive links are matched to each other within the determined operating frequency band, improving the signal-to-noise ratio and anti-interference capability of the communication link. This device can simultaneously complete downlink transmission of control commands and uplink transmission of video data within a unified architecture, reducing the structural complexity and reliability degradation caused by the coexistence of multiple communication systems. This allows the UAV to maintain stable two-way communication even at long distances and in complex environments. The overall structure of this invention is clear, the inter-module connections are well-defined, and it possesses high engineering feasibility and system stability. Attached Figure Description

[0016] Figure 1 A schematic diagram of the structure of a broadband high-speed self-organizing network unmanned aerial vehicle control device provided by this utility model; Figure 2 This is a schematic diagram of the adaptive frequency selection module in a broadband high-speed self-organizing network UAV control device provided by this utility model. Detailed Implementation

[0017] To better understand and implement this invention, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0018] The terms “comprising” and “having” and any variations thereof in this embodiment of the invention are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such processes, methods, products or devices.

[0019] An embodiment of this utility model discloses a broadband high-speed self-organizing network UAV control device, which is structurally adapted to the UAV environment and has a highly reliable radio frequency chain structure and multi-node expansion capability.

[0020] like Figure 1 As shown, this broadband high-speed self-organizing network UAV control device includes a ground control broadband self-organizing network device located on the ground, an airborne broadband self-organizing network device installed on the UAV, a control terminal, and a video terminal. For ease of description, the ground control broadband self-organizing network device and the airborne broadband self-organizing network device can be referred to as the ground end and the airborne end in the following text.

[0021] The ground-based control broadband ad hoc network device is connected to the first antenna for transmitting and receiving radio frequency signals. Multiple airborne broadband ad hoc network devices are installed on different UAVs and connected to their respective second antennas for transmitting and receiving radio frequency signals from the UAV end. The ground-based control broadband ad hoc network device acts as the central node, and the multiple airborne broadband ad hoc network devices on the UAVs act as peripheral nodes, forming a broadband high-speed wireless ad hoc network architecture. A stable two-way communication relationship is established through the broadband ad hoc network link. The ground-based control broadband ad hoc network device is responsible for issuing UAV control commands from the control terminal and receiving video data or status data uploaded by the video terminal or UAV. The airborne broadband ad hoc network devices are responsible for executing the UAV control link and image backhaul link, and maintaining a real-time wireless connection with the ground-based control broadband ad hoc network device.

[0022] Specifically, the terrestrial control broadband ad hoc network equipment includes an adaptive frequency selection module, a terrestrial broadband ad hoc network baseband module, a low-noise amplifier, an RF switch group, an RF power amplifier, and a first RF interface connected to a first antenna. The RF input terminal of the low-noise amplifier is connected to the first antenna via the first RF interface, and the RF output terminal of the low-noise amplifier is connected to the RF receiving terminal of the terrestrial broadband ad hoc network baseband module. The RF input terminal of the adaptive frequency selection module is connected to the first antenna via the first RF interface, and is used to receive broadband RF signals in the air and perform spectrum analysis. The signal output terminal of the adaptive frequency selection module is connected to the signal input terminal of the terrestrial broadband ad hoc network baseband module, and is used to notify the terrestrial broadband ad hoc network baseband module of the frequency selection result or spectrum parameters. The RF transmitting terminal of the terrestrial broadband ad hoc network baseband module is connected to the first RF interface sequentially via the RF switch group and the RF power amplifier, so as to transmit control commands and other downlink data into the air through the first antenna in the selected operating frequency band.

[0023] The terrestrial broadband self-organizing network baseband module connects to the control terminal and video terminal via wired or wireless interfaces, respectively. Control commands output by the control terminal are encapsulated by the terrestrial broadband self-organizing network baseband module and transmitted to the target UAV via the self-organizing network link; video data uploaded by the UAV is deframed by the terrestrial broadband self-organizing network baseband module and forwarded to the video terminal. In this embodiment, the ground terminal can also be connected to multiple sets of RF front-ends via multi-node interfaces to meet the requirements of simultaneous operation of multiple frequency bands or multiple beams.

[0024] like Figure 2 As shown, the adaptive frequency selection module includes a mixer, a filter, a power detector, an analog-to-digital converter, and a microcontroller (MCU) connected in sequence. The input of the mixer is connected to the first RF interface via a low-noise amplifier (LNA) and an RF switch group. The output of the microcontroller is connected to the signal input of the terrestrial broadband self-organizing network baseband module via an RS485 interface. The adaptive frequency selection module contains a phase-locked loop (PLL) and a voltage-controlled oscillator (VCO). The control terminal of the PLL is connected to the MCU, and the output terminal of the PLL is connected to the control terminal of the VCO. The output terminal of the VCO is connected to the local oscillator input of the mixer.

[0025] The ground-based control broadband self-organizing network equipment initializes, and the adaptive frequency selection module is in standby mode. By controlling switch C1, the antenna port is switched to the RF input of the adaptive frequency selection module, which then searches for spatial signals through the connected first antenna C0. In this embodiment, the adaptive frequency selection module presets several candidate operating frequency bands, such as 900MHz, 1.2GHz, 1.5GHz, 2.4GHz, 5.2GHz, and 5.8GHz. The adaptive frequency selection module sequentially scans each candidate operating frequency band, filters out the spectrally clean intervals, and sets the current operating frequency band as the filtered spectrally clean interval.

[0026] The spatial signal received by the adaptive frequency selection module is first amplified by a low-noise amplifier (LNA) and then sent to a mixer for frequency conversion. A phase-locked loop (PLL) controls the local oscillator frequency of the voltage-controlled oscillator (VCO), ensuring that signals from different candidate operating frequency bands are converted to an intermediate frequency (IF) signal with a center frequency of 500MHz. The converted IF signal then passes through a 160MHz bandwidth filter, and an analog voltage signal is output from a power detector. This analog voltage signal is converted into a digital signal by an analog-to-digital converter (ADC) and input to a microcontroller (MCU). The MCU obtains the input power value for each candidate operating frequency band and performs frequency band determination.

[0027] The microcontroller (MCU) compares the power values ​​of each candidate operating frequency band to determine the spectral clean range and sets it as the current operating frequency band. In this embodiment, the corresponding frequency band is determined based on a threshold value. For example, when the input power of the 900MHz, 1.2GHz, and 1.5GHz bands is less than or equal to the threshold, the MCU determines the current operating frequency band as a low-frequency band. If the above conditions are not met and the input power of the 2.4GHz band is less than or equal to the threshold, the current operating frequency band is determined as a mid-frequency band. If these conditions are also not met and the input power of the 5.2GHz and 5.8GHz bands is less than or equal to the threshold, the current operating frequency band is determined as a high-frequency band. If the power of all candidate operating frequency bands is higher than the threshold, it can be determined that the current environment is unsuitable as a working environment, and a prompt will be sent to the host computer or control terminal. In this application, the threshold value is set to -60dBm.

[0028] The adaptive frequency selection module sends the determined current operating frequency band to the terrestrial broadband self-organizing network baseband module through its output interface. The terrestrial broadband self-organizing network baseband module sets the corresponding operating parameters for the ground end and each airborne end. The entire self-organizing network system performs subsequent control and data transmission under this operating frequency band.

[0029] The airborne broadband ad hoc networking equipment is installed inside the UAV's fuselage and includes a broadband ad hoc network baseband module, a low-noise amplifier, an RF switch assembly, an RF power amplifier, and an RF interface that connects to the second antenna. The RF interface connects to the second antenna via an RF coaxial cable, enabling the UAV to transmit and receive RF signals.

[0030] The RF input of the low-noise amplifier LNA1 is connected to the second antenna via an RF interface to amplify the downlink RF signal from the ground. The output of the LNA1 is connected to the RF receiver of the airborne broadband ad hoc network baseband module. The RF transmitter of the airborne broadband ad hoc network baseband module is connected to the RF interface via an RF switch group and an RF power amplifier, transmitting UAV video data and status information to the ground via the second antenna in the selected operating frequency band.

[0031] In some implementations, the airborne broadband ad hoc network device is connected to the UAV's control system via a data cable, enabling the control system to receive control data from the broadband ad hoc network link and adjust the UAV's attitude and mission accordingly; at the same time, it is connected to the UAV's power system via a power cable to provide operating power for the communication equipment.

[0032] Furthermore, the ground-based control broadband ad hoc network module and the airborne broadband ad hoc network equipment also include a satellite positioning module. This satellite positioning module is connected to a positioning antenna to acquire corresponding location information. The satellite positioning module connects to the airborne broadband ad hoc network baseband module via a serial port to provide the UAV's location information to the ground control system.

[0033] After the ground-based broadband ad hoc network equipment completes adaptive frequency selection and determines the current operating frequency band, the adaptive frequency selection module writes the current operating frequency band into the ground broadband ad hoc network baseband module. The ground broadband ad hoc network baseband module configures the operating parameters of the transmit and receive links according to the current operating frequency band, and sends the synchronization control frame carrying the current operating frequency band to each airborne broadband ad hoc network equipment through the radio frequency link.

[0034] In star-shaped node mode, the ground terminal acts as the central node, broadcasting or multicasting operating frequency band information to up to 32 airborne terminals. Upon receiving the operating frequency band information, each airborne broadband ad hoc network device selects the corresponding RF switch group channel and RF power amplifier based on the current operating frequency band. For example, when the current operating frequency band is low-frequency, the ground terminal selects the corresponding low-frequency RF power amplifier path, and the airborne terminal selects the corresponding low-frequency RF power amplifier path; when the current operating frequency band is mid-frequency or high-frequency, the ground terminal and airborne terminal select the corresponding mid-frequency or high-frequency transmission paths respectively, ensuring consistent RF links within the ad hoc network.

[0035] The control terminal sends the UAV's control commands to the ground-based broadband ad hoc network baseband module. The baseband module encapsulates the control commands into downlink data frames and transmits them into the air via a radio frequency power amplifier and the first antenna in the current operating frequency band. The corresponding airborne broadband ad hoc network equipment receives the downlink radio frequency signal via the second antenna, demodulates and deframes it after passing it through a low-noise amplifier and the airborne baseband module, and then outputs the control information to the UAV flight control system, enabling the UAV to execute corresponding control actions.

[0036] Video and status data collected by sensors such as cameras on the UAV are sent to the onboard broadband ad hoc network baseband module. After encoding and encapsulation, the data is transmitted to the ground via the onboard radio frequency transmission link and the next-day uplink in the current operating frequency band. The ground broadband ad hoc network baseband module receives the uplink data, performs frame decoding and parsing, outputs the video data to the video terminal for display, and provides the status data to the control terminal or backend system.

[0037] The process of this application will be further explained below with reference to specific embodiments: Step S1: The ground control broadband self-organizing network equipment determines the current working frequency band from the candidate working frequency bands through an adaptive frequency selection algorithm, and broadcasts the current working frequency band to at least one UAV.

[0038] When remote control of UAV 1 is required, the control terminal first sends control commands to the terrestrial broadband ad hoc network baseband module C0. The terrestrial broadband ad hoc network baseband module C0 frames the control commands into data frames. The adaptive frequency selection module determines the current operating frequency band according to the aforementioned adaptive frequency selection method, selects the corresponding transmission channel, and sequentially switches the transmission link to one of the RF power amplifiers HPAC0 to HPAC2 via RF switch C3 and RF switch C2. The selected RF power amplifier then amplifies the signal.

[0039] The adaptive frequency selection module is used to perform power scanning of multiple candidate operating frequency bands in the air environment, including but not limited to 900MHz, 1.2GHz, 1.5GHz, 2.4GHz, 5.2GHz, and 5.8GHz. The adaptive frequency selection module includes components such as a phase-locked loop (PLL), a voltage-controlled oscillator (VCO), a mixer, filters, a power detector, and an analog-to-digital converter (ADC). The PLL can be an ADF4351, the VCO output drives the mixer, the power detector can be an ADL5513, and the ADC can be an AD9283. By configuring the PLL's division ratio through the microcontroller (MCU), the VCO can scan the signal strength of different frequency bands.

[0040] The adaptive frequency selection module transmits the scanning results to the terrestrial broadband self-organizing network baseband module C0. The terrestrial broadband self-organizing network baseband module C0 determines the optimal operating frequency band based on set threshold conditions. The RF switch can be a Raexek LXK6208 or a Guowei K8025, and the RF power amplifier uses an LDMOS or GaN structure, which can boost the signal power to 40 to 47 dBm, thus ensuring that the broadcast signal can cover the maximum communication distance of the drone swarm.

[0041] Control commands may include information for controlling the UAV's attitude, movements, or mission execution. HPAC0 to HPAC2 are radio frequency power amplifiers, whose output power is typically boosted to the range of 40dBm to 47dBm to ensure sufficient link coverage. The terrestrial broadband ad hoc network baseband module C0 can be implemented using FPGA or ASIC devices. In a preferred embodiment, the radio frequency switch C3 can be a Raexek LXK6208, the radio frequency switch C2 can be a Guowei K8025, and the radio frequency power amplifier can be implemented using LDMOS or GaN devices.

[0042] The amplified radio frequency signal is then switched via radio frequency switch C1 to the transmit port connected to the first antenna C0, and transmitted into the air through the first antenna C0, where it is received by the second antenna on the UAV, namely antenna 1. Both the first and second antennas are omnidirectional fiberglass antennas, enabling a wireless transmission distance of up to approximately 200 km. In a preferred embodiment, the positioning antenna C1 can also be a Guowei K8025.

[0043] Step S2: The UAV receives the current operating frequency band of the broadcast and transmits it to the airborne broadband self-organizing network device; the airborne broadband self-organizing network device switches the corresponding radio frequency transmission link according to the current operating frequency band.

[0044] The airborne antenna receives the operating frequency band information broadcast by ground equipment and switches it to the input of the low-noise amplifier via an RF switch. The low-noise amplifier has a broadband structure that can cover 900MHz to 6000MHz and performs gain compensation on the broadcast signal to make the signal meet the input requirements of the baseband module.

[0045] After demodulation and parsing, the airborne broadband self-organizing network baseband module obtains the identifier of the current operating frequency band and selects the corresponding RF transmission path. When the current operating frequency band is low-frequency, the airborne end switches to the low-frequency power amplification link; when it is mid-frequency, it switches to the mid-frequency link; and when it is high-frequency, it switches to the high-frequency link. Link switching is completed through a two-stage RF switch on the airborne side. The downstream connected RF power amplifier uses LDMOS or GaN RF power modules to support the RF signal gain requirements of different frequency bands. The airborne end can automatically switch its RF transmission link under the unified frequency band configuration of the ground end, maintaining a consistent frequency band operating status with the ground end.

[0046] Step S3: The airborne broadband self-organizing network baseband module of the airborne broadband self-organizing network equipment transmits video data or control data to the ground control broadband self-organizing network equipment via the selected radio frequency transmission link through the second antenna.

[0047] In this embodiment, the camera mounted on the UAV captures video footage in real time and inputs the video data to the onboard broadband ad hoc network baseband module. The onboard broadband ad hoc network baseband module encodes and frames the video data to form uplink radio frequency data frames, and sends the data frames to the radio frequency transmission link determined in step S2. The radio frequency transmission link includes a radio frequency switching stage and a power amplification stage, with the aforementioned LDMOS or GaN power amplifier responsible for amplifying the signal to a specified power range.

[0048] The amplified uplink data is transmitted to the ground via the second antenna. The second antenna is an omnidirectional fiberglass antenna, which can meet the coverage requirements of long-distance communication, enabling the drone to stably transmit video or status information to the ground.

[0049] Step S4: The ground control broadband self-organizing network equipment receives the video data or control data through a low-noise amplifier path, and realizes data communication between the control terminal, video terminal and UAV under the current operating frequency band.

[0050] After the first antenna receives the uplink signal from the UAV, the RF switch inside the ground broadband self-organizing network equipment switches the signal to the input of the low-noise amplifier corresponding to the current operating frequency band. The low-noise amplifier adopts a broadband structure, covering a range of 900MHz to 6000MHz, ensuring compatibility with the airborne RF transmission frequency band.

[0051] After low-noise amplification, the signal enters the terrestrial broadband ad hoc network baseband module, where it demodulates and deframes to extract video or control data. Video data is sent to a video terminal for display or storage, while control data is sent to a control terminal for calculating subsequent UAV control commands or mission operations. The ground terminal can stably receive and parse UAV data within the selected operating frequency band, enabling data communication between the control terminal, video terminal, and UAV.

[0052] Based on the same inventive concept, this application also provides a broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control system, including any of the broadband high-speed self-organizing network UAV control devices described above.

[0053] This invention constructs a broadband self-organizing network communication architecture with adaptively selectable operating frequency bands at both the ground and airborne ends. This adaptively determines the current operating frequency band, avoiding link instability caused by interference or obstruction when using a single fixed frequency band. By combining RF switch groups with multiple power amplifiers and low-noise amplifiers, the transmit and receive links are matched to each other within the determined operating frequency band, improving the signal-to-noise ratio and anti-interference capability of the communication link. This device can simultaneously complete downlink transmission of control commands and uplink transmission of video data within a unified architecture, reducing the structural complexity and reliability degradation caused by the coexistence of multiple communication systems. This allows the UAV to maintain stable two-way communication even at long distances and in complex environments. The overall structure of this invention is clear, the inter-module connections are well-defined, and it possesses high engineering feasibility and system stability.

[0054] The embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0055] Finally, it should be noted that the embodiments disclosed in this utility model are merely preferred embodiments of this utility model and are only used to illustrate the technical solutions of this utility model, not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of this utility model.

Claims

1. A broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control device, characterized in that, include: The ground-based control broadband self-organizing network equipment includes an adaptive frequency selection module, a ground-based broadband self-organizing network baseband module, a low-noise amplifier, a radio frequency switch group, a radio frequency power amplifier, and a first radio frequency interface connected to the first antenna. The radio frequency input terminal of the low noise amplifier is connected to the first antenna via the first radio frequency interface, and the radio frequency output terminal of the low noise amplifier is connected to the radio frequency receiver terminal of the terrestrial broadband self-organizing network baseband module. The RF input terminal of the adaptive frequency selection module is connected to the first antenna via the first RF interface, and the signal output terminal of the adaptive frequency selection module is connected to the signal input terminal of the terrestrial broadband self-organizing network baseband module; the RF transmitter of the terrestrial broadband self-organizing network baseband module is connected to the first RF interface in sequence via an RF switch group and an RF power amplifier, so as to transmit RF signals via the first antenna. The airborne broadband ad hoc networking equipment installed on the drone includes an airborne broadband ad hoc networking baseband module, a low-noise amplifier, an RF switch group, an RF power amplifier, and a second RF interface connected to the second antenna. The RF input terminal of the low-noise amplifier is connected to the second antenna via the second RF interface, and the RF output terminal of the low-noise amplifier is connected to the RF receiver terminal of the airborne broadband ad hoc network baseband module; the RF transmitter terminal of the airborne broadband ad hoc network baseband module is connected to the second RF interface in sequence via an RF switch group and an RF power amplifier to transmit RF signals via the second antenna. A wireless link is formed between the first antenna and the second antenna, enabling bidirectional connection between the ground-based control broadband ad hoc network equipment and the airborne broadband ad hoc network equipment on the UAV.

2. The broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control device according to claim 1, characterized in that, The adaptive frequency selection module includes a mixer, a filter, a power detector, an analog-to-digital converter, and a microcontroller connected in sequence; the input of the mixer is connected to the first radio frequency interface through a low-noise amplifier and a group of radio frequency switches; the output of the microcontroller is connected to the signal input of the terrestrial broadband self-organizing network baseband module.

3. The broadband high-speed self-organizing network unmanned aerial vehicle control device according to claim 2, characterized in that, The adaptive frequency selection module is equipped with a phase-locked loop (PLL) and a voltage-controlled oscillator (VCO). The control terminal of the PLL is connected to the microcontroller, the output terminal of the PLL is connected to the control terminal of the VCO, and the output terminal of the VCO is connected to the local oscillator input terminal of the mixer.

4. The broadband high-speed self-organizing network unmanned aerial vehicle control device according to claim 3, characterized in that, The operating frequency bands of the broadband high-speed self-organizing network UAV control device include 900MHz, 1.2GHz, 1.5GHz, 2.4GHz, 5.2GHz and / or 5.8GHz.

5. A broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control device according to claim 2, characterized in that, The RF switch group has multiple RF output terminals, each of which is connected to the RF input terminals of multiple RF power amplifiers. The RF output terminals of the multiple RF power amplifiers are connected to the first RF interface. The RF power amplifiers are LDMOS or GaN power amplifiers with an output power of 40dBm to 47dBm.

6. The broadband high-speed self-organizing network unmanned aerial vehicle control device according to claim 3, characterized in that, The airborne broadband self-organizing network equipment and the ground-controlled broadband self-organizing network equipment also include a positioning antenna; the positioning antenna is connected to a satellite positioning module.

7. A broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control device according to claim 6, characterized in that, Both the first antenna and the second antenna are omnidirectional antennas.

8. The broadband high-speed self-organizing network unmanned aerial vehicle control device according to claim 7, characterized in that, The number of airborne broadband self-organizing network devices shall not exceed 32.

9. A broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control device according to claim 7, characterized in that, The RF power amplifier uses LDMOS or GaN power amplifiers, with an output power of 40dBm to 47dBm.

10. A broadband high-speed self-organizing network unmanned aerial vehicle (UAV) control system, characterized in that, Includes the broadband high-speed self-organizing network unmanned aerial vehicle control device as described in any one of claims 1 to 9.

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