CN104702333A - Unmanned aerial vehicle measurement and control signal distributor and distributing method thereof - Google Patents
Unmanned aerial vehicle measurement and control signal distributor and distributing method thereof Download PDFInfo
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- CN104702333A CN104702333A CN201510018305.XA CN201510018305A CN104702333A CN 104702333 A CN104702333 A CN 104702333A CN 201510018305 A CN201510018305 A CN 201510018305A CN 104702333 A CN104702333 A CN 104702333A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18515—Transmission equipment in satellites or space-based relays
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
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Abstract
The invention relates to an unmanned aerial vehicle measurement and control signal distributor and a distributing method thereof, wherein the unmanned aerial vehicle measurement and control signal distributor simultaneously receives two remote measuring data sent by a ground data terminal. The distributing method comprises the following steps: in an automatic control mode, automatically selecting one remote sensing data to transmit according to channel priority, data delay time and accuracy; in an manual control mode, manually switching a switch to select one of the two remote sensing data to transmit, and distributing the selected remote sensing signal into four signals.
Description
Technical field
The present invention relates to unmanned plane remote measurement and remote-control data transmission technique field, be specially a kind of UAV TT & C's signal distributor and distribution method.
Background technology
In existing UAV TT & C's communication process, unmanned plane remote measurement downstream signal is connected with the real-time processing computer of ground control station by ground data chain terminal observing and controlling interface, real-time processing computer receives telemetry frame, is then sent to multiple surface-monitoring equipment by network.
When surface-monitoring equipment sends remote control command, by network, remote-control data frame is sent to real-time processing computer, in real time process computing cycle ground is sent to ground data chain terminal, and remote information is up is sent to unmanned plane in formation.
Which receives using separate unit real-time processing computer as measuring and control data (remote control and remote measurement) and forwards nucleus equipment, there is transmission link many, the problems such as time delay is large, the error rate is high, intelligence degree is low, redundancy is poor, affect unmanned plane during flying safety.
Summary of the invention
The technical problem solved
In order to avoid problems such as the transmission link of prior art are many, and time delay is large, the error rate is high, intelligence degree is low, redundancy is poor, the present invention proposes a kind of UAV TT & C's signal distributor and distribution method.
Technical scheme
A kind of UAV TT & C's signal distributor, is characterized in that comprising single-chip microcomputer C8051F020, the first analog switch 74HC4066, the second analog switch 74HC4066, the first level shifting circuit 75175, second electrical level change-over circuit 75175, three level change-over circuit 75175, multiple level shifting circuit 75174 and three diverter switches, first level shifting circuit 75175, the output of second electrical level change-over circuit 75175 connects the dual serial interface of single-chip microcomputer C8051F020 respectively, I/O port two pins of single-chip microcomputer C8051F020 connect the first analog switch 74HC4066 respectively, the enable pin of the second analog switch 74HC4066, first analog switch 74HC4066, three level change-over circuit 75175 input is connected after the output parallel connection of the second analog switch 74HC4066, the output of three level change-over circuit 75175 connects multiple level shifting circuit 75174, three diverter switches are connected with I/O port three pins of single-chip microcomputer C8051F020.
When distributing for remote measurement, the output of three level change-over circuit 75175 connects four level shifting circuits 75174.
When distributing for remote control, the output of three level change-over circuit 75175 connects two level shifting circuits 75174.
Utilize the telemetered signal distribution method that UAV TT & C's signal distributor carries out, it is characterized in that three diverter switches respectively to " 1 " " 2 " " 3 " number position, step is as follows:
Step 1a: three diverter switches to " 1 " number position, the first analog switch 74HC4066 that the enable 1 tunnel telemetered signal of single-chip microcomputer C8051F020 is corresponding, the first analog switch 74HC4066 opens;
Step 1b:1 road telemetered signal transfers to three level change-over circuit 75175, and differential type level signal is converted to Transistor-Transistor Logic level signal, then Transistor-Transistor Logic level signal is input to four level shifting circuits 75174;
Transistor-Transistor Logic level signal recuperation is differential type level signal by step 1c: four level shifting circuits 75174, realizes 1 tunnel remote measurement and separates four road signals;
Step 2a: three diverter switches to " 2 " number position, the second analog switch 74HC4066 that the enable 2 tunnel telemetered signals of single-chip microcomputer C8051F020 are corresponding, the second analog switch 74HC4066 opens;
Step 2b:2 road telemetered signal transfers to three level change-over circuit 75175, and differential type level signal is converted to Transistor-Transistor Logic level signal, then Transistor-Transistor Logic level signal is input to four level shifting circuits 75174;
Transistor-Transistor Logic level signal recuperation is differential type level signal by step 2c: four level shifting circuits 75174, realizes 2 tunnel remote measurements and separates four road signals;
Step 3a: three diverter switches are to " 3 " number position, telemetered signal is converted to the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020 by the first level shifting circuit 75175 or second electrical level change-over circuit 75175, and single-chip microcomputer C8051F020 controls voluntarily according to 1 road received or 2 tunnel telemetries;
Step 3b: open 1 road telemetry interface interrupt response, closes 2 tunnel remote measurement interrupt responses;
Step 3c: judge whether there is 1 road telemetry interface interrupt response in continuous 2 seconds: if do not have 1 road telemetry interface interrupt response, close the first analog switch 74HC4066 that 1 tunnel remote measurement is corresponding, enter step 3e; If there is 1 road telemetry interface interrupt response, receive 1 tunnel telemetry, and carry out correction judgement to receiving telemetry frame;
As telemetry frame continuous 25 times incorrect, close the first analog switch 74HC4066 that 1 tunnel remote measurement is corresponding, enter step 3e; As in 25 times, receive correct telemetry frame, open the first analog switch 74HC4066 that 1 tunnel remote measurement is corresponding, identical with 1c principle with step 1b, realize 1 tunnel telemetry and separate four road signals, enter step 3d;
Step 3d: judge three diverter switch location statuss: " 1 " position returns step 1a, " 2 " number position returns step 2a, and " 3 " number position turns back to step 3c;
Step 3e: close 1 road telemetry interface interrupt response, opens 2 road telemetry interface interrupt responses;
Step 3f: judge whether there are 2 road telemetry interface interrupt responses in continuous 2 seconds: if do not have 2 road telemetry interface interrupt responses, close the second analog switch 74HC4066 that 2 tunnel remote measurements are corresponding, enter step 3b; If there are 2 road telemetry interface interrupt responses, receive 2 tunnel telemetries, and carry out correction judgement to receiving telemetry frame;
As telemetry frame continuous 25 times incorrect, close the second analog switch 74HC4066 that 2 tunnel remote measurements are corresponding, enter step 3b; As in 25 times, receive correct telemetry frame, open the second analog switch 74HC4066 that 2 tunnel remote measurements are corresponding, identical with 2c principle with step 2b, realize 2 tunnel telemetries and separate four road signals, enter step 3g;
Step 3g: judge three diverter switch location statuss: " 1 " position returns step 1a, " 2 " number position returns step 2a, and " 3 " number position turns back to step 3f;
The basis for estimation whether the telemetry frame described in step 3c and 3f is correct in 25 times: the frame head of telemetry frame, check code, synchronous code and frame length, described frame head is respectively hexadecimal " 51 ", " 52 ", " 53 ", " 54 ".
Utilize the remote signal distribution method that UAV TT & C's signal distributor carries out, it is characterized in that three diverter switches respectively to " 1 " " 2 " " 3 " number position, step is as follows:
Step 1a: three diverter switches to " 1 " number position, the first analog switch 74HC4066 that the enable 1 tunnel remote control of single-chip microcomputer C8051F020 is corresponding, the first analog switch 74HC4066 opens;
Step 1b:1 road remote signal transfers to three level change-over circuit 75175, and differential type level signal is converted to Transistor-Transistor Logic level signal, and Transistor-Transistor Logic level signal is input to two level shifting circuits 75174;
Transistor-Transistor Logic level signal recuperation is differential type level signal by step 1c: two level shifting circuits 75174, realizes 1 tunnel remote control and separates two paths of signals;
Step 2a: three diverter switches to " 2 " number position, the second analog switch 74HC4066 that the enable 2 tunnel remote controls of single-chip microcomputer C8051F020 are corresponding, the second analog switch 74HC4066 opens;
Step 2b:2 road remote signal transfers to three level change-over circuit 75175, and differential type level signal is converted to Transistor-Transistor Logic level signal, and Transistor-Transistor Logic level signal is input to two level shifting circuits 75174;
Transistor-Transistor Logic level signal recuperation is differential type level signal by step 2c: two level shifting circuits 75174, realizes 2 tunnel remote controls and separates two paths of signals;
Step 3a: three diverter switches are to " 3 " number position, remote signal is converted to the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020 by the first level shifting circuit 75175 or second electrical level change-over circuit 75175, and single-chip microcomputer C8051F020 controls voluntarily according to 1 road received or 2 road remote-control datas;
Step 3b: open 1 road Remote Control Interface interrupt response, closes 2 road Remote Control Interface interrupt responses;
Step 3c: judge whether there is 1 road Remote Control Interface interrupt response in continuous 2 seconds: if do not have 1 road Remote Control Interface interrupt response, close the first analog switch 74HC4066 that 1 tunnel remote control is corresponding, enter step 3e; If there is 1 road Remote Control Interface interrupt response, receive 1 road remote-control data, and carry out correction judgement to receiving remote-control data frame;
As remote-control data frame continuous 25 times incorrect, close the first analog switch 74HC4066 that 1 tunnel remote control is corresponding, enter step 3e; As in 25 times, receive correct remote-control data frame, open the first analog switch 74HC4066 that 1 tunnel remote control is corresponding, identical with 1c principle with step 1b, realize 1 road remote-control data and separate two paths of signals, enter step 3d;
Step 3d: judge three diverter switch location statuss: " 1 " position returns step 1a, " 2 " number position returns step 2a, and " 3 " number position turns back to step 3c;
Step 3e: close 1 tunnel remote control and survey interface interrupt response, opens 2 tunnel remote controls and surveys interface interrupt response;
Step 3f: judge whether there are 2 road Remote Control Interface interrupt responses in continuous 2 seconds: if do not have 2 road Remote Control Interface interrupt responses, close the second analog switch 74HC4066 that 2 tunnel remote controls are corresponding, enter step 3b; If there are 2 road Remote Control Interface interrupt responses, receive 2 road remote-control datas, and carry out correction judgement to receiving remote-control data frame;
As remote-control data frame continuous 25 times incorrect, close the second analog switch 74HC4066 that 2 tunnel remote controls are corresponding, enter step 3b; As in 25 times, receive correct remote-control data frame, open the analog switch second analog switch 74HC4066 that 2 tunnel remote controls are corresponding, identical with 2c principle with step 2b, realize 2 road remote-control datas and separate two paths of signals, enter step 3g;
Step 3g: judge three diverter switch location statuss: " 1 " position returns step 1a, " 2 " number position returns step 2a, and " 3 " number position turns back to step 3f;
The basis for estimation whether the remote-control data frame described in step 3c and 3f is correct in 25 times: the frame head of remote-control data frame, check code, synchronous code and frame length, described frame head is fixing frame head hexadecimal " 4F ".
Beneficial effect
A kind of UAV TT & C's signal distributor that the present invention proposes and distribution method, test and application shows, UAV TT & C's signal distributor is communication backbone between ground control station and unmanned aerial vehicle platform, and its reliability directly affects unmanned plane during flying safety.UAV TT & C's signal distributor adopts two redundant data paths transmission meanss and intelligent switch mode, improve the reliability of remote control and telemetry transmitted in both directions between surface-monitoring equipment and ground data terminal, decrease flight control personnel pressure, and there is low delay feature, become indispensable key equipment in UAV TT & C's data transmission procedure.
Accompanying drawing explanation
Fig. 1 telemetered signal distributor circuit
Single-chip Controlling method in Fig. 2 telemetered signal distributor circuit
Fig. 3 remote signal distributor circuit
Single-chip Controlling method in Fig. 4 remote signal distributor circuit
1-first level shifting circuit 75175; 2-first analog switch 74HC4066; 3-second electrical level change-over circuit 75175; 4-second analog switch 74HC4066; 5-single-chip microcomputer C8051F020; 6-three level change-over circuit 75175; 7-first level shifting circuit 75174; 8-second electrical level change-over circuit 75174; 9-three level change-over circuit 75174; 10-the 4th level shifting circuit 75174; 11-tri-diverter switches.
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
Fig. 1 is telemetered signal distributor circuit, comprises single-chip microcomputer C8051F020, first, second analog switch 74HC4066, first, second, third level shifting circuit 75175 and first, second, third, fourth level shifting circuit 75174 and three diverter switches.The output of the first level shifting circuit 75175, second electrical level change-over circuit 75175 connects the dual serial interface of single-chip microcomputer C8051F020 respectively, I/O port two pins of single-chip microcomputer C8051F020 connect the enable pin of the first analog switch 74HC4066, the second analog switch 74HC4066 respectively, connect three level change-over circuit 75175 input after the output parallel connection of the first analog switch 74HC4066, the second analog switch 74HC4066, the output of three level change-over circuit 75175 connects four level shifting circuits 75174; " 1,2,3 " at three diverter switch places are connected respectively on three pins of the I/O port of single-chip microcomputer C8051F020, by the level height at " 1,2,3 " place, judge working method.
Three diverter switches are to " 1 " number position, the first analog switch 74HC4066 that the enable 1 tunnel remote measurement of single-chip microcomputer C8051F020 is corresponding, namely the first analog switch 74HC4066 opens, 1 tunnel telemetered signal transfers to three level change-over circuit 75175, be Transistor-Transistor Logic level by differential type level conversion, and Transistor-Transistor Logic level signal is input to first, second, third and fourth level shifting circuit 75174, then telemetered signal is reverted to differential signal, realize 1 tunnel remote measurement and separate four road signals.Three diverter switches are identical with " 1 " number position to the working method of " 2 " number position.Three diverter switches are to " 3 " number position, by level shifting circuit 75175, telemetered signal is converted to the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020, single-chip microcomputer C8051F020, according to the 1 tunnel telemetry received and 2 tunnel telemetries, controls opening and closedown of the first analog switch 74HC4066 or the second analog switch 74HC4066 voluntarily.
Fig. 2 is Single-chip Controlling method in telemetered signal distributor circuit, after initialization, is mainly divided into three phases.
First stage: judge three diverter switch positions: the corresponding analog switch of 1 tunnel remote measurement, to " 1 " number position, is opened, shown only to receive 1 tunnel remote measurement, then after return information initialization by three diverter switches.The corresponding analog switch of 2 tunnel remote measurement, to " 2 " number position, is opened, is shown only to receive 2 tunnel remote measurements, then after return information initialization by three diverter switches.Three diverter switches, to " 3 " number position, are Automatic control of single chip microcomputer mode, enter second stage.
Second stage: this stage main task receives 1 tunnel telemetry.The first step, opens 1 road telemetry interface interrupt response, closes 2 road telemetry interface interrupt responses, enters second step.Second step, start to respond 1 road telemetry interface interrupt response, judge whether there is telemetry interface interrupt response in continuous 2 seconds, as there is no telemetry interface data interrupt response, the 1 incorrect number counter of tunnel telemetry frame and the non-response time interval timer of interrupt response reset, close the analog switch that 1 tunnel remote measurement is corresponding, enter the phase III.If any 1 road telemetry interface interrupt response, receive 1 tunnel telemetry, and carry out correction judgement to receiving telemetry frame, as telemetry frame continuous 25 times incorrect, the 1 incorrect number counter of tunnel telemetry frame and the non-response time interval timer of interrupt response reset, close 1 tunnel remote measurement analog switch, enter the phase III.As in 25 times, receive correct telemetry frame, the 1 incorrect number counter of tunnel telemetry frame and the non-response time interval timer of interrupt response reset, and open the corresponding analog switch of 1 tunnel remote measurement, show only to receive 1 tunnel remote measurement.3rd step, after receiving 1 tunnel telemetry frame, judges three diverter switch states at every turn, as returned the first stage for " 1 " or " 2 " number position.As being " 3 " number position, turn back to this stage second step.
Phase III: this stage main task receives 2 tunnel telemetries, the first step, close 1 road telemetry interface interrupt response, open 2 road telemetry interface interrupt responses, enter second step.Second step, start to respond 2 road telemetry interface interrupt responses, judge whether there is telemetry interface interrupt response in continuous 2 seconds, as there is no 2 road telemetry interface interrupt responses, the 2 incorrect number counter of tunnel telemetry frame and the non-response time interval timer of interrupt response reset, close the corresponding analog switch of 2 tunnel remote measurement, enter the 4th step.If any 2 road telemetry interface interrupt responses, receive telemetry, and carry out correction judgement to receiving telemetry frame, as telemetry frame continuous 25 times incorrect, the 2 incorrect number counter of tunnel telemetry frame and the non-response time interval timer of interrupt response reset, close the analog switch that 2 tunnel remote measurements are corresponding, enter the 4th step.As in 25 times, receive correct telemetry frame, the 2 incorrect number counter of tunnel telemetry frame and the non-response time interval timer of interrupt response reset, and open the corresponding analog switch of 2 tunnel remote measurement, show only to receive 2 tunnel remote measurements.3rd step, after receiving 2 tunnel telemetry frames, judges three diverter switch positions at every turn, as returned the first stage for " 1 " or " 2 " number position.As being " 3 " number position, turn back to this stage second step.4th step, judges three diverter switch positions, as being " 1 " or " 2 " number, then for entering the first stage, as being " 3 " number, then turns back to second stage.
In Fig. 2, distinguished by the frame head to telemetry frame, check code, synchronous code and frame length, judge telemetry frame correctness.Table 1 is the data structure of telemetry frame, mainly comprises frame head, telemetry, check code, synchronous code, overall length 32 byte, and check code is 28 byte telemetry cumulative sums.Telemetry frame is divided into four classes, and frame head is different, and other is identical, and frame head is respectively hexadecimal " 51 ", " 52 ", " 53 ", " 54 ".
Table 1
Fig. 3 is remote signal distributor circuit, comprises single-chip microcomputer C8051F020, first, second analog switch 74HC4066, first, second, third level shifting circuit 75175 and first, second level shifting circuit 75174 and three diverter switches.First level shifting circuit 75175, the output of second electrical level change-over circuit 75175 connects the dual serial interface of single-chip microcomputer C8051F020 respectively, I/O port two pins of single-chip microcomputer C8051F020 connect the first analog switch 74HC4066 respectively, the enable pin of the second analog switch 74HC4066, first analog switch 74HC4066, three level change-over circuit 75175 is connected after the output parallel connection of the second analog switch 74HC4066, the output of three level change-over circuit 75175 connects two level shifting circuit 75174 inputs, " 1 of three diverter switch places, 2, 3 " be connected respectively on three pins of the I/O port of single-chip microcomputer C8051F020, by " 1, 2, 3 " the level height at place, judge working method.
Three diverter switches are to " 1 " number position, the first analog switch 74HC4066 that the enable 1 tunnel remote control of single-chip microcomputer C8051F020 is corresponding, namely the first analog switch 74HC4066 opens, 1 tunnel remote signal transfers to three level change-over circuit 75175, be Transistor-Transistor Logic level by differential type level conversion, and Transistor-Transistor Logic level signal is input to first level shifting circuit 75174 and second level shifting circuit 75174, then remote signal is reverted to differential signal, realize 1 tunnel remote control and separate two paths of signals.Three diverter switches are identical with " 1 " number position to the working method of " 2 " number position.Three diverter switches are to " 3 " number position, by level shifting circuit 75175, remote signal is converted to the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020, single-chip microcomputer C8051F020, according to the 1 road remote-control data received and 2 road remote-control datas, controls opening and closedown of the first analog switch 74HC4066 or the second analog switch 74HC4066 voluntarily.
Fig. 4 is Single-chip Controlling method in remote signal distributor circuit, after initialization, is mainly divided into three phases.
First stage: judge three diverter switch positions: the corresponding analog switch of 1 tunnel remote control, to " 1 " number position, is opened, shown only to receive 1 tunnel remote control, then after return information initialization by three diverter switches.The corresponding analog switch of 2 tunnel remote control, to " 2 " number position, is opened, is shown only to receive 2 tunnel remote controls, then after return information initialization by three diverter switches.Three diverter switches, to " 3 " number position, are Automatic control of single chip microcomputer mode, enter second stage.
Second stage: this stage main task receives 1 road remote-control data.The first step, opens 1 road Remote Control Interface interrupt response, closes 2 road Remote Control Interface interrupt responses, enters second step.Second step, start to respond 1 road Remote Control Interface interrupt response, judge whether there is Remote Control Interface interrupt response in continuous 2 seconds, as there is no Remote Control Interface interrupt response, the 1 incorrect number counter of road remote-control data frame and the non-response time interval timer of interrupt response reset, close the corresponding analog switch of 1 tunnel remote control, enter the phase III.If any 1 road Remote Control Interface interrupt response, receive remote-control data, and carry out correction judgement to receiving remote-control data frame, as remote-control data frame continuous 25 times incorrect, the 1 incorrect number counter of road remote-control data frame and the non-response time interval timer of interrupt response reset, close the corresponding analog switch of 1 tunnel remote control, enter the phase III.As in 25 times, receive correct remote-control data frame, the 1 incorrect number counter of road remote-control data frame and the non-response time interval timer of interrupt response reset, and open the corresponding analog switch of 1 tunnel remote control, show only to receive 1 tunnel remote control.3rd step, after receiving 1 road remote-control data frame, judges three diverter switch states at every turn, as returned the first stage for " 1 " or " 2 " number position.As being " 3 " number position, turn back to this stage second step.
Phase III: this stage main task receives 2 road remote-control datas, the first step, close 1 road Remote Control Interface interrupt response, open 2 road Remote Control Interface interrupt responses, enter second step.Second step, start to respond 2 road Remote Control Interface interrupt responses, judge whether there is Remote Control Interface interrupt response in continuous 2 seconds, as there is no 2 road Remote Control Interface interrupt responses, the 2 incorrect number counter of road remote-control data frame and the non-response time interval timer of interrupt response reset, close the corresponding analog switch of 2 tunnel remote control, enter the 4th step.If any 2 road Remote Control Interface interrupt responses, receive remote-control data, and carry out correction judgement to receiving remote-control data frame, as remote-control data frame continuous 25 times incorrect, the 2 incorrect number counter of road remote-control data frame and the non-response time interval timer of interrupt response reset, close the analog switch that 2 tunnel remote controls are corresponding, enter the 4th step.As in 25 times, receive correct remote-control data frame, the 2 incorrect number counter of road remote-control data frame and the non-response time interval timer of interrupt response reset, and open the corresponding analog switch of 2 tunnel remote control, show only to receive 2 tunnel remote controls.3rd step, after receiving 2 road remote-control data frames, judges three diverter switch positions at every turn, as returned the first stage for " 1 " or " 2 " number position.As being " 3 " number position, turn back to this stage second step.4th step, judges three diverter switch positions, as being " 1 " or " 2 " number, then entering the first stage, as being " 3 " number, then entering second stage.
In the diagram, distinguished by the frame head to remote control frame, check code, synchronous code and frame length, judge remote-control data frame correctness.The data structure that table 2 is remote control frame, mainly comprise frame head, remote-control data, check code, synchronous code, overall length 32 byte, check code is 28 byte remote-control data cumulative sums.
Table 2
During actual use, observing and controlling interface 1 and observing and controlling interface 2 and surface-monitoring equipment 1, surface-monitoring equipment 2, surface-monitoring equipment 3 and the surface-monitoring equipment 4 of this equipment connection UAS ground data terminal.When receiving remote measurement, the observing and controlling interface 1 of ground data terminal is main interface, and observing and controlling interface 2 is secondary interface, under normal circumstances, this equipment receives the telemetry of observing and controlling interface 1, i.e. 1 tunnel remote measurement, as observing and controlling interface 1 breaks down, the telemetry of this equipment automatic reception observing and controlling 2, i.e. 2 tunnel remote measurements.Or manually three diverter switches are to " 1 " or " 2 " number position, force equipment to receive the telemetry of observing and controlling mouth 1 or observing and controlling mouth 2, the telemetry after reception separates four tunnels, be distributed to simultaneously surface-monitoring equipment be 1 to surface-monitoring equipment 4.
When receiving remote control, surface-monitoring equipment is 1 is main, and surface-monitoring equipment 2 is secondary, and under normal circumstances, this equipment only receives the remote-control data of surface-monitoring equipment 1, i.e. 1 tunnel remote control, is distributed to observing and controlling interface 1 and the observing and controlling interface 2 of ground data terminal simultaneously.When unmanned plane during flying, surface-monitoring equipment 1 breaks down or remote control command exception, the remote-control data of this equipment automatic reception surface-monitoring equipment 2, i.e. 2 tunnel remote controls.And send to ground data terminal observing and controlling interface 1 and observing and controlling interface 2.If under special circumstances, only need to receive surface-monitoring equipment 1 (or surface-monitoring equipment 2) remote control, manual three diverter switches are to " 1 " or " 2 " number position.
Remote measurement and remote-control data transmit without single-chip microcomputer C8051F020, and single-chip microcomputer C8051F020 only participates in the selection of remote control and remote measurement transmission channel, and therefore transfer of data is real-time; Remote signal distributor circuit and telemetered signal distributor circuit separate, a fault can not cause another one fault, and this equipment dependability is high.
Claims (7)
1. UAV TT & C's signal distributor, is characterized in that comprising single-chip microcomputer C8051F020 (5), the first analog switch 74HC4066 (2), the second analog switch 74HC4066 (4), the first level shifting circuit 75175 (1), second electrical level change-over circuit 75175 (3), three level change-over circuit 75175 (6), multiple level shifting circuit 75174 and three diverter switches (11), first level shifting circuit 75175 (1), the output of second electrical level change-over circuit 75175 (3) connects the dual serial interface of single-chip microcomputer C8051F020 (5) respectively, I/O port two pins of single-chip microcomputer C8051F020 (5) connect the first analog switch 74HC4066 (2) respectively, the enable pin of the second analog switch 74HC4066 (4), first analog switch 74HC4066 (2), three level change-over circuit 75175 (6) input is connected after the output parallel connection of the second analog switch 74HC4066 (4), the output of three level change-over circuit 75175 (6) connects multiple level shifting circuit 75174, three diverter switches (11) are connected with I/O port three pins of single-chip microcomputer C8051F020 (5).
2. a kind of UAV TT & C's signal distributor according to claim 1, is characterized in that the output of three level change-over circuit 75175 (6) connects four level shifting circuits 75174 when being used for remote measurement and distributing.
3. a kind of UAV TT & C's signal distributor according to claim 1, is characterized in that the output of three level change-over circuit 75175 (6) connects two level shifting circuits 75174 when being used for remote control and distributing.
4. the telemetered signal distribution method utilizing the UAV TT & C's signal distributor described in claim 2 to carry out, it is characterized in that three diverter switches respectively to " 1 " " 2 " " 3 " number position, step is as follows:
Step 1a: three diverter switches to " 1 " number position, the first analog switch 74HC4066 (2) that the enable 1 tunnel telemetered signal of single-chip microcomputer C8051F020 (5) is corresponding, the first analog switch 74HC4066 (2) opens;
Step 1b:1 road telemetered signal transfers to three level change-over circuit 75175 (6), differential type level signal is converted to Transistor-Transistor Logic level signal, then Transistor-Transistor Logic level signal is input to four level shifting circuits 75174 (7) (8) (9) (10);
Transistor-Transistor Logic level signal recuperation is differential type level signal by step 1c: four level shifting circuits 75174 (7) (8) (9) (10), realizes 1 tunnel remote measurement and separates four road signals;
Step 2a: three diverter switches to " 2 " number position, the second analog switch 74HC4066 (4) that the enable 2 tunnel telemetered signals of single-chip microcomputer C8051F020 (5) are corresponding, the second analog switch 74HC4066 (4) opens;
Step 2b:2 road telemetered signal transfers to three level change-over circuit 75175 (6), differential type level signal is converted to Transistor-Transistor Logic level signal, then Transistor-Transistor Logic level signal is input to four level shifting circuits 75174 (7) (8) (9) (10);
Transistor-Transistor Logic level signal recuperation is differential type level signal by step 2c: four level shifting circuits 75174 (7) (8) (9) (10), realizes 2 tunnel remote measurements and separates four road signals;
Step 3a: three diverter switches are to " 3 " number position, telemetered signal is converted to the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020 (5) by the first level shifting circuit 75175 (1) or second electrical level change-over circuit 75175 (3), and single-chip microcomputer C8051F020 (5) controls voluntarily according to 1 road received or 2 tunnel telemetries;
Step 3b: open 1 road telemetry interface interrupt response, closes 2 road telemetry interface interrupt responses;
Step 3c: judge whether there is 1 road telemetry interface interrupt response in continuous 2 seconds: if do not have 1 road telemetry interface interrupt response, closes the first analog switch 74HC4066 (2) that 1 tunnel remote measurement is corresponding, enters step 3e; If there is 1 road telemetry interface interrupt response, receive 1 tunnel telemetry, and carry out correction judgement to receiving telemetry frame:
As telemetry frame continuous 25 times incorrect, close the first analog switch 74HC4066 (2) that 1 tunnel remote measurement is corresponding, enter step 3e; As in 25 times, receive correct telemetry frame, open the first analog switch 74HC4066 (2) that 1 tunnel remote measurement is corresponding, identical with 1c principle with step 1b, realize 1 tunnel telemetry and separate four road signals, enter step 3d;
Step 3d: judge three diverter switch location statuss: " 1 " position returns step 1a, " 2 " number position returns step 2a, and " 3 " number position turns back to step 3c;
Step 3e: close 1 road telemetry interface interrupt response, opens 2 road telemetry interface interrupt responses;
Step 3f: judge whether there are 2 road telemetry interface interrupt responses in continuous 2 seconds: if do not have 2 road telemetry interface interrupt responses, closes the second analog switch 74HC4066 (4) that 2 tunnel remote measurements are corresponding, enters step 3b; If there are 2 road telemetry interface interrupt responses, receive 2 tunnel telemetries, and carry out correction judgement to receiving telemetry frame:
As telemetry frame continuous 25 times incorrect, close the second analog switch 74HC4066 (4) that 2 tunnel remote measurements are corresponding, enter step 3b; As in 25 times, receive correct telemetry frame, open the second analog switch 74HC4066 (4) that 2 tunnel remote measurements are corresponding, identical with 2c principle with step 2b, realize 2 tunnel telemetries and separate four road signals, enter step 3g;
Step 3g: judge three diverter switch location statuss: " 1 " position returns step 1a, " 2 " number position returns step 2a, and " 3 " number position turns back to step 3f;
5. telemetered signal distribution method according to claim 4, it is characterized in that the basis for estimation that whether correct telemetry frame described in step 3c and 3f in 25 times: the frame head of telemetry frame, check code, synchronous code and frame length, described frame head is respectively hexadecimal " 51 ", " 52 ", " 53 ", " 54 ".
6. the remote signal distribution method utilizing the UAV TT & C's signal distributor described in claim 3 to carry out, it is characterized in that three diverter switches respectively to " 1 " " 2 " " 3 " number position, step is as follows:
Step 1a: three diverter switches to " 1 " number position, the first analog switch 74HC4066 (2) that the enable 1 tunnel remote control of single-chip microcomputer C8051F020 (5) is corresponding, the first analog switch 74HC4066 (2) opens;
Step 1b:1 road remote signal transfers to three level change-over circuit 75175 (6), differential type level signal is converted to Transistor-Transistor Logic level signal, and Transistor-Transistor Logic level signal is input to two level shifting circuits 75174 (7) (8);
Transistor-Transistor Logic level signal recuperation is differential type level signal by step 1c: two level shifting circuits 75174 (7) (8), realizes 1 tunnel remote control and separates two paths of signals;
Step 2a: three diverter switches to " 2 " number position, the second analog switch 74HC4066 (4) that the enable 2 tunnel remote controls of single-chip microcomputer C8051F020 (5) are corresponding, the second analog switch 74HC4066 (4) opens;
Step 2b:2 road remote signal transfers to three level change-over circuit 75175 (6), differential type level signal is converted to Transistor-Transistor Logic level signal, and Transistor-Transistor Logic level signal is input to two level shifting circuits 75174 (7) (8);
Transistor-Transistor Logic level signal recuperation is differential type level signal by step 2c: two level shifting circuits 75174 (7) (8), realizes 2 tunnel remote controls and separates two paths of signals;
Step 3a: three diverter switches are to " 3 " number position, remote signal is converted to the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020 (5) by the first level shifting circuit 75175 (1) or second electrical level change-over circuit 75175 (3), and single-chip microcomputer C8051F020 (5) controls voluntarily according to 1 road received or 2 road remote-control datas;
Step 3b: open 1 road Remote Control Interface interrupt response, closes 2 road Remote Control Interface interrupt responses;
Step 3c: judge whether there is 1 road Remote Control Interface interrupt response in continuous 2 seconds: if do not have 1 road Remote Control Interface interrupt response, closes the first analog switch 74HC4066 (2) that 1 tunnel remote control is corresponding, enters step 3e; If there is 1 road Remote Control Interface interrupt response, receive 1 road remote-control data, and carry out correction judgement to receiving 1 road remote-control data frame;
As remote-control data frame continuous 25 times incorrect, close the first analog switch 74HC4066 (2) that 1 tunnel remote control is corresponding, enter step 3e; As in 25 times, receive correct remote-control data frame, open the first analog switch 74HC4066 (2) that 1 tunnel remote control is corresponding, identical with 1c principle with step 1b, realize 1 road remote-control data and separate two paths of signals, enter step 3d;
Step 3d: judge three diverter switch location statuss: " 1 " position returns step 1a, " 2 " number position returns step 2a, and " 3 " number position turns back to step 3c;
Step 3e: close 1 road Remote Control Interface interrupt response, opens 2 road Remote Control Interface interrupt responses;
Step 3f: judge whether there are 2 road Remote Control Interface interrupt responses in continuous 2 seconds: if do not have 2 road Remote Control Interface interrupt responses, closes the second analog switch 74HC4066 (4) that 2 tunnel remote controls are corresponding, enters step 3b; If there are 2 road Remote Control Interface interrupt responses, receive 2 road remote-control datas, and carry out correction judgement to receiving remote-control data frame:
As remote-control data frame continuous 25 times incorrect, close the second analog switch 74HC4066 (4) that 2 tunnel remote controls are corresponding, enter step 3b; As in 25 times, receive correct remote-control data frame, open analog switch second analog switch 74HC4066 (4) that 2 tunnel remote controls are corresponding, identical with 2c principle with step 2b, realize 2 road remote-control datas and separate two paths of signals, enter step 3g;
Step 3g: judge three diverter switch location statuss: " 1 " position returns step 1a, " 2 " number position returns step 2a, and " 3 " number position turns back to step 3f;
7. remote signal distribution method according to claim 6, it is characterized in that the basis for estimation that whether correct remote-control data frame described in step 3c and 3f in 25 times: the frame head of remote-control data frame, check code, synchronous code and frame length, described frame head is fixing frame head hexadecimal " 4F ".
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