CN104702333B - A kind of UAV TT ＆ C's signal distributor and distribution method - Google Patents
A kind of UAV TT ＆ C's signal distributor and distribution method Download PDFInfo
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- CN104702333B CN104702333B CN201510018305.XA CN201510018305A CN104702333B CN 104702333 B CN104702333 B CN 104702333B CN 201510018305 A CN201510018305 A CN 201510018305A CN 104702333 B CN104702333 B CN 104702333B
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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 present invention relates to a kind of UAV TT ＆ C's signal distributor and distribution method, UAV TT ＆ C's signal distributor receives the two-way telemetry that ground data terminal is sent simultaneously.In automatic control mode, according to channel priorities, data delay time and accuracy voluntarily select all the way telemetry be transmitted；It in artificial control model, by MTS, can select to be transmitted all the way in two-way telemetry, and selected telemetered signal is distributed into four road signals simultaneously.
Description
Technical field
The present invention relates to unmanned plane remote measurement and remote-control data transmission technique field, specially a kind of UAV TT ＆ C's signal point
Orchestration and distribution method.
Background technology
In existing UAV TT ＆ C's communication process, unmanned plane remote measurement downstream signal is by ground data chain terminal observing and controlling
The real-time processing computer connection of interface and ground control station, real-time processing computer receives telemetry frame, then passes through net
Network is sent to multiple surface-monitoring equipments.
When surface-monitoring equipment sends telecommand, remote-control data frame is sent to real-time processing computer by network,
Send in real time to ground data chain terminal to processing calculating cycle, form that remote information is up to be sent to unmanned plane.
Which is received using separate unit real-time processing computer as measuring and control data (remote control and remote measurement) with forwarding nucleus equipment,
There is transmission link many, the problems such as delay is big, the bit error rate is high, intelligence degree is low, redundancy is poor, influence unmanned plane during flying peace
Entirely.
The content of the invention
The technical problem to be solved
It is many in order to avoid the transmission link of prior art, delay is big, the bit error rate is high, intelligence degree is low, redundancy is poor etc.
Problem, 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, it is characterised in that including 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 shifting circuits 75175, multiple level shifting circuits 75174 and three switching switches；First level shifting circuit
75175th, the output end of second electrical level change-over circuit 75175 connects single-chip microcomputer C8051F020 dual serial interface, monolithic respectively
Machine C8051F020 two pins of I/O port connect the first analog switch 74HC4066, the second analog switch 74HC4066 respectively
Pin is enabled, the 3rd level is connected after the first analog switch 74HC4066, the second analog switch 74HC4066 output end parallel connection
The input of change-over circuit 75175, the output end of the 3rd level shifting circuit 75175 connects multiple level shifting circuits 75174, three
Position switching switch is connected with single-chip microcomputer C8051F020 three pins of I/O port.
When being distributed for remote measurement, the output end of the 3rd level shifting circuit 75175 connects four level shifting circuits
75174。
When being distributed for remote control, the output end of the 3rd level shifting circuit 75175 connects two level shifting circuits
75174。
A kind of telemetered signal distribution method carried out using UAV TT ＆ C's signal distributor, it is characterised in that three switchings
Switch is respectively to " 1 " " 2 " " 3 " number position, and step is as follows：
Step 1a：Three switching switches are to " 1 " number position, and single-chip microcomputer C8051F020 enables 1 tunnel telemetered signal corresponding first
Analog switch 74HC4066, the first analog switch 74HC4066 opening；
Step 1b：1 tunnel telemetered signal is transmitted to the 3rd level shifting circuit 75175, and differential type level signal is converted to
Transistor-Transistor Logic level signal, is then input to four level shifting circuits 75174 by Transistor-Transistor Logic level signal；
Step 1c：Transistor-Transistor Logic level signal is reverted to differential type level signal by four level shifting circuits 75174, realizes 1 tunnel
Remote measurement separates four road signals；
Step 2a：Three switching switches are to " 2 " number position, and single-chip microcomputer C8051F020 enables 2 tunnel telemetered signals corresponding second
Analog switch 74HC4066, the second analog switch 74HC4066 opening；
Step 2b：2 tunnel telemetered signals are transmitted to the 3rd level shifting circuit 75175, and differential type level signal is converted to
Transistor-Transistor Logic level signal, is then input to four level shifting circuits 75174 by Transistor-Transistor Logic level signal；
Step 2c：Transistor-Transistor Logic level signal is reverted to differential type level signal by four level shifting circuits 75174, realizes 2 tunnels
Remote measurement separates four road signals；
Step 3a：Three switchings are switched to " 3 " number position, the first level shifting circuit 75175 or second electrical level change-over circuit
75175 are converted to telemetered signal the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020, and single-chip microcomputer C8051F020 is according to connecing
1 tunnel or 2 tunnel telemetries received is voluntarily controlled；
Step 3b：1 road telemetry interface interrupt response is opened, 2 tunnel remote measurement interrupt responses are closed；
Step 3c：Judge whether there is 1 road telemetry interface interrupt response in continuous 2 seconds：If without 1 tunnel remote measurement
Interface interrupt is responded, and the corresponding first analog switch 74HC4066 of 1 tunnel remote measurement is closed, into step 3e；If 1 tunnel remote measurement connects
Mouth interrupt response, receives 1 tunnel telemetry, and carry out correction judgement to receiving telemetry frame；
Such as telemetry frame is incorrect at continuous 25 times, closes the corresponding first analog switch 74HC4066 of 1 tunnel remote measurement, enters
Enter step 3e；Such as in 25 times, correct telemetry frame is received, corresponding first analog switch of 1 tunnel remote measurement is opened
74HC4066, it is identical with 1c principles with step 1b, realize that 1 tunnel telemetry separates four road signals, into step 3d；
Step 3d：Judge three switching position of the switch states：" 1 " position return to step 1a, " 2 " number position return to step 2a, " 3 "
Number position returns to step 3c；
Step 3e：1 road telemetry interface interrupt response is closed, 2 road telemetry interface interrupt responses are opened；
Step 3f：Judge whether there are 2 road telemetry interface interrupt responses in continuous 2 seconds：If without 2 tunnel remote measurements
Interface interrupt is responded, and the corresponding second analog switch 74HC4066 of 2 tunnel remote measurements is closed, into step 3b；If 2 tunnel remote measurements connect
Mouth interrupt response, receives 2 tunnel telemetries, and carry out correction judgement to receiving telemetry frame；
Such as telemetry frame is incorrect at continuous 25 times, closes the corresponding second analog switch 74HC4066 of 2 tunnel remote measurements, enters
Enter step 3b；Such as in 25 times, correct telemetry frame is received, corresponding second analog switch of 2 tunnel remote measurements is opened
74HC4066, it is identical with 2c principles with step 2b, realize that 2 tunnel telemetries separate four road signals, into step 3g；
Step 3g：Judge three switching position of the switch states：" 1 " position return to step 1a, " 2 " number position return to step 2a, " 3 "
Number position returns to step 3f；
Telemetry frame described in step 3c and 3f in 25 times whether correct basis for estimation：The frame of telemetry frame
Head, check code, synchronous code and frame length, described frame head are respectively hexadecimal " 51 ", " 52 ", " 53 ", " 54 ".
A kind of remote signal distribution method carried out using UAV TT ＆ C's signal distributor, it is characterised in that three switchings
Switch is respectively to " 1 " " 2 " " 3 " number position, and step is as follows：
Step 1a：Three switching switches are to " 1 " number position, and single-chip microcomputer C8051F020 enables corresponding first simulation of 1 tunnel remote control
74HC4066 is switched, the first analog switch 74HC4066 is opened；
Step 1b：1 tunnel remote signal is transmitted to the 3rd level shifting 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；
Step 1c：Transistor-Transistor Logic level signal is reverted to differential type level signal by two level shifting circuits 75174, realizes 1 tunnel
Remote control separates two paths of signals；
Step 2a：Three switching switches are to " 2 " number position, and single-chip microcomputer C8051F020 enables corresponding second simulation of 2 tunnel remote controls
74HC4066 is switched, the second analog switch 74HC4066 is opened；
Step 2b：2 tunnel remote signals are transmitted to the 3rd level shifting 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；
Step 2c：Transistor-Transistor Logic level signal is reverted to differential type level signal by two level shifting circuits 75174, realizes 2 tunnels
Remote control separates two paths of signals；
Step 3a：Three switchings are switched to " 3 " number position, the first level shifting circuit 75175 or second electrical level change-over circuit
75175 are converted to remote signal the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020, and single-chip microcomputer C8051F020 is according to connecing
1 tunnel or 2 road remote-control datas received is voluntarily controlled；
Step 3b：1 road Remote Control Interface interrupt response is opened, 2 road Remote Control Interface interrupt responses are closed；
Step 3c：Judge whether there is 1 road Remote Control Interface interrupt response in continuous 2 seconds：If without 1 tunnel remote control
Interface interrupt is responded, and the corresponding first analog switch 74HC4066 of 1 tunnel remote control is closed, into step 3e；If 1 tunnel remote control connects
Mouth interrupt response, receives 1 road remote-control data, and carry out correction judgement to receiving remote-control data frame；
Such as remote-control data frame is incorrect at continuous 25 times, closes the corresponding first analog switch 74HC4066 of 1 tunnel remote control, enters
Enter step 3e；Such as in 25 times, correct remote-control data frame is received, corresponding first analog switch of 1 tunnel remote control is opened
74HC4066, it is identical with 1c principles with step 1b, realize that 1 road remote-control data separates two paths of signals, into step 3d；
Step 3d：Judge three switching position of the switch states：" 1 " position return to step 1a, " 2 " number position return to step 2a, " 3 "
Number position returns to step 3c；
Step 3e：Close 1 tunnel remote control and survey interface interrupt response, open 2 tunnel remote controls and survey interface interrupt response；
Step 3f：Judge whether there are 2 road Remote Control Interface interrupt responses in continuous 2 seconds：If without 2 tunnel remote controls
Interface interrupt is responded, and the corresponding second analog switch 74HC4066 of 2 tunnel remote controls is closed, into step 3b；If 2 tunnel remote controls connect
Mouth interrupt response, receives 2 road remote-control datas, and carry out correction judgement to receiving remote-control data frame；
Such as remote-control data frame is incorrect at continuous 25 times, closes the corresponding second analog switch 74HC4066 of 2 tunnel remote controls, enters
Enter step 3b；Such as in 25 times, correct remote-control data frame is received, the corresponding analog switch second of 2 tunnel remote controls is opened and simulates
74HC4066 is switched, it is identical with 2c principles with step 2b, realize that 2 road remote-control datas separate two paths of signals, into step 3g；
Step 3g：Judge three switching position of the switch states：" 1 " position return to step 1a, " 2 " number position return to step 2a, " 3 "
Number position returns to step 3f；
Remote-control data frame described in step 3c and 3f in 25 times whether correct basis for estimation：The frame of remote-control data frame
Head, check code, synchronous code and frame length, described frame head are fixed frame head hexadecimal " 4F ".
Beneficial effect
A kind of UAV TT ＆ C's signal distributor proposed by the present invention and distribution method, are tested and application shows, unmanned plane
Measurement and control 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 improves ground using dual redundant data channel transmission means and intelligent switch mode
Remote control and the reliability of telemetry transmitted in both directions, reduce flight control personnel between face monitoring device and ground data terminal
Pressure, and with low delay feature, it has also become indispensable key equipment in UAV TT ＆ C's data transmission procedure.
Brief description of the drawings
Fig. 1 telemetered signal distributor circuits
Single-chip microcomputer control method in Fig. 2 telemetered signal distributor circuits
Fig. 3 remote signal distributor circuits
Single-chip microcomputer control method in Fig. 4 remote signal distributor circuits
The first level shifting circuits of 1- 75175；The first analog switches of 2- 74HC4066；3- second electrical level change-over circuits
75175；The second analog switches of 4- 74HC4066；5- single-chip microcomputers C8051F020；The level shifting circuits 75175 of 6- the 3rd；7- first
Level shifting circuit 75174；8- second electrical levels change-over circuit 75174；The level shifting circuits 75174 of 9- the 3rd；The level of 10- the 4th
Change-over circuit 75174；Tri- switching switches of 11-.
Embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
Fig. 1 be telemetered signal distributor circuit, comprising 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
Switching switch.First level shifting circuit 75175, the output end of second electrical level change-over circuit 75175 connect single-chip microcomputer respectively
C8051F020 dual serial interface, single-chip microcomputer C8051F020 two pins of I/O port connect the first analog switch respectively
74HC4066, the second analog switch 74HC4066 enable pin, the first analog switch 74HC4066, the second analog switch
The input of the 3rd level shifting circuit 75175 is connected after 74HC4066 output end is in parallel, the 3rd level shifting circuit 75175
Output end connects four level shifting circuits 75174；At three switching switches " 1,2,3 " are connected respectively to single-chip microcomputer
On three pins of C8051F020 I/O port, by the way that " the level height at 1,2,3 " places, judges working method.
Three switching switches are to " 1 " number position, and single-chip microcomputer C8051F020 enables corresponding first analog switch of 1 tunnel remote measurement
74HC4066, i.e. the first analog switch 74HC4066 are opened, and 1 tunnel telemetered signal is transmitted to the 3rd level shifting circuit 75175, will
Differential type level conversion is Transistor-Transistor Logic level, and Transistor-Transistor Logic level signal is input into first, second, third and fourth level shifting circuit
75174, then telemetered signal is reverted into differential signal, realize that 1 tunnel remote measurement separates four road signals.Three switchings are switched to " 2 " number
The working method of position is identical with " 1 " number position.Three switching switches are believed remote measurement by level shifting circuit 75175 to " 3 " number position
The Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020 number is converted to, single-chip microcomputer C8051F020 is according to the 1 tunnel remote measurement received
Data and 2 tunnel telemetries, voluntarily control the first analog switch 74HC4066 or the second analog switch 74HC4066 opening with
Close.
Fig. 2 is single-chip microcomputer control method in telemetered signal distributor circuit, after initialization, is broadly divided into three phases.
First stage：Judge three switching position of the switch：Three switching switches simulate 1 tunnel remote measurement correspondence to " 1 " number position
Switch is opened, and is shown only to receive 1 tunnel remote measurement, is then back to after program initialization.Three switching switches are to " 2 " number position, by 2
Remote measurement correspondence analog switch in road is opened, and is shown only to receive 2 tunnel remote measurements, is then back to after program initialization.Three switching switches
It is Automatic control of single chip microcomputer mode, into second stage to " 3 " number position.
Second stage：This stage main task receives 1 tunnel telemetry.The first step, opens 1 road telemetry interface and interrupts and ring
Should, 2 road telemetry interface interrupt responses are closed, into second step.Second step, begins to respond to 1 road telemetry interface interrupt response, judges
Whether there is telemetry interface interrupt response in continuous 2 seconds, such as without the response of telemetry interface data outage, 1 tunnel remote measurement number
Reset according to the incorrect number counter of frame and the non-response time interval timer of interrupt response, close the corresponding simulation of 1 tunnel remote measurement
Switch, into the phase III.If any 1 road telemetry interface interrupt response, 1 tunnel telemetry is received, and to receiving telemetry frame
Correction judgement is carried out, such as telemetry frame is incorrect at continuous 25 times, the 1 incorrect number counter of tunnel telemetry frame is with
The disconnected non-response time interval timer of response is reset, and 1 tunnel remote measurement analog switch is closed, into the phase III.Such as in 25 times, connect
Correct telemetry frame is received, the 1 incorrect number counter of tunnel telemetry frame is counted with the non-response time interval of interrupt response
When device reset, open 1 tunnel remote measurement correspondence analog switch, show only to receive 1 tunnel remote measurement.3rd step, has received 1 tunnel remote measurement number every time
After frame, three switching on off states are judged, such as the first stage are returned to for " 1 " or " 2 " number position.As being " 3 " number position, return
Return to this stage second step.
Phase III：This stage main task receives 2 tunnel telemetries, and the first step is closed 1 road telemetry interface and interrupted and rings
Should, 2 road telemetry interface interrupt responses are opened, into second step.Second step, begins to respond to 2 road telemetry interface interrupt responses, judges
Whether there is telemetry interface interrupt response in continuous 2 seconds, such as without 2 road telemetry interface interrupt responses, 2 tunnel telemetries
The incorrect number counter of frame is reset with the non-response time interval timer of interrupt response, closes 2 tunnel remote measurement correspondence analog switches,
Into the 4th step.If any 2 road telemetry interface interrupt responses, telemetry is received, and correctness is carried out to receiving telemetry frame
Judge, such as telemetry frame is incorrect at continuous 25 times, and the 2 tunnel incorrect number counters of telemetry frame do not ring with interrupt response
Answer time interval timer to reset, the corresponding analog switch of 2 tunnel remote measurements is closed, into the 4th step.Such as in 25 times, receive just
True telemetry frame, the 2 incorrect number counters of tunnel telemetry frame and the non-response time interval timer of interrupt response are clear
Zero, 2 tunnel remote measurement correspondence analog switches are opened, show only to receive 2 tunnel remote measurements.3rd step, has received 2 tunnel telemetry frames every time
Afterwards, three switching position of the switch are judged, such as returns to the first stage for " 1 " or " 2 " number position.As being " 3 " number position, return to
This stage second step.4th step, judges three switching position of the switch, is such as " 1 " or " 2 " number, then to enter the first stage, is such as
" 3 " number, then return to second stage.
In Fig. 2, by distinguishing the frame head of telemetry frame, check code, synchronous code and frame length, to judge remote measurement number
According to frame correctness.Table 1 is the data structure of telemetry frame, mainly comprising frame head, telemetry, check code, synchronous code, the word of overall length 32
Section, check code be 28 byte telemetries it is cumulative and.Telemetry frame is divided into four classes, and frame head is different, other identical, frame head point
Wei not hexadecimal " 51 ", " 52 ", " 53 ", " 54 ".
Table 1
Fig. 3 be remote signal distributor circuit, comprising 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 switching switches.
First level shifting circuit 75175, the output end of second electrical level change-over circuit 75175 connect single-chip microcomputer C8051F020's respectively
Dual serial interface, single-chip microcomputer C8051F020 two pins of I/O port connect the first analog switch 74HC4066, the second mould respectively
Intend switch 74HC4066 enable pin, the first analog switch 74HC4066, the second analog switch 74HC4066 output end simultaneously
The 3rd level shifting circuit 75175 is connected after connection, the output end of the 3rd level shifting circuit 75175 connects two level conversion electricity
At the input of road 75174, three switching switches " 1,2,3 " be connected respectively to single-chip microcomputer C8051F020 I/O port three draw
On pin, by the way that " the level height at 1,2,3 " places, judges working method.
Three switching switches are to " 1 " number position, and single-chip microcomputer C8051F020 enables corresponding first analog switch of 1 tunnel remote control
74HC4066, i.e. the first analog switch 74HC4066 are opened, and 1 tunnel remote signal is transmitted to the 3rd level shifting circuit 75175, will
Differential type level conversion is Transistor-Transistor Logic level, and Transistor-Transistor Logic level signal is input into first level shifting circuit 75174 and second
Level shifting circuit 75174, then remote signal is reverted into differential signal, realize that 1 tunnel remote control separates two paths of signals.Three switchings
The working method switched to " 2 " number position is identical with " 1 " number position.Three switching switches pass through level shifting circuit to " 3 " number position
75175 are converted to remote signal the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020, and single-chip microcomputer C8051F020 is according to connecing
The 1 road remote-control data and 2 road remote-control datas received, voluntarily controls the first analog switch 74HC4066 or the second analog switch
74HC4066 opening and closing.
Fig. 4 is single-chip microcomputer control method in remote signal distributor circuit, after initialization, is broadly divided into three phases.
First stage：Judge three switching position of the switch：Three switching switches simulate 1 tunnel remote control correspondence to " 1 " number position
Switch is opened, and is shown only to receive 1 tunnel remote control, is then back to after program initialization.Three switching switches are to " 2 " number position, by 2
Remote control correspondence analog switch in road is opened, and is shown only to receive 2 tunnel remote controls, is then back to after program initialization.Three switching switches
It is Automatic control of single chip microcomputer mode, into second stage to " 3 " number position.
Second stage：This stage main task receives 1 road remote-control data.The first step, opens 1 road Remote Control Interface and interrupts and ring
Should, 2 road Remote Control Interface interrupt responses are closed, into second step.Second step, begins to respond to 1 road Remote Control Interface interrupt response, judges
Whether there is Remote Control Interface interrupt response in continuous 2 seconds, there is no Remote Control Interface interrupt response, 1 road remote-control data frame such as
Incorrect number counter is reset with the non-response time interval timer of interrupt response, is closed 1 tunnel remote control correspondence analog switch, is entered
Enter the phase III.If any 1 road Remote Control Interface interrupt response, remote-control data is received, and correctness is carried out to receiving remote-control data frame
Judge, such as remote-control data frame is incorrect at continuous 25 times, and the 1 road incorrect number counter of remote-control data frame does not ring with interrupt response
Answer time interval timer to reset, 1 tunnel remote control correspondence analog switch is closed, into the phase III.Such as in 25 times, receive just
True 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 are clear
Zero, 1 tunnel remote control correspondence analog switch is opened, shows only to receive 1 tunnel remote control.3rd step, has received 1 road remote-control data frame every time
Afterwards, three switching on off states are judged, such as returns to the first stage for " 1 " or " 2 " number position.As being " 3 " number position, return to
This stage second step.
Phase III：This stage main task receives 2 road remote-control datas, and the first step is closed 1 road Remote Control Interface and interrupted and rings
Should, 2 road Remote Control Interface interrupt responses are opened, into second step.Second step, begins to respond to 2 road Remote Control Interface interrupt responses, judges
Whether there is Remote Control Interface interrupt response in continuous 2 seconds, such as without 2 road Remote Control Interface interrupt responses, 2 road remote-control datas
The incorrect number counter of frame is reset with the non-response time interval timer of interrupt response, closes 2 tunnel remote control correspondence analog switches,
Into the 4th step.If any 2 road Remote Control Interface interrupt responses, remote-control data is received, and correctness is carried out to receiving remote-control data frame
Judge, such as remote-control data frame is incorrect at continuous 25 times, and the 2 road incorrect number counters of remote-control data frame do not ring with interrupt response
Answer time interval timer to reset, the corresponding analog switch of 2 tunnel remote controls is closed, into the 4th step.Such as in 25 times, receive just
True remote-control data frame, the 2 incorrect number counters of road remote-control data frame and the non-response time interval timer of interrupt response are clear
Zero, 2 tunnel remote control correspondence analog switches are opened, show only to receive 2 tunnel remote controls.3rd step, has received 2 road remote-control data frames every time
Afterwards, three switching position of the switch are judged, such as returns to the first stage for " 1 " or " 2 " number position.As being " 3 " number position, return to
This stage second step.4th step, judges three switching position of the switch, is such as " 1 " or " 2 " number, then into the first stage, is such as
" 3 " number, then into second stage.
In Fig. 4, by distinguishing the frame head of remote control frame, check code, synchronous code and frame length, to judge remote-control data
Frame correctness.Table 2 is the data structure of remote control frame, mainly comprising frame head, remote-control data, check code, synchronous code, the word of overall length 32
Section, check code be 28 byte remote-control datas it is cumulative and.
Table 2
When actual use, observing and controlling interface 1 and the observing and controlling interface 2 of this equipment connection UAS ground data terminal and
Surface-monitoring equipment 1, surface-monitoring equipment 2, surface-monitoring equipment 3 and surface-monitoring equipment 4.When receiving remote measurement, ground data
The observing and controlling interface 1 of terminal is main interface, and observing and controlling interface 2 is secondary interface, and under normal circumstances, this equipment receives the distant of observing and controlling interface 1
Data, i.e. 1 tunnel remote measurement are surveyed, such as observing and controlling interface 1 breaks down, and this equipment receives the telemetry of observing and controlling 2, i.e. 2 tunnel remote measurements automatically.
Or force equipment to receive the telemetry of observing and controlling mouthful 1 or observing and controlling mouthful 2 to " 1 " or " 2 " number position by manual three switching switches,
Telemetry after reception separates four tunnels, at the same be distributed to surface-monitoring equipment for 1 to surface-monitoring equipment 4.
When receiving remote control, surface-monitoring equipment is that based on 1, surface-monitoring equipment 2 is pair, and under normal circumstances, this equipment is only
Receive the remote-control data of surface-monitoring equipment 1, i.e. 1 tunnel remote control, while being distributed to observing and controlling interface 1 and the observing and controlling of ground data terminal
Interface 2.In unmanned plane during flying, surface-monitoring equipment 1 breaks down or telecommand is abnormal, and this equipment receives ground prison automatically
Control the remote-control data of equipment 2, i.e. 2 tunnel remote controls.And it is sent to ground data terminal observing and controlling interface 1 and observing and controlling interface 2.If in spy
In the case of different, it is only necessary to receive surface-monitoring equipment 1 (or surface-monitoring equipment 2) remote control, manual three switchings switch to " 1 " or " 2 "
Number position.
Remote measurement and remote-control data are transmitted without single-chip microcomputer C8051F020, single-chip microcomputer C8051F020 be only involved in remote control with it is distant
The selection of transmission channel is surveyed, therefore data transfer is real-time；Remote signal distributor circuit and telemetered signal distributor circuit are mutual
Independent, a fault will not cause another fault, and this equipment dependability is high.
Claims (7)
1. a kind of UAV TT ＆ C's signal distributor, it is characterised in that including 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), the 3rd level shifting circuit 75175 (6), multiple level shifting circuits 75174 and three switching switches (11)；The
One level shifting circuit 75175 (1), the output end of second electrical level change-over circuit 75175 (3) connect single-chip microcomputer respectively
C8051F020 (5) dual serial interface, single-chip microcomputer C8051F020 (5) two pins of I/O port connect the first simulation and opened respectively
Close 74HC4066 (2), the second analog switch 74HC4066 (4) enable pin, the first analog switch 74HC4066 (2), second
The 3rd level shifting circuit 75175 (6) input, the 3rd level are connected after analog switch 74HC4066 (4) output end is in parallel
The output end of change-over circuit 75175 (6) connects multiple level shifting circuits 75174, three switching switches (11) and single-chip microcomputer
C8051F020 (5) three pin connections of I/O port.
2. a kind of UAV TT ＆ C's signal distributor according to claim 1, it is characterised in that when being distributed for remote measurement,
The output end of 3rd level shifting circuit 75175 (6) connects four level shifting circuits 75174.
3. a kind of UAV TT ＆ C's signal distributor according to claim 1, it is characterised in that when being distributed for remote control,
The output end of 3rd level shifting circuit 75175 (6) connects two level shifting circuits 75174.
4. the telemetered signal distribution method that a kind of UAV TT ＆ C's signal distributor using described in claim 2 is carried out, it is special
Levy and be three switching switches respectively to " 1 " " 2 " " 3 " number position, step is as follows：
Step 1a：Three switching switches are to " 1 " number position, and single-chip microcomputer C8051F020 (5) enables 1 tunnel telemetered signal corresponding first
Analog switch 74HC4066 (2), the first analog switch 74HC4066 (2) are opened；
Step 1b：1 tunnel telemetered signal is transmitted to the 3rd level shifting circuit 75175 (6), and differential type level signal is converted to
Transistor-Transistor Logic level signal, is then input to four level shifting circuits 75174 (7) (8) (9) (10) by Transistor-Transistor Logic level signal；
Step 1c：Transistor-Transistor Logic level signal is reverted to differential type level letter by four level shifting circuits 75174 (7) (8) (9) (10)
Number, realize that 1 tunnel remote measurement separates four road signals；
Step 2a：Three switching switches are to " 2 " number position, and single-chip microcomputer C8051F020 (5) enables 2 tunnel telemetered signals corresponding second
Analog switch 74HC4066 (4), the second analog switch 74HC4066 (4) are opened；
Step 2b：2 tunnel telemetered signals are transmitted to the 3rd level shifting circuit 75175 (6), and differential type level signal is converted to
Transistor-Transistor Logic level signal, is then input to four level shifting circuits 75174 (7) (8) (9) (10) by Transistor-Transistor Logic level signal；
Step 2c：Transistor-Transistor Logic level signal is reverted to differential type level letter by four level shifting circuits 75174 (7) (8) (9) (10)
Number, realize that 2 tunnel remote measurements separate four road signals；
Step 3a：Three switchings are switched to " 3 " number position, the first level shifting circuit 75175 (1) or second electrical level change-over circuit
75175 (3) are converted to telemetered signal the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020 (5), single-chip microcomputer C8051F020
(5) voluntarily controlled according to 1 tunnel or 2 tunnel telemetries that receive；
Step 3b：1 road telemetry interface interrupt response is opened, 2 road telemetry interface interrupt responses are closed；
Step 3c：Judge whether there is 1 road telemetry interface interrupt response in continuous 2 seconds：If without 1 road telemetry interface
Interrupt response, closes the corresponding first analog switch 74HC4066 (2) of 1 tunnel remote measurement, into step 3e；If 1 tunnel remote measurement connects
Mouth interrupt response, receives 1 tunnel telemetry, and carry out correction judgement to receiving telemetry frame：
Such as telemetry frame is incorrect at continuous 25 times, closes the corresponding first analog switch 74HC4066 (2) of 1 tunnel remote measurement, enters
Enter step 3e；Such as in 25 times, correct telemetry frame is received, corresponding first analog switch of 1 tunnel remote measurement is opened
74HC4066 (2), it is identical with 1c principles with step 1b, realize that 1 tunnel telemetry separates four road signals, into step 3d；
Step 3d：Judge three switching position of the switch states：" 1 " position return to step 1a, " 2 " number position return to step 2a, " 3 " number position
Return to step 3c；
Step 3e：1 road telemetry interface interrupt response is closed, 2 road telemetry interface interrupt responses are opened；
Step 3f：Judge whether there are 2 road telemetry interface interrupt responses in continuous 2 seconds：If without 2 road telemetry interfaces
Interrupt response, closes the corresponding second analog switch 74HC4066 (4) of 2 tunnel remote measurements, into step 3b；If 2 tunnel remote measurements connect
Mouth interrupt response, receives 2 tunnel telemetries, and carry out correction judgement to receiving telemetry frame：
Such as telemetry frame is incorrect at continuous 25 times, closes the corresponding second analog switch 74HC4066 (4) of 2 tunnel remote measurements, enters
Enter step 3b；Such as in 25 times, correct telemetry frame is received, corresponding second analog switch of 2 tunnel remote measurements is opened
74HC4066 (4), it is identical with 2c principles with step 2b, realize that 2 tunnel telemetries separate four road signals, into step 3g；
Step 3g：Judge three switching position of the switch states：" 1 " position return to step 1a, " 2 " number position return to step 2a, " 3 " number position
Return to step 3f.
5. telemetered signal distribution method according to claim 4, it is characterised in that the telemetry described in step 3c and 3f
Frame in 25 times whether correct basis for estimation：Frame head, check code, synchronous code and the frame length of telemetry frame, described frame head
Respectively hexadecimal " 51 ", " 52 ", " 53 ", " 54 ".
6. the remote signal distribution method that a kind of UAV TT ＆ C's signal distributor using described in claim 3 is carried out, it is special
Levy and be three switching switches respectively to " 1 " " 2 " " 3 " number position, step is as follows：
Step 1a：Three switching switches are to " 1 " number position, and single-chip microcomputer C8051F020 (5) enables corresponding first simulation of 1 tunnel remote control
74HC4066 (2) is switched, the first analog switch 74HC4066 (2) is opened；
Step 1b：1 tunnel remote signal is transmitted to the 3rd level shifting circuit 75175 (6), 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 (7) (8)；
Step 1c：Transistor-Transistor Logic level signal is reverted to differential type level signal by two level shifting circuits 75174 (7) (8), realizes 1
Road remote control separates two paths of signals；
Step 2a：Three switching switches are to " 2 " number position, and single-chip microcomputer C8051F020 (5) enables corresponding second simulation of 2 tunnel remote controls
74HC4066 (4) is switched, the second analog switch 74HC4066 (4) is opened；
Step 2b：2 tunnel remote signals are transmitted to the 3rd level shifting circuit 75175 (6), 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 (7) (8)；
Step 2c：Transistor-Transistor Logic level signal is reverted to differential type level signal by two level shifting circuits 75174 (7) (8), realizes 2
Road remote control separates two paths of signals；
Step 3a：Three switchings are switched to " 3 " number position, the first level shifting circuit 75175 (1) or second electrical level change-over circuit
75175 (3) are converted to remote signal the Transistor-Transistor Logic level signal adapted to single-chip microcomputer C8051F020 (5), single-chip microcomputer C8051F020
(5) voluntarily controlled according to 1 tunnel or 2 road remote-control datas that receive；
Step 3b：1 road Remote Control Interface interrupt response is opened, 2 road Remote Control Interface interrupt responses are closed；
Step 3c：Judge whether there is 1 road Remote Control Interface interrupt response in continuous 2 seconds：If without 1 road Remote Control Interface
Interrupt response, closes the corresponding first analog switch 74HC4066 (2) of 1 tunnel remote control, into step 3e；If 1 tunnel remote control connects
Mouth interrupt response, receives 1 road remote-control data, and carry out correction judgement to receiving 1 road remote-control data frame；
Such as remote-control data frame is incorrect at continuous 25 times, closes the corresponding first analog switch 74HC4066 (2) of 1 tunnel remote control, enters
Enter step 3e；Such as in 25 times, correct remote-control data frame is received, corresponding first analog switch of 1 tunnel remote control is opened
74HC4066 (2), it is identical with 1c principles with step 1b, realize that 1 road remote-control data separates two paths of signals, into step 3d；
Step 3d：Judge three switching position of the switch states：" 1 " position return to step 1a, " 2 " number position return to step 2a, " 3 " number position
Return to step 3c；
Step 3e：1 road Remote Control Interface interrupt response is closed, 2 road Remote Control Interface interrupt responses are opened；
Step 3f：Judge whether there are 2 road Remote Control Interface interrupt responses in continuous 2 seconds：If without 2 road Remote Control Interfaces
Interrupt response, closes the corresponding second analog switch 74HC4066 (4) of 2 tunnel remote controls, into step 3b；If 2 tunnel remote controls connect
Mouth interrupt response, receives 2 road remote-control datas, and carry out correction judgement to receiving remote-control data frame：
Such as remote-control data frame is incorrect at continuous 25 times, closes the corresponding second analog switch 74HC4066 (4) of 2 tunnel remote controls, enters
Enter step 3b；Such as in 25 times, correct remote-control data frame is received, the corresponding analog switch second of 2 tunnel remote controls is opened and simulates
74HC4066 (4) is switched, it is identical with 2c principles with step 2b, realize that 2 road remote-control datas separate two paths of signals, into step 3g；
Step 3g：Judge three switching position of the switch states：" 1 " position return to step 1a, " 2 " number position return to step 2a, " 3 " number position
Return to step 3f.
7. remote signal distribution method according to claim 6, it is characterised in that the remote-control data described in step 3c and 3f
Frame in 25 times whether correct basis for estimation：Frame head, check code, synchronous code and the frame length of remote-control data frame, described frame head
For fixed frame head hexadecimal " 4F ".
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| CN109917746B (en) * | 2019-04-09 | 2020-09-25 | 中国科学院高能物理研究所 | Signal distributor for small-angle X-ray scattering experiment and distribution method thereof |
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