CN104901727B - The communication control system and method for unmanned plane queue formation collaboration - Google Patents
The communication control system and method for unmanned plane queue formation collaboration Download PDFInfo
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- CN104901727B CN104901727B CN201410066782.9A CN201410066782A CN104901727B CN 104901727 B CN104901727 B CN 104901727B CN 201410066782 A CN201410066782 A CN 201410066782A CN 104901727 B CN104901727 B CN 104901727B
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Abstract
The present invention proposes a kind of communication control system and method for unmanned plane queue formation collaboration, and unmanned plane queue, which includes leader and an at least frame wing plane, every frame wing plane, to be included：Information detector, for the flight attitude and positional information for detecting target image information, corresponding to wing plane；Band spectrum modulation device is used to be spread and modulated to target frequency bands；Dispensing device is used to send the data of target frequency bands to leader；First GPS time service devices synchronize excitation to information detector, band spectrum modulation device and dispensing device respectively；Leader includes：Reception device is used to receive the data that every wing plane is sent simultaneously；Despread-and-demodulation device is used to carry out despreading and demodulation；2nd GPS time service devices synchronize excitation to despread-and-demodulation device.The communication control system and method for the unmanned plane queue formation collaboration of the present invention can conveniently and efficiently complete the transmission of unmanned plane queue mesopic vision image, ensure the real-time that image vision perceives, can reduce the volume of leader in addition.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of communication control system of unmanned plane queue formation collaboration
And control method.
Background technology
Unmanned plane be imaged over the ground as a kind of important airborne vehicle, by carrying optical imaging sensor be one very
Important function.Different with design as needed, unmanned plane is usually operated at the height of 10-20000 rice, is carried out with other platforms
Compare, unmanned aerial vehicle platform imaging has the characteristics of high resolution, and it can be repeatedly imaged to same target or scene, carries out
From various visual angles, multiposition is imaged.Unmanned plane plays highly important effect in military and civilian field, such as is put down based on unmanned plane
The application such as the mapping of platform, urban architecture imaging, environmental remote sensing all directly extracts information by optical imagery.For example exist again
In the Gulf War, Bosnian War, Kosovo War etc., the unmanned plane of U.S. army has been carried out the aerial mission of thousands of hours, is detecing
Examine, monitor, target Damage after target acquistion, homing guidance, battlefield management, artillery covering fire and air strike is assessed etc.
All play and its important effect, with the raising of imaging device performance, unmanned plane will in terms of military surveillance, battle assessment
Play bigger effect.In addition, in civil area, perform with it that task speed is fast, resolution ratio based on the remote sensing of the earth of unmanned plane
The advantages of high, developed rapidly in digitalized city, environmental monitoring etc., irreplaceable effect is played, for example, unmanned plane
Disaster surveillance, commander's Disaster relief countermeasure after low-altitude remote sensing operation is shaken in 5.12 Wenchuans under cloud etc. have played important function.
Compared with unit flight, unmanned plane collaboration formation flight has incomparable advantage.Obtain and scheme for unmanned plane
The analysis of shape, wherein the parsing of direct two dimensional image is mainly to the target identification such as road, vehicle in image, or parsing mesh
Mark and the relative position of some specified targets, emphasis are still the extraction of atural object, identification.Obtained from unmanned plane in image and obtain mesh
Target three-dimensional information, there is qualitative leap relative to two dimensional image parsing, 3-D view parsing is that unmanned plane obtains image studies
An and important directions of application.Unmanned aerial vehicle platform is parsed by the three-dimensional information of sequence image, can obtain accurate mesh
The information such as cursor position, pattern, three-dimensional structure, it is all significant for modern war and remote sensing mapping.And for nobody
Machine is formed into columns for collaboration, and the premise of three-dimensional reconstruction is that the image information for obtaining different unmanned planes is correctly transmitted.
But the required communication of unmanned plane formation vision collaboration is completed, it is necessary to divide each using existing communication system
UAV Communication time slot, serial communication can only be carried out, thus be difficult to ensure that the requirement of real-time of visually-perceptible.It is or, it is necessary to each
Individual unmanned plane uses different radio systems, thus causes the more volumes of radio-frequency apparatus quantity of leader big, is difficult to realize in engineering.
The content of the invention
The purpose of the present invention is intended at least solve above-mentioned technical problem to a certain extent.
Therefore, the communication control system cooperateed with it is an object of the present invention to propose a kind of unmanned plane queue to form into columns, should
Communication control system can conveniently and efficiently complete the transmission of unmanned plane queue mesopic vision image, ensure what image vision perceived
Real-time, the volume of leader can be reduced in addition, is easier to realize in engineering.
It is another object of the present invention to propose a kind of communication control method of unmanned plane queue formation collaboration.
To reach above-mentioned purpose, one aspect of the present invention embodiment proposes a kind of Control on Communication of unmanned plane queue formation collaboration
System, the unmanned plane queue include leader and an at least frame wing plane, wherein, every frame wing plane includes：Information detector, it is used for
Detect target image information, the flight attitude and positional information of corresponding wing plane；Band spectrum modulation device, for the target figure
As the data frame that information, the flight attitude of corresponding wing plane and positional information form is spread, and by the data after spread spectrum
Modulate to target frequency bands；Dispensing device, for the data of the target frequency bands to be sent to the leader；First GPS time services fill
Put, the first GPS time service devices synchronize sharp to described information detection means, band spectrum modulation device and dispensing device respectively
Encourage；The leader includes：Reception device, for receiving the data for the target frequency bands that every wing plane is sent simultaneously；Despreading solution
Device is adjusted, the despread-and-demodulation device is used to carry out despreading and demodulation to the data received to obtain flying for every wing plane
Row posture, positional information and the target image information of detection；2nd GPS time service devices, the 2nd GPS time service devices are used for
Excitation is synchronized to the despread-and-demodulation device.
The communication control system of unmanned plane formation collaboration according to embodiments of the present invention, every frame wing plane pass through respective first
GPS time service devices synchronize excitation to information detector, and dispensing device sends the data after band spectrum modulation to leader
Transmission opportunity triggering is also synchronized by the first GPS time service devices, and leader can receive what every frame wing plane was sent simultaneously
Data, the communication time slot without dividing an at least frame wing plane, it is ensured that the real-time and information transmission of visually-perceptible
Correctness.In addition, the dispensing device such as radio system of every frame wing plane can have identical structure, i.e. an at least frame wing plane
Identical dispensing device can be used, so as to reduce the quantity of the reception device of leader, and then reduces the volume of leader, work
Easily realized in journey.
In some embodiments of the invention, the leader also includes and at least mutually isostructural information of frame wing plane
Detection means.
In some embodiments of the invention, described information detection means includes：Position and attitude sensor, for detecting corresponding official
The flight attitude of machine；GPS locator, for being positioned the corresponding wing plane to obtain positional information；Imaging sensor, use
In detection target image information.
In some embodiments of the invention, the band spectrum modulation device includes：Walsh WALSH sequencers, institute
State Walsh WALSH sequencers and excitation is synchronized by the first GPS time service devices, for producing frequency expansion sequence；The
One multiplier, the first input end of first multiplier are connected with the detection means, the second input and the Walsh
WALSH sequencers, for the number to the target image information, the flight attitude of corresponding wing plane and positional information composition
Spreading operations are carried out according to frame；First oscillation generator, first oscillation generator are carried out same by the first GPS time service devices
Step excitation, for producing local oscillated signal；Second multiplier, the first input end of second multiplier multiply with described first
The output end connection of musical instruments used in a Buddhist or Taoist mass, the second input of second multiplier are connected with first oscillation generator, and described second
The output end of multiplier is connected with the dispensing device, for being modulated computing to the data after spread spectrum.
In some embodiments of the invention, the despread-and-demodulation device includes：Walsh WALSH sequence alignments occur
Device, the Walsh WALSH sequence alignments generator synchronize excitation by the 2nd GPS time service devices, for producing solution
Expand sequence；Multiplex sequence tracks ring, and the input of the multiplex sequence tracking ring occurs with the Walsh WALSH sequence alignments
Device connects, for keeping caused multiplex sequence and the multiplex sequence received synchronous respectively；Multiple 3rd multipliers are described more
The first input end of individual multiplier is connected with the reception device, the second input of the multiple 3rd multiplier with it is described more
Road sequential tracks ring connection, the first output of the multiple 3rd multiplier feeds back to the multiplex sequence tracking ring, described more
Individual 3rd multiplier is used to carry out parallel despreading operations；Second oscillation generator, second oscillation generator is by described second
GPS time service devices synchronize excitation, for producing local oscillated signal；Multichannel carrier tracks ring, the multichannel carrier tracking
The input of ring is connected with second oscillation generator, for keeping the local oscillated signal and the carrier signal of reception same
Step；Multiple 4th multipliers, the first input end of the multiple 4th multiplier and the second of the multiple 3rd multiplier defeated
Going out end connection, the second input of the multiple 4th multiplier is connected with multichannel carrier tracking ring, and the multiple 4th
First output end of multiplier is connected with multichannel carrier tracking ring, after the multiple 4th multiplier is used for despreading
Data are demodulated computing to obtain the flight attitude of every wing plane, positional information and the target image information of detection.
Leader, which by multiplex sequence tracks ring and multichannel carrier and tracks ring, carries out parallel despread-and-demodulation, can more in real time,
Information is obtained exactly.
To reach above-mentioned purpose, another aspect of the present invention embodiment proposes a kind of communication control of unmanned plane queue formation collaboration
Method processed, the unmanned plane queue include leader and an at least frame wing plane, the leader and at least a frame wing plane has GPS respectively
Time service device, the communication control method comprise the following steps：Under the GPS time service devices synchronization motivationtheory, described at least one
Frame wing plane collection target image information, correspond to the flight attitude and positional information of itself；An at least frame wing plane is by described in
Target image information, correspond to the flight attitude of itself and the data frame of positional information is spread；An at least frame wing plane
Data after spread spectrum are modulated to target frequency bands, and the data of the target frequency bands are sent to the leader；The leader
The data that an at least frame wing plane receive simultaneously described in is sent, and parallel despread-and-demodulation is carried out to obtain to the data of the target frequency bands
Take at least target image information of a frame wing plane, correspond to the flight attitude and positional information of itself.
The communication control method of unmanned plane queue formation collaboration according to embodiments of the present invention, in the same of GPS time service devices
Under step excitation, at least frame wing plane collection target image information, the flight attitude and positional information of itself are corresponded to, and then will expand
Data after frequency modulation system are sent to leader, and are sent opportunity and also synchronized triggering by GPS time service devices, and leader can
To receive the data that every frame wing plane is sent simultaneously, the communication time slot without dividing an at least frame wing plane, it is ensured that regard
Feel the correctness of the real-time perceived and information transmission.
In some embodiments of the invention, the target image information of at least frame wing plane collection, correspondingly sheet
The flight attitude of body and the data frame format of positional information are identical.
The data frame format of the collection information of every frame wing plane is identical, so as to be reduced using identical dispensing device
The quantity of the reception device of leader, and then the volume of leader is reduced, easily realized in engineering.
In some embodiments of the invention, under the synchronous triggering of the GPS time service devices, an at least frame wing plane
The data of the target frequency bands are sent to the leader.
In some embodiments of the invention, under the excitation of the GPS time service devices, the leader passes through multiplex sequence
Tracking ring is de-spread；And under the excitation of the GPS time service devices, the leader tracks ring by multichannel carrier and solved
Adjust.
Leader, which by multiplex sequence tracks ring and multichannel carrier and tracks ring, carries out parallel despread-and-demodulation, can more in real time,
Information is obtained exactly.
In some embodiments of the invention, under the GPS time service devices synchronization motivationtheory, the leader gathers target figure
As information, the flight attitude of itself and positional information.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the block diagram according to the communication control system of the unmanned plane of one embodiment of the present of invention formation collaboration；
Fig. 2 is the block diagram according to the communication control system of the unmanned plane of another embodiment of the present invention formation collaboration；
Fig. 3 is the block diagram according to the communication control system of the unmanned plane of yet another embodiment of the present invention formation collaboration；
Fig. 4 is to carry out letter according to the wing plane of the communication control system of the unmanned plane of one embodiment of the present of invention formation collaboration
The schematic diagram of number processing procedure；
Fig. 5 is the block diagram according to the communication control system of the unmanned plane of one embodiment of the present of invention formation collaboration；
Fig. 6 is to carry out letter according to the leader of the communication control system of the unmanned plane of one embodiment of the present of invention formation collaboration
The schematic diagram of number processing procedure；And
Fig. 7 is the flow chart according to the communication control method of the unmanned plane of one embodiment of the present of invention formation collaboration.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the part and setting of specific examples are described.Certainly, they are only example, and
Purpose does not lie in the limitation present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is the relation between itself not indicating discussed various embodiments and/or setting for purposes of simplicity and clarity again.This
Outside, the invention provides various specific techniques and material examples, but those of ordinary skill in the art can be appreciated that
The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it
" on " structure can include the first and second features and be formed as the embodiment that directly contacts, other feature shape can also be included
Into the embodiment between the first and second features, such first and second feature may not be direct contact.
In the description of the invention, it is necessary to explanation, unless otherwise prescribed and limit, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanical connection or electrical connection or the connection of two element internals, can
To be to be joined directly together, can also be indirectly connected by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
With reference to following description and accompanying drawing, it will be clear that these and other aspects of embodiments of the invention.In these descriptions
In accompanying drawing, some particular implementations in embodiments of the invention are specifically disclosed, to represent to implement the implementation of the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes all changes, modification and the equivalent fallen into the range of the spirit and intension of attached claims.
The communication control of a kind of unmanned plane queue formation collaboration proposed according to embodiments of the present invention is described with reference to the accompanying drawings
System processed.
Fig. 1 is the communication control system cooperateed with of being formed into columns according to the unmanned plane queue of one embodiment of the invention, such as Fig. 1 institutes
Show, in the communication control system of the unmanned plane queue formation collaboration of the embodiment of the present invention, unmanned plane queue can include leader 10
An at least frame wing plane.
Wherein, every frame wing plane includes information detector 201, band spectrum modulation device 202, the GPS of dispensing device 203 and the first
Time service device 204.Information detector 201 is used to detect target image information, the flight attitude of corresponding wing plane and position letter
Breath.Band spectrum modulation device 202 is used for the data to target image information, the flight attitude of corresponding wing plane and positional information composition
Frame is spread, such as can pass through DSSS（DSSS, Direct Sequence Spread Spectrum）Mode
Spread, and the data after spread spectrum are modulated to target frequency bands, wherein, target image information, the flight appearance for corresponding to itself
The data frame format of state and positional information is identical.Dispensing device 203 is used to send the data of target frequency bands to leader 10, will
Data are modulated to after target frequency bands, can be launched by such as wireless channel of dispensing device 203, wherein, the tune of use
Method and target frequency bands processed can be selected according to actual conditions.First GPS time service devices 204 are respectively to information detector
201st, band spectrum modulation device 202 and dispensing device 203 synchronize excitation, for example, information detector 201 uses the first GPS
The identical frequency multiplication of the time service of time service device 204 is as sampling clock, therefore information detector 201 samples behavior synchronization.
Wherein, leader 10 includes reception device 101, the GPS time service devices 103 of despread-and-demodulation device 102 and the 2nd.Receive dress
Put 101 data for being used for while receiving the target frequency bands that every wing plane is sent.Despread-and-demodulation device 102 is used for the number to receiving
According to carrying out despreading and demodulation to obtain the flight attitude of every wing plane, positional information and the target image information of detection.Second
GPS time service devices 103 are used to synchronize excitation to despread-and-demodulation device 102.
In one embodiment of the invention, leader 10 can also include information mutually isostructural with least frame wing plane inspection
Survey device 201.After leader 10 receives the data of each wing plane by reception device 101, and then pass through despread-and-demodulation device
After 102 pairs of data for receiving carry out despread-and-demodulations, according to the method in correlation technique by the information of each wing plane and itself
The information of detection carries out three-dimensional reconstruction, and then can obtain the three-dimensional information of target scene image, it is hereby achieved that for example accurate
True target location, pattern, three-dimensional structure.
Further, in one embodiment of the invention, as shown in Fig. 2 information detector 201 senses including pose
Device 2011, GPS locator 2012 and imaging sensor 2013.Wherein, Position and attitude sensor 2011 is used to detect flying for corresponding wing plane
Row posture, i.e., Position and attitude sensor 2011 is provided with every frame wing plane, can detect the flight attitude of wing plane.GPS locator 2012
For being positioned corresponding wing plane to obtain positional information.Imaging sensor 2013 is used to detect target image information.It can be seen that
Flight attitude, positional information and the target image information of unmanned plane can be obtained by information detector 201, wherein, it is long
Machine 10 can carry out formation flight by the flight attitude and positional information of each unmanned plane, and then can preferably obtain target
Image information.
Fig. 3 is the signal according to the communication control system of the unmanned plane queue of one embodiment of the present of invention formation collaboration
Scheme, a frame wing plane is only shown in figure, mutually isostructural multi rack wing plane can also be included.As shown in figure 3, above-mentioned band spectrum modulation device
202 can further include Walsh WALSH sequencers 2021, the first multiplier 2022, the first oscillation generator 2023
With the second multiplier 2024.Wherein, Walsh WALSH sequencers 2021 are synchronized sharp by the first GPS time service devices 204
Encourage, for producing frequency expansion sequence, it is ensured that the orthogonality of sequence.The first input end and infomation detection of first multiplier 2022
Device 201 connects, the second input and Walsh WALSH sequencers 2021, for target image information, corresponding wing plane
Flight attitude and positional information composition data frame carry out spreading operations.First oscillation generator 2023 is awarded by the first GPS
When device 204 synchronize excitation, for producing local oscillated signal.The first input end of second multiplier 2024 multiplies with first
The output end connection of musical instruments used in a Buddhist or Taoist mass 2022, the second input of the second multiplier 2024 are connected with the first oscillation generator 2023, and second
The output end of multiplier 2024 is connected with dispensing device 203, for being modulated computing to the data after spread spectrum.
Specifically, Fig. 4 is the signal according at least signal processing of a frame wing plane of one embodiment of the present of invention
Figure.As shown in figure 4, produce local oscillated signal and Walsh WALSH by time reference of the time service of the first GPS time service devices 204
The clock of sequencer 2021, Walsh WALSH sequencers 2021 produce frequency expansion sequence, while the first multiplier 2022 connects
The information data frame that information detector 201 detects is received, sequence to be sent is carried out in the first multiplier 2022 to data frame
Spread processing, such as spread by DSSS modes, and then adjusted the signal after spread spectrum by the second multiplier 2024
System, and the data after band spectrum modulation are sent to leader 10 by dispensing device 203.
Fig. 5 is the signal according to the communication control system of the unmanned plane queue of an alternative embodiment of the invention formation collaboration
Scheme, a frame wing plane is only shown in figure, mutually isostructural multi rack wing plane can also be included.As shown in figure 5, above-mentioned despread-and-demodulation device
102 further can include Walsh WALSH sequence alignments generator 1021, multiplex sequence tracks ring 1022, the multiple 3rd multiplies
Musical instruments used in a Buddhist or Taoist mass 1023, the second oscillation generator 1024, multichannel carrier tracking ring 1025 and multiple 4th multipliers 1026.Wherein, Wal
Assorted WALSH sequence alignments generator 1021 synchronizes excitation by the 2nd GPS time service devices 103, and sequence is de-spread for producing.It is more
The input of road sequential tracks ring 1022 is connected with Walsh WALSH sequence alignments generator 1021, for keeping caused more
Road sequence and the multiplex sequence received are synchronous respectively.The first input end of multiple 3rd multipliers 1023 and reception device 101
Connection, the second input of multiple 3rd multipliers 1023 are connected with multiplex sequence tracking ring 1022, multiple 3rd multipliers
1023 the first output feeds back to multiplex sequence tracking ring 1022, and multiple 3rd multipliers 1023 are used to carry out parallel despreading fortune
Calculate.Second oscillation generator 1024 synchronizes excitation by the 2nd GPS time service devices 103, for producing local oscillated signal.It is more
The input of road carrier tracking loop 1025 is connected with the second oscillation generator 1024, for keeping local oscillated signal and reception
Carrier signal is synchronous.The first input end of multiple 4th multipliers 1026 connects with the second output end of multiple 3rd multipliers 1023
Connect, the second input of multiple 4th multipliers 1026 is connected with multichannel carrier tracking ring 1025, multiple 4th multipliers 1026
The first output end and multichannel carrier tracking ring 1025 be connected, multiple 4th multipliers 1026 are used to enter the data after despreading
Row demodulates computing to obtain the flight attitude of every wing plane, positional information and the target image information of detection.
Specifically, Fig. 6 is the schematic diagram according to the signal processing of the leader 10 of one embodiment of the present of invention.Such as figure
Shown in 6, under the synchronization motivationtheory of the 2nd GPS time service devices 103, Walsh WALSH sequence alignments generator 1021 produces despreading
Sequence, while the second oscillation generator 1024 produces local oscillated signal, leader 10 receives the data of an at least frame wing plane simultaneously
Such as radiofrequency signal, de-spread by multiple 3rd multipliers 1023, the another way output of multiple 3rd multipliers 1023 comes
From multiplex sequence track ring 1022, due to leader 10 use the time reference based on GPS time services, can without spread spectrum acquisition,
Tracking of the ring 1022 to different user sequence is tracked by multiplex sequence so that de-spread sequence and reception signal sequence phase used
Position stringent synchronization.Multiple signals after despreading have separated, and then are demodulated in multiple 4th multipliers 1026, Duo Ge
The another way input of four multipliers 1026 is from multichannel carrier tracking ring 1025, it is ensured that local carrier and reception signal carrier wave
Phase stringent synchronization.It can be seen that leader 10 receives the signal of each wing plane simultaneously, and then ring 1022 and is tracked by multiplex sequence more
Road carrier tracking loop 1025 realizes the despreading demodulation processing arranged side by side of multiple signals, can more quickly and accurately obtain information.
In summary, the communication control system of unmanned plane queue according to embodiments of the present invention formation collaboration, every frame wing plane
Excitation is synchronized to information detector by respective first GPS time service devices, dispensing device is by after band spectrum modulation
Data send to the transmission opportunity of leader and also synchronize triggering by the first GPS time service devices, and leader can receive simultaneously
The data that every frame wing plane is sent, the communication time slot without dividing an at least frame wing plane, it is ensured that the reality of visually-perceptible
The correctness of when property and information transmission.In addition, the dispensing device such as radio system of every frame wing plane can have identical structure,
I.e. an at least frame wing plane can use identical dispensing device, so as to reduce the quantity of the reception device of leader, and then subtract
The volume of the youthful and the elderly's machine, easily realize in engineering.In addition, leader tracks ring by multiplex sequence and multichannel carrier tracks ring and carried out simultaneously
Row despread-and-demodulation, can more in real time, obtain information exactly.
A kind of unmanned plane queue formation collaboration that embodiment proposes according to a further aspect of the invention is described with reference to the accompanying drawings
Communication control method.
Wherein, unmanned plane queue includes leader and an at least frame wing plane, leader and at least a frame wing plane is awarded with GPS respectively
When device, Fig. 7 be according to the unmanned plane queue of one embodiment of the present of invention form into columns collaboration communication control method flow chart.
As shown in fig. 7, the unmanned plane queue of the embodiment of the present invention is formed into columns, the communication control method of collaboration comprises the following steps：
S1, under GPS time service device synchronization motivationtheories, at least frame wing plane collection target image information, correspond to flying for itself
Row posture and positional information.
Target image information is gathered by a GPS time service devices synchronization motivationtheory at least frame wing plane, corresponds to the flight appearance of itself
State and positional information, it is ensured that the unification of target image information time.
S2, at least a frame wing plane by target image information, correspond to itself flight attitude and positional information data frame
Spread.
In one embodiment of the invention, an at least frame wing plane collection target image information, correspond to the flight of itself
The data frame format of posture and positional information is identical.Specifically, as shown in figure 4, using the first GPS time service devices time service as the time
Benchmark produces local oscillated signal and Walsh WALSH sequence generator clocks, and Walsh WALSH sequencers produce spread spectrum
Sequence, while the information data frame of the first multiplier receive information detection means detection, sequence to be sent is in the first multiplier
In to data frame carry out spread processing, specifically, such as DSSS can be passed through（DSSS, Direct Sequence
Spread Spectrum）Mode is spread.Wherein, Walsh WALSH sequence generators produce under the excitation of GPS time dissemination systems
Raw sequence, it is ensured that the orthogonality of sequence.
S3, at least a frame wing plane modulate the data after spread spectrum to target frequency bands, and the data of target frequency bands are sent
To leader.
Specifically, the data after spread spectrum are modulated to target frequency bands, and then dispensing device such as wireless communication can be passed through
Road is launched, and under the synchronous triggering of GPS time service devices, at least a frame wing plane sends the data of target frequency bands to leader.
Wherein, the modulator approach of use and target frequency bands can be selected according to actual conditions.
S4, leader receives the data that an at least frame wing plane is sent simultaneously, and the data of target frequency bands are de-spread parallel
Demodulation with obtain at least the target image information of a frame wing plane, correspond to the flight attitude and positional information of itself.
In one embodiment of the invention, under the excitation of GPS time service devices, i.e., using the time reference of GPS time services,
Frequency expansion sequence capture need not be carried out, leader directly tracks ring by multiplex sequence and de-spread, and can keep local spread spectrum sequence
Row and the stringent synchronization of multipath reception sequence, specifically, such as leader can be solved according to the DSSS modes in correlation technique
Expand.And then under the excitation of GPS time service devices, leader tracks ring by multichannel carrier and carries out parallel demodulation, can keep local
Carrier phase and the stringent synchronization of multipath reception signal phase.Under the excitation of GPS time service devices, leader is concurrently solved
Expand, demodulation process, so as to quickly and accurately obtain target image information.
In addition, in one embodiment of the invention, under GPS time service device synchronization motivationtheories, leader collection target image
Information, the flight attitude of itself and positional information.Specifically, leader and an at least frame wing plane are equipped with independent information detection means
Such as vision sensor, Position and attitude sensor, GPS locator and transmitting/receiving means, GPS locator are used to gather unmanned plane
Positional information, Position and attitude sensor are used for the flight attitude for detecting corresponding unmanned plane, and vision sensor is used to detect target image letter
Breath, wherein, vision sensor, Position and attitude sensor and GPS locator relative position information have determined.Leader by it is each nobody
The flight attitude and positional information of machine can carry out formation flight, and then can preferably obtain target image information.Leader and
At least corresponding GPS locator of a frame wing plane uses unified markers to the real-time positioning in position, and leader and an at least frame
The vision sensor sampling opportunity of wing plane is controlled by GPS time service devices.So as to which leader receives each official according to step S4
After the data of machine, so by despread-and-demodulation after, and then can be according to the method in correlation technique by the letter of each wing plane
Breath and the information of itself detection carry out three-dimensional reconstruction, and then can obtain the three-dimensional information of target scene image, so as to obtain
Obtain for example accurate target location, pattern, three-dimensional structure.
In summary, the communication control method of unmanned plane queue according to embodiments of the present invention formation collaboration, in GPS time services
Under the synchronization motivationtheory of device, at least frame wing plane collection target image information, the flight attitude and positional information of itself are corresponded to,
And then send the data after band spectrum modulation to leader, and send opportunity and triggering is also synchronized by GPS time service devices, and
And leader can receive the data that every frame wing plane is sent simultaneously, the communication time slot without dividing an at least frame wing plane can
To ensure the correctness of the real-time of visually-perceptible and information transmission.In addition, the data frame format of the collection information of every frame wing plane
It is identical, so as to which the quantity of the reception device of leader can be reduced using identical dispensing device, and then reduce the body of leader
It is long-pending, easily realized in engineering.In addition, leader tracks ring by multiplex sequence and multichannel carrier tracks ring and carries out parallel despreading solution
Adjust, can more in real time, obtain information exactly.
Any process or method described otherwise above description in flow chart or herein is construed as, and represents to include
Module, fragment or the portion of the code of the executable instruction of one or more the step of being used to realize specific logical function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment（As computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction）Use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
Put.The more specifically example of computer-readable medium（Non-exhaustive list）Including following：Electricity with one or more wiring
Connecting portion（Electronic installation）, portable computer diskette box（Magnetic device）, random access memory（RAM）, read-only storage
（ROM）, erasable edit read-only storage（EPROM or flash memory）, fiber device, and portable optic disk is read-only deposits
Reservoir（CDROM）.In addition, computer-readable medium, which can even is that, to print the paper of described program thereon or other are suitable
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application specific integrated circuit, programmable gate array（PGA）, scene
Programmable gate array（FPGA）Deng.
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method carries
Suddenly it is that by program the hardware of correlation can be instructed to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (10)
- The communication control system of collaboration 1. a kind of unmanned plane queue is formed into columns, it is characterised in that the unmanned plane queue includes leader An at least frame wing plane, wherein,Every frame wing plane includes：Information detector, for the flight attitude and positional information for detecting target image information, corresponding to wing plane；Band spectrum modulation device, for the target image information, the flight attitude of corresponding wing plane and positional information composition Data frame is spread, and the data after spread spectrum are modulated to target frequency bands；Dispensing device, for the data of the target frequency bands to be sent to the leader；First GPS time service devices, the first GPS time service devices respectively to described information detection means, band spectrum modulation device and Dispensing device synchronizes excitation；The leader includes：Reception device, for receiving the data for the target frequency bands that every wing plane is sent simultaneously；Despread-and-demodulation device, the despread-and-demodulation device are used for described every to obtain to the data progress despreading and demodulation received Flight attitude, positional information and the target image information of detection of platform wing plane；2nd GPS time service devices, the 2nd GPS time service devices are used to synchronize excitation to the despread-and-demodulation device.
- The communication control system of collaboration 2. unmanned plane queue as claimed in claim 1 is formed into columns, it is characterised in that the leader is also Including with least mutually isostructural information detector of frame wing plane.
- The communication control system of collaboration 3. unmanned plane queue as claimed in claim 1 is formed into columns, it is characterised in that described information is examined Surveying device includes：Position and attitude sensor, for detecting the flight attitude of corresponding wing plane；GPS locator, for being positioned the corresponding wing plane to obtain positional information；Imaging sensor, for detecting target image information.
- The communication control system of collaboration 4. unmanned plane queue as claimed in claim 1 is formed into columns, it is characterised in that the spread spectrum is adjusted Device processed includes：Walsh WALSH sequencers, the Walsh WALSH sequencers are carried out by the first GPS time service devices Synchronization motivationtheory, for producing frequency expansion sequence；First multiplier, the first input end of first multiplier are connected with described information detection means, the second input with The Walsh WALSH sequencers, for believing the target image information, the flight attitude of corresponding wing plane and position The data frame of breath composition carries out spreading operations；First oscillation generator, first oscillation generator synchronizes excitation by the first GPS time service devices, for producing Raw local oscillated signal；Second multiplier, the first input end of second multiplier are connected with the output end of first multiplier, and described Second input of paired multiplier is connected with first oscillation generator, output end and the transmission of second multiplier Device connects, for being modulated computing to the data after spread spectrum.
- The communication control system of collaboration 5. unmanned plane queue as claimed in claim 1 is formed into columns, it is characterised in that the despreading solution Device is adjusted to include：Walsh WALSH sequence alignment generators, the Walsh WALSH sequence alignments generator is by the 2nd GPS time services Device synchronizes excitation, and sequence is de-spread for producing；Multiplex sequence tracks ring, the input and the Walsh WALSH sequence alignment generators of the multiplex sequence tracking ring Connection, for keeping caused multiplex sequence and the multiplex sequence received synchronous respectively；Multiple 3rd multipliers, the first input end of the multiple 3rd multiplier is connected with the reception device, the multiple Second input of the 3rd multiplier is connected with multiplex sequence tracking ring, and the first output of the multiple 3rd multiplier is anti- The multiplex sequence tracking ring is fed to, the multiple 3rd multiplier is used to carry out parallel despreading operations；Second oscillation generator, second oscillation generator synchronizes excitation by the 2nd GPS time service devices, for producing Raw local oscillated signal；Multichannel carrier tracks ring, and the input of the multichannel carrier tracking ring is connected with second oscillation generator, for protecting It is synchronous with the carrier signal received to hold the local oscillated signal；Multiple 4th multipliers, the first input end of the multiple 4th multiplier and the second of the multiple 3rd multiplier defeated Going out end connection, the second input of the multiple 4th multiplier is connected with multichannel carrier tracking ring, and the multiple 4th First output end of multiplier is connected with multichannel carrier tracking ring, after the multiple 4th multiplier is used for despreading Data are demodulated computing to obtain the flight attitude of every wing plane, positional information and the target image information of detection.
- The communication control method of collaboration 6. a kind of unmanned plane queue is formed into columns, it is characterised in that the unmanned plane queue includes leader An at least frame wing plane, at least leader and a frame wing plane have GPS time service devices respectively, and the communication control method includes Following steps：Under the GPS time service devices synchronization motivationtheory, at least frame wing plane collection target image information, flying for itself is corresponded to Row posture and positional information；An at least frame wing plane by the target image information, correspond to itself flight attitude and positional information data frame Spread；An at least frame wing plane modulates the data after spread spectrum to target frequency bands, and the data of the target frequency bands are sent To the leader；The leader data that an at least frame wing plane described in reception is sent simultaneously, and the data of the target frequency bands are carried out parallel Despread-and-demodulation is to obtain at least target image information of a frame wing plane, correspond to the flight attitude and positional information of itself.
- The communication control method of collaboration 7. unmanned plane queue as claimed in claim 6 is formed into columns, it is characterised in that described at least one Frame wing plane collection the target image information, correspond to itself flight attitude and positional information data frame format it is identical.
- The communication control method of collaboration 8. unmanned plane queue as claimed in claim 7 is formed into columns, it is characterised in that in the GPS Under the synchronous triggering of time service device, an at least frame wing plane sends the data of the target frequency bands to the leader.
- The communication control method of collaboration 9. unmanned plane queue as claimed in claim 6 is formed into columns, it is characterised in thatUnder the excitation of the GPS time service devices, the leader tracks ring by multiplex sequence and de-spread；AndUnder the excitation of the GPS time service devices, the leader tracks ring by multichannel carrier and is demodulated.
- The communication control method of collaboration 10. unmanned plane queue as claimed in claim 6 is formed into columns, it is characterised in that in the GPS Under time service device synchronization motivationtheory, the leader collection target image information, itself flight attitude and positional information.
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| CN105223964B (en) * | 2015-09-28 | 2018-03-09 | 沈阳航空航天大学 | A kind of control system for UAV Formation Flight |
| CN106937456B (en) * | 2015-12-30 | 2020-07-31 | 海洋王照明科技股份有限公司 | Rescue lighting system |
| CN105514870A (en) * | 2016-01-26 | 2016-04-20 | 云南电网有限责任公司昆明供电局 | Method for defect searching of power transmission lines of multi-rotor unmanned aerial vehicles |
| CN105514872A (en) * | 2016-02-15 | 2016-04-20 | 西南交通大学 | High-efficiency unmanned aerial vehicle group power inspection system |
| CN106094862A (en) * | 2016-06-22 | 2016-11-09 | 陕西宝成航空仪表有限责任公司 | The implementation method of UAV Formation Flight Control on Communication |
| CN106054923A (en) * | 2016-07-04 | 2016-10-26 | 苏州光之翼智能科技有限公司 | Asymmetric unmanned aerial vehicle clustering system |
| CN107765703B (en) * | 2016-08-17 | 2021-06-01 | 中国航空工业集团公司西安飞行自动控制研究所 | Airborne formation flight indicating system based on inertia/satellite relative navigation |
| CN107509244B (en) * | 2017-08-24 | 2020-12-22 | 深圳市高巨创新科技开发有限公司 | Communication method for formation flight of unmanned aerial vehicles |
| CN108419052B (en) * | 2018-03-28 | 2021-06-29 | 深圳臻迪信息技术有限公司 | Panoramic imaging method for multiple unmanned aerial vehicles |
| CN112447040B (en) * | 2019-08-27 | 2022-04-08 | 北京地平线机器人技术研发有限公司 | Queue order detection method and device, electronic equipment and medium |
| CN110737283B (en) * | 2019-11-04 | 2022-09-27 | 中国人民解放军军事科学院国防科技创新研究院 | Visual cluster-oriented formation decoupling control method |
| CN111343082A (en) * | 2020-03-06 | 2020-06-26 | 梁冠岚 | Stereoscopic display method for micro robot cluster |
| CN115047914A (en) * | 2022-07-21 | 2022-09-13 | 北京东土军悦科技有限公司 | Control system and unmanned aerial vehicle equipment for unmanned cluster |
| CN116208227B (en) * | 2022-12-30 | 2024-01-26 | 脉冲视觉(北京)科技有限公司 | Self-cooperative method and device for unmanned aerial vehicle group, equipment, program and medium |
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