CN103856241A - Frequency hopping communication method for model airplane - Google Patents
Frequency hopping communication method for model airplane Download PDFInfo
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- CN103856241A CN103856241A CN201410044410.6A CN201410044410A CN103856241A CN 103856241 A CN103856241 A CN 103856241A CN 201410044410 A CN201410044410 A CN 201410044410A CN 103856241 A CN103856241 A CN 103856241A
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Abstract
The invention discloses a frequency hopping communication method for a model airplane. Communication points are divided into the static communication points and dynamic communication points, and the two kinds of communication points are combined to form a frequency hopping meter with the high interrupting reconnection function and the high anti-jamming performance. Effective and rapid synchronization is achieved through the static communication points, the environmental electromagnetic interference is shunned through the dynamic communication points, and therefore control failures of the model airplane in the complex electromagnetic environment can be reduced.
Description
Technical field
The present invention relates to a kind of model plane frequency hopping means of communication.
Background technology
The more original mode of model airplane remote control communication is to adopt fixed communication frequently, transmitting and accept fixing frequency, and the user of same flying field, must intercommunication model plane frequency, causes the impaired or injury to personnel of the model of an airplane in order to avoid cause to disturb.Frequency hopping communication is universal gradually on model plane in recent years, but also Shortcomings part, the collection of illustrative plates of frequency hopping communication is fixed, once there is fixing interference source flying field, model is just faced with danger out of control.
Summary of the invention
The problem existing for above-mentioned prior art, the invention provides a kind of model plane frequency hopping means of communication, can interrupt reconnecting and good in anti-interference performance.
To achieve these goals, the present invention realizes in the following manner,
The selection of the first step, RF frequency hopping communication point:
By RF communication point minute two classes, the first kind is static communication point (P
11~ P
1m), such communication point is definite by several function bytes in device id or function digit, and these static communication points are uniformly distributed in ISM full frequency band used, and the antijamming capability when synchronous to have increased access to and minimizing obtain the synchronous required time;
Equations of The Second Kind RF communication point is dynamic communication point (P
21~ P
2n), when transmitter-on, in current electromagnetic environment, do ISM full frequency band RSSI used scanning, select wherein meet the requirements and the frequency of optimal quality as dynamic communication point.Such frequency hopping point all can be different in the time of each start, strengthened the anti-electromagnetic interference capability of equipment and improved the utilance of channel space;
The number m of 2 class communication points and n have inherent contacting, and must consider the basic RF parameter such as band resource, signal bandwidth, the rate of information throughput of system;
Determining of second step, frequency hop sequences:
Use RS cyclic code algorithm to produce RS (n, the 2) pseudo random sequence that length is n, the length n of sequence and dynamic communication point (P
21~ P
2n) number identical.Determine wherein which in numerous RS pseudo random sequences of choice for use bunch with several function bytes or function digit in device id.Then use selected RS (n, 2) pseudo random sequence is shone upon arrangement to dynamic communication point, generate dynamic frequency hopping table, more static communication point is inserted into equably in dynamic frequency hopping table and re-starts arrangement, the final frequency hopping table (P using of the equipment that is combined into
1~ P
m+n),
In final frequency hopping table, not only comprise static communication point but also comprise dynamic communication point, static communication point mainly obtains and synchronizes with receiver as remote controller, make system obtain stable and interrupt reconnecting faster performance, use as communication point identical with the effect of dynamic communication point but that quality is slightly poor simultaneously.Dynamic communication point mainly, as the interference free performance of raising system, uses as general communication point.
The 3rd step, synchronous realization:
(1) first Receiver And Transmitter carries out code coupling, and receiver is extraction equipment ID from information on the code, determines static communication point (P according to several function bytes in device id or function digit
11~ P
1m).
(2) enter after normal operating conditions at Receiver And Transmitter, transmitter periodically sends control information, and (assumption period is T
1), and at the complete one-period T of every experience
1just change nonrecoverable frequency hopping point, frequency hopping point is from final frequency hopping table (P
1~ P
m+n) in choose successively.Communication point (the P that comprises current use in the control information that transmitter sends
i) k communication point (P below
i+1, P
i+2~ P
i+k) frequency point information;
(3) receiver first uses static communication point (P before obtaining synchronously
11~ P
1m) jump slowly, to wait for and receive the control information that transmitter sends, (assumption period is T to slow cycle duration of jumping
2) should be a bit larger tham transmitter and traveled through final frequency hopping table (P
1~ P
m+n) in the duration (being assumed to be T) of all communication points, i.e. T
2>=T, wherein T=(m+n) * T
1;
(4) when receiver is at certain static communication point (P
i) on received the control information that transmitter sends, just can therefrom extract the communication dot information (P of k-hop below transmitter
i+1, P
i+2~ P
i+k), receiver uses the communication point of extraction to enter into the frequency hopping accepting state that keeps asynchronous and synchronous with transmitter at once, fast frequency-hopped according to agreement frequency hopping sequential, receiving control information.So far, receiver and remote controller have obtained and have synchronizeed and remain on synchronous regime;
When being interfered, if receiver does not still receive new control information after k communication point below extracting the control information successfully receiving from the last time traveled through, just judge and lost and linked with transmitter, first receiver is waited for synchronous in next static point, if overtime not synchronous upper, receiver is jumped slowly and is waited for synchronously in quiescent operation, once on synchronous, receiver and transmitter maintenance is fast jumps synchronously, repeats the operation of (3), (4).
The present invention is based on the FHSS communication technology, and the frequency hopping agreement that the present invention adopts, multiple fixing frequencies form eigenfrequency spectrums, make the model can be synchronous fast, in the middle of fixing frequency, insert multiple random frequencies, make model can well avoid the electromagnetic interference source of flying field.Innovatively communication point is divided into static communication point and dynamic communication point, and there is stronger interruption reconnect function, the frequency hopping collection of illustrative plates of interference free performance (frequency hopping table) by 2 class communication points being combined, having formed.Accomplish efficiently and effectively synchronous by static communication point, utilize again the electromagnetic interference of the environment that dynamic communication point avoids, can reduce like this model plane situation out of control in complicated electromagnetic environment.
Brief description of the drawings
Fig. 1 is flow chart of the present invention.
Fig. 2 is a kind of generating mode of final frequency hopping table.
Fig. 3 is the another kind of generating mode of final frequency hopping table.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
The present invention as shown in Figure 1 realizes in the following manner, the selection of the first step, RF frequency hopping communication point:
By RF communication point minute two classes, the first kind is static communication point (P
11~ P
1m), such communication point is definite by several function bytes in device id or function digit, and these static communication points are uniformly distributed in ISM full frequency band used, and the antijamming capability when synchronous to have increased access to and minimizing obtain the synchronous required time;
Equations of The Second Kind RF communication point is dynamic communication point (P
21~ P
2n), when transmitter-on, in current electromagnetic environment, do ISM full frequency band RSSI scanning used, select wherein meet the requirements and the frequency of optimal quality as dynamic communication point, such frequency hopping point all can be different in the time of each start, strengthened the anti-electromagnetic interference capability of equipment and improved the utilance of channel space;
The number m of 2 class communication points and n have inherent contacting, and must consider the basic RF parameter such as band resource, signal bandwidth, the rate of information throughput of system;
Determining of second step, frequency hop sequences:
Use RS cyclic code algorithm to produce RS (n, the 2) pseudo random sequence that length is n, the length n of sequence and dynamic communication point (P
21~ P
2n) number identical.Determine wherein which in numerous RS pseudo random sequences of choice for use bunch with several function bytes or function digit in device id, then use selected RS (n, 2) pseudo random sequence is shone upon arrangement to dynamic communication point, generate dynamic frequency hopping table, again static communication point is inserted into equably in dynamic frequency hopping table and re-starts arrangement, the final frequency hopping table (P using of the equipment that is combined into
1~ P
m+n), if Fig. 2 and Fig. 3 are two kinds of forms of final frequency hopping table.
In final frequency hopping table, not only comprise static communication point but also comprise dynamic communication point, static communication point mainly obtains and synchronizes with receiver as remote controller, make system obtain stable and interrupt reconnecting faster performance, use as communication point identical with the effect of dynamic communication point but that quality is slightly poor simultaneously.Dynamic communication point mainly, as the interference free performance of raising system, uses as general communication point.
The 3rd step, synchronous realization:
(1) first Receiver And Transmitter carries out code coupling, and receiver is extraction equipment ID from information on the code, determines static communication point (P according to several function bytes in device id or function digit
11~ P
1m).
(2) enter after normal operating conditions at Receiver And Transmitter, transmitter periodically sends control information, and (assumption period is T
1), and at the complete one-period T of every experience
1just change nonrecoverable frequency hopping point, frequency hopping point is from final frequency hopping table (P
1~ P
m+n) in choose successively.Communication point (the P that comprises current use in the control information that transmitter sends
i) k communication point (P below
i+1, P
i+2~ P
i+k) frequency point information;
(3) receiver first uses static communication point (P before obtaining synchronously
11~ P
1m) jump slowly, to wait for and receive the control information that transmitter sends, (assumption period is T to slow cycle duration of jumping
2) should be a bit larger tham transmitter and traveled through final frequency hopping table (P
1~ P
m+n) in the duration (being assumed to be T) of all communication points, i.e. T
2>=T, wherein T=(m+n) * T
1;
(4) when receiver is at certain static communication point (P
i) on received the control information that transmitter sends, just can therefrom extract the communication dot information (P of k-hop below transmitter
i+1, P
i+2~ P
i+k), receiver uses the communication point of extraction to enter into the frequency hopping accepting state that keeps asynchronous and synchronous with transmitter at once, fast frequency-hopped according to agreement frequency hopping sequential, receiving control information.So far, receiver and remote controller have obtained and have synchronizeed and remain on synchronous regime;
When being interfered, if receiver does not still receive new control information after k communication point below extracting the control information successfully receiving from the last time traveled through, just judge and lost and linked with transmitter, first receiver is waited for synchronous in next static point, if overtime not synchronous upper, receiver is jumped slowly and is waited for synchronously in quiescent operation, once on synchronous, receiver and transmitter maintenance is fast jumps synchronously, repeats the operation of (3), (4).
Claims (1)
1. model plane frequency hopping means of communication, is characterized in that, comprise the following steps:
The selection of the first step, RF frequency hopping communication point:
By RF communication point minute two classes, the first kind is static communication point (P
11~ P
1m), such communication point is definite by several function bytes in device id or function digit, and these static communication points are uniformly distributed in ISM full frequency band used, and the antijamming capability when synchronous to have increased access to and minimizing obtain the synchronous required time;
Equations of The Second Kind RF communication point is dynamic communication point (P
21~ P
2n), when transmitter-on, in current electromagnetic environment, do ISM full frequency band RSSI scanning used, select wherein meet the requirements and the frequency of optimal quality as dynamic communication point, such frequency hopping point all can be different in the time of each start, strengthened the anti-electromagnetic interference capability of equipment and improved the utilance of channel space;
The number m of 2 class communication points and n have inherent contacting, and must consider the basic RF parameter such as band resource, signal bandwidth, the rate of information throughput of system;
Determining of second step, frequency hop sequences:
Use RS cyclic code algorithm to produce RS (n, the 2) pseudo random sequence that length is n, the length n of sequence and dynamic communication point (P
21~ P
2n) number identical;
Determine wherein which in numerous RS pseudo random sequences of choice for use bunch with several function bytes or function digit in device id;
Then use selected RS (n, 2) pseudo random sequence is shone upon arrangement to dynamic communication point, generate dynamic frequency hopping table, more static communication point is inserted into equably in dynamic frequency hopping table and re-starts arrangement, the final frequency hopping table (P using of the equipment that is combined into
1~ P
m+n),
In final frequency hopping table, not only comprise static communication point but also comprise dynamic communication point, static communication point mainly obtains and synchronizes with receiver as remote controller, make system obtain stable and interrupt reconnecting faster performance, use as communication point identical with the effect of dynamic communication point but that quality is slightly poor simultaneously; Dynamic communication point mainly, as the interference free performance of raising system, uses as general communication point;
The 3rd step, synchronous realization:
(1) first Receiver And Transmitter carries out code coupling, and receiver is extraction equipment ID from information on the code, determines static communication point (P according to several function bytes in device id or function digit
11~ P
1m);
?(2) enter after normal operating conditions at Receiver And Transmitter, transmitter periodically sends control information, and at the complete one-period T of every experience
1just change nonrecoverable frequency hopping point, frequency hopping point is from final frequency hopping table (P
1~ P
m+n) in choose successively, the communication point (P that comprises current use in the control information that transmitter sends
i) k communication point (P below
i+1, P
i+2~ P
i+k) frequency point information;
(3) receiver first uses static communication point (P before obtaining synchronously
11~ P
1m) jump slowly, to wait for and receive the control information that transmitter sends, (assumption period is T to slow cycle duration of jumping
2) should be a bit larger tham transmitter and traveled through final frequency hopping table (P
1~ P
m+n) in the duration of all communication points, i.e. T
2>=T, wherein T=(m+n) * T
1;
(4) when receiver is at certain static communication point (P
i) on received the control information that transmitter sends, just can therefrom extract the communication dot information (P of k-hop below transmitter
i+1, P
i+2~ P
i+k), receiver uses the communication point of extraction to enter into the frequency hopping accepting state that keeps asynchronous and synchronous with transmitter at once, fast frequency-hopped according to agreement frequency hopping sequential, receiving control information;
So far, receiver and remote controller have obtained and have synchronizeed and remain on synchronous regime;
When being interfered, if receiver does not still receive new control information after k communication point below extracting the control information successfully receiving from the last time traveled through, just judge and lost and linked with transmitter, first receiver is waited for synchronous in next static point, if overtime not synchronous upper, receiver is jumped slowly and is waited for synchronously in quiescent operation, once on synchronous, receiver and transmitter maintenance is fast jumps synchronously, repeats the operation of (3), (4).
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182993A (en) * | 2015-07-29 | 2015-12-23 | 深圳一电科技有限公司 | Flight control method and device |
| WO2016058221A1 (en) * | 2014-10-29 | 2016-04-21 | 韩性峰 | Smart full frequency domain 2.4g unidirectional frequency hopping communication method and system |
| CN105989700A (en) * | 2015-01-27 | 2016-10-05 | 南京军理科技股份有限公司 | Multi-zone multi-frequency-point wireless single-direction remote control system |
| CN106454981A (en) * | 2016-08-31 | 2017-02-22 | 零度智控（北京）智能科技有限公司 | Random frequency hopping method, communication device and random frequency hopping system |
| CN107453770A (en) * | 2017-08-22 | 2017-12-08 | 深圳市华信天线技术有限公司 | Control method, control device, emitter and the receiver of frequency hopping |
| CN107947831A (en) * | 2017-11-10 | 2018-04-20 | 杭州海兴电力科技股份有限公司 | Frequency hopping frequency point generation method and frequency-hopping communication method |
| CN108233985A (en) * | 2017-12-28 | 2018-06-29 | 厦门安胜网络科技有限公司 | A kind of unmanned plane management method, terminal device and storage medium |
| CN108540170A (en) * | 2018-03-14 | 2018-09-14 | 思翼科技（深圳）有限公司 | A kind of SHTT frequency hopping data radio station systems applied to telecontrolled model |
| WO2019000822A1 (en) * | 2017-06-27 | 2019-01-03 | 深圳市道通智能航空技术有限公司 | Communication method and apparatus for radio frequency device, remote controller and unmanned aerial vehicle |
| CN109756245A (en) * | 2017-11-08 | 2019-05-14 | 杭州海兴电力科技股份有限公司 | Multifrequency point frequency-hopping communication method based on power line carrier |
| CN111600629A (en) * | 2020-05-12 | 2020-08-28 | 中国电子科技集团公司第五十四研究所 | Net platform sorting method based on improved CleaStream framework |
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| US20090060001A1 (en) * | 2007-08-27 | 2009-03-05 | Waltho Alan E | Cognitive frequency hopping radio |
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Patent Citations (2)
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| US20090060001A1 (en) * | 2007-08-27 | 2009-03-05 | Waltho Alan E | Cognitive frequency hopping radio |
| CN101425822A (en) * | 2008-12-03 | 2009-05-06 | 中兴通讯股份有限公司 | Frequency hopping method for supporting multiuser multiplexing single time slot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016058221A1 (en) * | 2014-10-29 | 2016-04-21 | 韩性峰 | Smart full frequency domain 2.4g unidirectional frequency hopping communication method and system |
| CN105989700A (en) * | 2015-01-27 | 2016-10-05 | 南京军理科技股份有限公司 | Multi-zone multi-frequency-point wireless single-direction remote control system |
| CN105182993A (en) * | 2015-07-29 | 2015-12-23 | 深圳一电科技有限公司 | Flight control method and device |
| CN105182993B (en) * | 2015-07-29 | 2019-02-19 | 深圳一电航空技术有限公司 | Flight control method and device |
| CN106454981A (en) * | 2016-08-31 | 2017-02-22 | 零度智控（北京）智能科技有限公司 | Random frequency hopping method, communication device and random frequency hopping system |
| CN106454981B (en) * | 2016-08-31 | 2019-10-11 | 天津远翥科技有限公司 | A kind of random frequency hopping method, communication apparatus and random frequency hopping system |
| CN109150239A (en) * | 2017-06-27 | 2019-01-04 | 深圳市道通智能航空技术有限公司 | The communication means and device of radio-frequency apparatus |
| WO2019000822A1 (en) * | 2017-06-27 | 2019-01-03 | 深圳市道通智能航空技术有限公司 | Communication method and apparatus for radio frequency device, remote controller and unmanned aerial vehicle |
| CN107453770A (en) * | 2017-08-22 | 2017-12-08 | 深圳市华信天线技术有限公司 | Control method, control device, emitter and the receiver of frequency hopping |
| CN109756245A (en) * | 2017-11-08 | 2019-05-14 | 杭州海兴电力科技股份有限公司 | Multifrequency point frequency-hopping communication method based on power line carrier |
| CN109756245B (en) * | 2017-11-08 | 2020-07-28 | 杭州海兴电力科技股份有限公司 | Multi-frequency-point frequency hopping communication method based on power line carrier |
| CN107947831A (en) * | 2017-11-10 | 2018-04-20 | 杭州海兴电力科技股份有限公司 | Frequency hopping frequency point generation method and frequency-hopping communication method |
| CN108233985A (en) * | 2017-12-28 | 2018-06-29 | 厦门安胜网络科技有限公司 | A kind of unmanned plane management method, terminal device and storage medium |
| CN108540170A (en) * | 2018-03-14 | 2018-09-14 | 思翼科技（深圳）有限公司 | A kind of SHTT frequency hopping data radio station systems applied to telecontrolled model |
| CN111600629A (en) * | 2020-05-12 | 2020-08-28 | 中国电子科技集团公司第五十四研究所 | Net platform sorting method based on improved CleaStream framework |
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