CN108475076B - Antenna alignment method and ground control terminal - Google Patents
Antenna alignment method and ground control terminal Download PDFInfo
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Abstract
The invention discloses an antenna alignment method, which is used for controlling a ground control end with a directional antenna to align the directional antenna with an unmanned aerial vehicle. The antenna alignment method comprises the following steps: acquiring position information of the unmanned aerial vehicle; acquiring position and attitude information of a ground control end; and controlling the communication direction of the directional antenna to align the unmanned aerial vehicle according to the position information and the position attitude information. The invention also discloses a ground control end. According to the antenna alignment method and the ground control terminal provided by the embodiment of the invention, the communication direction of the directional antenna is adjusted so that the communication direction of the directional antenna is always aligned with the unmanned aerial vehicle, the ground control terminal and the unmanned aerial vehicle are always in an optimal receiving and transmitting state, and the stability of communication between the ground control terminal and the unmanned aerial vehicle is improved.
Description
Technical Field
The present invention relates to communications technologies, and in particular, to an antenna alignment method and a ground control terminal.
Background
The existing remote control of the drone generally employs a directional antenna to enhance the signal strength of the target direction, so the remote control needs to be manually operated to align the directional antenna with the drone. However, when the drone exceeds the line of sight, alignment is difficult to achieve, resulting in poor communication quality.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an antenna alignment method and a ground control terminal.
The antenna alignment method is used for controlling a ground control end with a directional antenna to align the directional antenna with an unmanned aerial vehicle, and comprises the following steps:
acquiring the position information of the unmanned aerial vehicle;
acquiring position and attitude information of the ground control end; and
and controlling the communication direction of the directional antenna to align the unmanned aerial vehicle according to the position information and the position attitude information.
The ground control end of the embodiment of the invention comprises a directional antenna, the ground control end is used for controlling the directional antenna to align with an unmanned aerial vehicle, and the ground control end also comprises a first processor, and the first processor is used for:
acquiring the position information of the unmanned aerial vehicle;
acquiring position and attitude information of the ground control end; and
and controlling the communication direction of the directional antenna to align the unmanned aerial vehicle according to the position information and the position attitude information.
According to the antenna alignment method and the ground control terminal provided by the embodiment of the invention, the communication direction of the directional antenna is adjusted so that the communication direction of the directional antenna is always aligned with the unmanned aerial vehicle, the ground control terminal and the unmanned aerial vehicle are always in an optimal receiving and transmitting state, and the stability of communication between the ground control terminal and the unmanned aerial vehicle is improved.
Additional aspects and advantages of embodiments of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flow chart illustrating an antenna alignment method according to some embodiments of the present invention.
Fig. 2 is a block diagram of a surface control terminal according to some embodiments of the present invention.
Fig. 3 is a state diagram of an antenna alignment method according to some embodiments of the invention.
Fig. 4 is a flow chart illustrating an antenna alignment method according to some embodiments of the present invention.
Fig. 5 is a flow chart illustrating an antenna alignment method according to some embodiments of the present invention.
Fig. 6 is a flow chart illustrating an antenna alignment method according to some embodiments of the present invention.
Fig. 7 is a flow chart illustrating an antenna alignment method according to some embodiments of the present invention.
Fig. 8 is a block diagram of a surface control terminal according to some embodiments of the present invention.
Fig. 9 is a flow chart illustrating an antenna alignment method according to some embodiments of the present invention.
Fig. 10 is a flow chart illustrating an antenna alignment method according to some embodiments of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1 to 3, the antenna alignment method of the embodiment of the invention is used for controlling the ground control terminal 100 having the directional antenna 21 to align the directional antenna 21 with the drone 200. The antenna alignment method comprises the following steps:
s11: acquiring position information of the unmanned aerial vehicle 200;
s13: acquiring position and posture information of the ground control terminal 100; and
s15: and controlling the communication direction of the directional antenna 21 to be aligned with the unmanned aerial vehicle 200 according to the position information and the position attitude information.
The antenna alignment method according to the embodiment of the present invention may be implemented by the ground control terminal 100 according to the embodiment of the present invention. The ground control terminal 100 of the embodiment of the present invention includes a directional antenna 21. The ground control end 100 is used for controlling the directional antenna 21 to be aligned with the drone 200. The surface control terminal 100 includes a first processor 23. Step S11, step S13, and step S15 may all be implemented by the first processor 23.
That is, the first processor 23 is configured to:
acquiring position information of the unmanned aerial vehicle 200;
acquiring position and posture information of the ground control terminal 100; and
and controlling the communication direction of the directional antenna 21 to be aligned with the unmanned aerial vehicle 200 according to the position information and the position attitude information.
It is understood that the existing ground control terminal 100 communicating with the drone 200 may employ an omni-directional antenna or a directional antenna for wireless signal reception and transmission. When the ground control end 100 adopts an omnidirectional antenna, the omnidirectional antenna can achieve relatively good horizontal coverage, but an antenna gain zero point is usually formed right above the ground control end 100, so that the flying height of the unmanned aerial vehicle 200 above the ground control end 100 is not high. In addition, interference signals from other directions may be received by using the omni-directional antenna, which may cause degradation of communication quality between the drone 200 and the ground control terminal 100. When the ground control terminal 10 adopts a directional antenna, the directional antenna needs to be manually aligned with the direction of the antenna of the drone 200. When the drone 200 exceeds the line of sight, precise alignment cannot be achieved.
The antenna alignment method of the embodiment of the invention can automatically adjust the communication direction of the routing antenna 21 through the position information of the unmanned aerial vehicle 200 and the position attitude information of the ground control end 100, thereby ensuring that the rest of the unmanned aerial vehicles 200 at the ground control end 100 are always in the optimal receiving and transmitting states, and improving the stability of communication between the ground control end 100 and the unmanned aerial vehicle 200.
In an embodiment of the present invention, the routing antenna 21 may be a high-gain directional antenna. The high-gain directional antenna has higher antenna gain, the transmission distance of the wireless signals is longer, and the transmission quality of the wireless signals between the unmanned aerial vehicle 200 and the ground control end 100 can be improved. Meanwhile, the strong directivity of the high-gain directional antenna enables the directional antenna 21 to form a gain zero point in other communication directions, and can effectively reduce interference signals in other directions. In addition, the high-gain directional antenna of the embodiment of the present invention can automatically adjust the communication direction according to the position information of the unmanned aerial vehicle 200 and the position and posture information of the ground control terminal 100, and can achieve omnidirectional coverage of signals of 360 ° in the horizontal direction and [ -25 °,90 ° ] in the height direction by adjusting the communication direction, so that the communication direction of the high-gain directional antenna is always aligned with the unmanned aerial vehicle 200. The communication direction of the directional antenna 21 refers to the radiation direction of the line antenna 21, i.e. the wireless signal receiving direction and the wireless signal transmitting direction.
Referring to fig. 2 to 4 together, in some embodiments, an antenna alignment method according to an embodiment of the present invention includes the following steps:
s14: and the control ground control end 100 analyzes the position information and the position and posture information.
In certain embodiments, the surface control terminal 100 further includes a second processor 32. Step S14 may be implemented by the second processor 32. That is, the second processor 32 is also used for controlling the ground control end 100 to analyze the position information and the position and posture information.
It can be understood that the unmanned aerial vehicle 200 modulates the position information of itself and then sends the modulated position information to the ground control terminal 100 through the antenna of the unmanned aerial vehicle 200 itself in the form of electromagnetic waves, and the routing antenna 21 of the ground control terminal 100 receives the position information. The ground control terminal 100 also has its own position and attitude information. The ground control terminal 100 analyzes the position information and the position and orientation information to obtain the image-digitized position information and the image-digitized position and orientation information, so as to adjust the communication direction of the directional antenna 100 according to the image-digitized position information and the image-digitized position and orientation information.
Referring to fig. 2, 3 and 5 together, in some embodiments, the ground control end 100 includes a tracking antenna device 20 and a remote controller 30, wherein the tracking antenna device 20 includes a directional antenna 21, the remote controller 30 is in communication with the tracking antenna device 20, and the step S14 of controlling the ground control end 100 to parse the position information and the position and posture information includes the following steps:
s141: controlling the tracking antenna device 20 to receive the position information sent by the unmanned aerial vehicle 200;
s142: controlling the tracking antenna device 20 to forward the position information to the remote controller 30;
s143: controlling the remote controller 30 to analyze the position information forwarded by the tracking antenna device 20 to obtain analyzed position information; and
s144: the remote controller 30 is controlled to transmit the resolved position information to the tracking antenna device 20.
In some embodiments, steps S141 and S142 may be implemented by the first processor 23, and steps S143 and S144 may be implemented by the second processor 32.
That is, the first processor 23 is further configured to:
controlling the tracking antenna device 20 to receive the position information sent by the unmanned aerial vehicle 200; and
controlling the tracking antenna device 20 to forward the position information to the remote controller 30;
the second processor 32 is configured to:
controlling the remote controller 30 to analyze the position information forwarded by the tracking antenna device 20 to obtain analyzed position information; and
the remote controller 30 is controlled to transmit the resolved position information to the tracking antenna device 20.
Specifically, the first processor 23 is provided in the tracking antenna device 20, and the second processor 32 is provided in the remote controller 30. The position information of the drone 200 is received by the tracking antenna device 20 and forwarded to the remote controller 30. The remote controller 30 analyzes the position information to obtain analyzed position information. The position information is analyzed to be the position information of the unmanned aerial vehicle 200 with the image numeralization. The remote controller 30 transmits the analyzed position information to the tracking antenna device 20, and the tracking antenna device 20 adjusts the communication direction of the directional antenna 21 based on the analyzed position information and the position state information. In this way, the remote controller 30 analyzes the position information, and the data processing load on the tracking antenna device 20 can be reduced. In other embodiments, step S14 may be directly implemented by the first processor 23 in the tracking antenna device 20.
In the embodiment of the present invention, the remote controller 30 is connected to the tracking antenna device 20 through a radio frequency coaxial line. The position of the tracking antenna arrangement 20 may be fixed or mobile during the control of the flight of the drone 200. For example, the tracking antenna device 20 may be provided on a tripod to be fixed. The radio frequency coaxial line connecting the remote controller 30 and the tracking antenna device 20 has a certain length, and the remote controller 30 can be held by hands to walk when the flying hand controls the unmanned aerial vehicle 200 to fly so as to conveniently observe the flying condition of the unmanned aerial vehicle 200. The length of the radio frequency coaxial line may be 5 meters, 10 meters, 15 meters, or even more than 15 meters, which is not limited herein. The tracking antenna device 20 may also be mounted on a vehicle to adapt to the scene of the vehicle that controls the flight of the drone 200 during movement.
Referring to fig. 2, 3 and 6, in some embodiments, the position information of the drone 200 includes the longitude and latitude of the drone 200, and the position and attitude information of the ground control end 100 includes the longitude and latitude of the directional antenna 21. The communication direction of the directional antenna 21 includes a horizontal direction parameter. The step S15 of controlling the communication direction of the directional antenna 21 to align the drone 200 according to the position information and the position attitude information includes the steps of:
s1511: and calculating horizontal direction parameters according to the longitude and latitude of the unmanned aerial vehicle 200 and the longitude and latitude of the directional antenna 21.
In some embodiments, step S1511 may be implemented by the first processor 23.
That is, the first processor 23 is further configured to calculate the horizontal direction parameter according to the longitude and latitude of the drone 200 and the longitude and latitude of the directional antenna 21.
In an embodiment of the present invention, the unmanned aerial vehicle 200 is provided with a Global Navigation Satellite System (GNSS) receiver, and the latitude and longitude information of the unmanned aerial vehicle 200 can be acquired by the GNSS receiver. The ground control terminal 100 is also provided with a GNSS receiver for acquiring the latitude and longitude of the directional antenna 21. The GNSS receiver includes a U.S. global positioning system receiver, a chinese beidou satellite navigation system receiver, a russian glonass satellite navigation system receiver, or a european galileo satellite navigation system receiver, which is not limited herein. The horizontal direction parameter of the communication direction refers to an included angle between a line connecting the unmanned aerial vehicle 200 and the origin of the geodetic coordinate system and between the directional antenna 21 and the origin of the geodetic coordinate system in the horizontal direction or on a longitude-latitude plane of the geodetic coordinate system. The horizontal direction parameters may be used to determine the relative position in the horizontal direction between the drone 200 and the directional antenna 21. The ground control end 100 rotates the directional antenna 21 in the horizontal direction according to the above-mentioned relative position in the horizontal direction to achieve alignment of the directional antenna 21 with the drone 200.
Referring to fig. 2, 3 and 6, in some embodiments, the position information of the drone 200 includes the height of the drone 200, the position and attitude information of the ground control end 100 includes the height of the directional antenna 21, and the communication direction of the directional antenna 21 includes the height direction parameter. The step S15 of controlling the communication direction of the directional antenna 21 to align the drone 200 according to the position information and the position attitude information includes the steps of:
s1512: the altitude direction parameter is calculated from the altitude of the drone 200 and the altitude of the directional antenna 21.
In some embodiments, step S1512 may be implemented by the first processor 23.
That is, the first processor 23 is further configured to calculate the altitude direction parameter according to the altitude of the drone 200 and the altitude of the directional antenna 21.
In an embodiment of the present invention, the drone 200 is further provided with a barometer, and the height of the drone 200 can be measured by the GNSS receiver and the barometer together. Specifically, the GNSS receiver may perform 3D positioning on the drone so as to acquire the height of the drone 200, and the barometer may perform height measurement by detecting the air pressure around the drone 200. The integration of the heights of the drone 200 measured by the GNSS receiver and the barometer, respectively, may make the height of the drone 200 more accurate. Similarly, the ground control terminal 100 is also provided with a GNSS receiver and a barometer. The height of the directional antenna 21 can be measured jointly by GNSS and barometer. The altitude parameter refers to the relative position of the drone 200 and the directional antenna 21 in the altitude direction. After the altitude direction parameter is obtained by calculating the altitude of the unmanned aerial vehicle 200 and the altitude of the directional antenna 21, the directional antenna 21 can rotate in the altitude direction or the pitch angle direction according to the altitude direction parameter to align the directional antenna 21 with the unmanned aerial vehicle 200.
Referring to fig. 2, 3 and 6, in some embodiments, the tracking antenna device 20 includes a holder 22 for rotating the directional antenna 21, the communication direction of the directional antenna 21 includes a target azimuth parameter of the directional antenna 21, and the position and orientation information includes a current azimuth parameter of the directional antenna 21. The step S15 of controlling the communication direction of the directional antenna 21 to align the drone 200 according to the position information and the position attitude information includes the steps of:
s1513: the pan/tilt head 22 is controlled to make the difference between the current azimuth angle parameter and the target azimuth angle parameter smaller than a first predetermined range.
In some embodiments, step S1513 may be implemented by the first processor 23.
That is, the first processor 23 is further configured to control the pan/tilt head 22 to make the difference between the current azimuth angle parameter and the target azimuth angle parameter smaller than the first predetermined range.
Specifically, the target azimuth parameter refers to an azimuth of the directional antenna 21 at the time when a maximum gain direction of a communication direction of the directional antenna 21 coincides with a projection direction of a line connecting the drone 200 and the directional antenna 21 on a latitude axis in a horizontal direction or a longitude-latitude plane. The current azimuth refers to the azimuth of the current directional antenna 21. In a specific embodiment of the present invention, the azimuth angle of the directional antenna 21 may be measured by a compass. In other embodiments, the azimuth angle of the directional antenna 21 may be measured by other measurement methods, for example, by using carrier phase difference technology RTK, and the like, which is not limited herein. In step S1511, a horizontal direction parameter, that is, a relative position in the horizontal direction between the unmanned aerial vehicle 200 and the directional antenna 21 is calculated, and an angle that needs to be rotated in the horizontal direction is calculated according to the relative position in the horizontal direction, so that the pan/tilt head 22 is controlled to rotate at the angle. The pan/tilt head 22 rotates to make the communication direction of the directional antenna 21 align with the drone 200 when the difference between the current azimuth parameter and the target azimuth parameter is smaller than the first predetermined range. Wherein, the first predetermined range indicates that the maximum gain direction of the communication direction of the directional antenna 21 does not necessarily need to completely coincide with the projection direction of the connection line between the drone 200 and the directional antenna 21 on the latitudinal axis. Because the electromagnetic waves in the communication direction of the directional antenna 21 have a certain beam width, i.e. a certain radiation angle. Therefore, even if the maximum gain direction of the communication direction of the directional antenna 21 does not completely coincide with the projection direction of the connection line between the unmanned aerial vehicle 200 and the directional antenna 21 on the latitudinal axis, as long as it is ensured that the difference between the angle of the maximum gain direction and the projection direction of the connection line between the unmanned aerial vehicle 200 and the directional antenna 21 on the latitudinal axis is smaller than the first predetermined range, the communication transmission between the unmanned aerial vehicle 200 and the ground control terminal 100 can be ensured.
Referring again to fig. 2, 3 and 6, in some embodiments, the tilt head 22 can also adjust the pitch angle of the directional antenna 21. The communication direction of the directional antenna 21 includes a target pitch angle parameter of the directional antenna, and the position attitude information includes a current pitch angle parameter. The step S15 of controlling the communication direction of the directional antenna 21 to align the drone 200 according to the position information and the position attitude information includes the steps of:
s1514: the pan/tilt head 22 is controlled such that the degree of difference between the current pitch angle parameter and the target pitch angle parameter is smaller than a second predetermined range.
In certain embodiments, step S1514 may be implemented by the first processor 23.
That is, the first processor 23 is further configured to control the pan/tilt head 22 to make the difference between the current pitch angle parameter and the target pitch angle parameter smaller than the second predetermined range.
Specifically, the target pitch angle parameter refers to a pitch angle of the directional antenna 21 at the time when, in the height direction, the maximum gain direction of the communication direction of the directional antenna 21 coincides with the projection direction of the connection line between the unmanned aerial vehicle 200 and the directional antenna 21 on the height axis. The current pitch angle parameter refers to the pitch angle of the current directional antenna 21. In step S1512, the altitude direction parameter, that is, the relative position in the altitude direction between the unmanned aerial vehicle 200 and the directional antenna 21 is calculated, and the angle that needs to be rotated in the altitude direction is calculated according to the relative position in the altitude direction, so that the rotation of the pan/tilt head 22 according to the angle that needs to be rotated in the altitude direction is controlled. The pan/tilt head 22 rotates to make the communication direction of the directional antenna 21 align with the drone 200 when the difference between the current pitch angle parameter and the target pitch angle parameter is smaller than a second predetermined range. Wherein, the second predetermined range indicates that the maximum gain direction of the communication direction of the directional antenna 21 does not necessarily coincide completely with the projection direction of the connection line between the drone 200 and the directional antenna 21 on the height axis. The electromagnetic waves in the communication direction of the routing antenna 21 have a certain beam width, that is, a radiation angle, and therefore, even if the maximum gain direction of the communication direction of the directional antenna 21 does not completely coincide with the projection direction of the connection line between the unmanned aerial vehicle 200 and the directional antenna 21 on the height axis, as long as the difference between the maximum gain direction and the projection direction of the connection line between the unmanned aerial vehicle 200 and the directional antenna 21 on the height axis is ensured to be smaller than the second predetermined range, stable communication transmission between the unmanned aerial vehicle 200 and the ground control terminal 100 can be ensured. In other embodiments, step S15 may be implemented by the second processor 32 in the remote controller 30.
Referring to fig. 7-8 together, in some embodiments, the directional antenna 21 includes a phased array antenna including a plurality of directional radiating elements, each radiating element corresponding to a radiation direction. The communication direction of the directional antenna 21 includes a target azimuth angle parameter of the directional antenna 21 and a target pitch angle parameter of the directional antenna 21. The step S15 of controlling the communication direction of the directional antenna 21 to align the drone 200 according to the position information and the position attitude information includes the steps of:
s1521: and controlling the phased array antenna to selectively start the radiation units and enable the difference degree of the radiation directions of the started radiation units and the target azimuth angle parameter to be smaller than a third preset range.
S1522: and controlling the phased array antenna to selectively start the radiation units and enable the difference degree between the radiation direction of the started radiation units and the target pitch angle parameter to be smaller than a fourth preset range.
In some embodiments, steps S1521 and S1522 may be implemented by the first processor 23.
That is, the first processor 23 is further configured to:
and controlling the phased array antenna to selectively start the radiation units and enable the difference degree of the radiation directions of the started radiation units and the target azimuth angle parameter to be smaller than a third preset range.
And controlling the phased array antenna to selectively start the radiation units and enable the difference degree between the radiation direction of the started radiation units and the target pitch angle parameter to be smaller than a fourth preset range.
In particular, phased array antennas are directed antennas that use phase changes to achieve a movement or scanning of the antenna beam in space. A plurality of radiating elements are provided in a phased array antenna. Wherein the radiating element may be a single waveguide horn antenna, a dipole antenna, a patch antenna, or the like. The phased array antenna is operable to control one or more of the plurality of radiating elements to direct transmission and reception of wireless signals. In a specific embodiment of the present invention, the phased array antenna is shaped as a 180 hemispherical surface. The radiating elements are uniformly distributed on the hemispherical surface. The target azimuth angle parameter refers to an azimuth angle of the radiation direction of the phased array antenna relative to the latitude axis when the radiation direction of the radiation unit selectively started by the phased array antenna coincides with the projection direction of the connection line of the unmanned aerial vehicle 200 and the directional antenna 21 on the latitude axis. The target pitch angle refers to a pitch angle of the radiation direction of the phased array antenna relative to the altitude axis when the radiation direction of the radiation unit selectively started by the phased array antenna coincides with the projection direction of the connecting line between the unmanned aerial vehicle 200 and the directional antenna 21 on the altitude axis. At this time, the tracking antenna device 20 does not need to be provided with the pan/tilt head 22. The first processor 23 calculates the relative position information of the unmanned aerial vehicle 200 and the phased array antenna 20 according to the longitude and latitude and altitude information of the unmanned aerial vehicle 200 and the longitude and latitude and altitude information of the phased array antenna 21, and selectively starts one or more radiation units according to the relative position information so that the difference between the radiation direction of the radiation unit and the target azimuth angle parameter is smaller than a third predetermined range, and meanwhile, the difference between the radiation direction of the radiation unit and the target pitch angle parameter is smaller than a fourth predetermined range. Wherein, during the process of starting one or more radiation elements, the first processor 23 can control the phased array antenna to perform the adjustment of the selection of the radiation elements. The first processor 23 selects the activated radiating element corresponding to the adjusted maximum RSSI value received by the phased array antenna as the final communication direction. Similarly, after the phased array antenna selectively starts the radiation unit, the radiation direction of the radiation unit still has a certain radiation angle, the difference between the final communication direction and the target azimuth angle is smaller than a third predetermined range, and the difference between the final communication direction and the target pitch angle parameter is smaller than a fourth predetermined range, so that stable communication transmission between the unmanned aerial vehicle 200 and the ground control terminal 100 can be ensured.
When a phased array antenna is used, the tracking antenna device 20 may be integrally packaged with the remote controller 30 or may be provided independently of each other. When the tracking antenna device 20 is integrally packaged with the remote controller 30, the first processor 23 and the second processor 32 may be collectively replaced with one processor to perform the functions of the first processor 23 and the second processor 32. When the tracking antenna device is provided independently of the remote controller 30, the tracking antenna device 20 and the remote controller 30 each have their own processor to facilitate data processing.
Referring to fig. 2, 3 and 9 together, in some embodiments, the step S15 of controlling the communication direction of the directional antenna 21 to align the drone 200 according to the position information and the position and attitude information includes the following steps:
s1531: judging whether the change value of the communication direction is smaller than a first preset threshold value or not;
s1532: when the variation value is smaller than a first preset threshold value, controlling the ground control end 100 to change the azimuth angle of the directional antenna 21 into a plurality of scanning azimuth angles;
s1533: acquiring the communication strength between the unmanned aerial vehicle 200 and the directional antenna 21 when the directional antenna 21 is positioned at a plurality of scanning azimuth angles; and
s1534: and re-determining the target azimuth angle of the directional antenna 21 according to the communication strength, wherein the target azimuth angle is the scanning azimuth angle with the maximum communication strength.
In some embodiments, step S1531, step S1532, step S1533, and step S1534 may be implemented by the first processor 23.
That is, the first processor 23 is further configured to:
judging whether the change value of the communication direction is smaller than a first preset threshold value or not;
when the variation value is smaller than a first preset threshold value, controlling the ground control end 100 to change the azimuth angle of the directional antenna 21 into a plurality of scanning azimuth angles;
acquiring the communication strength between the unmanned aerial vehicle 200 and the directional antenna 21 when the directional antenna 21 is positioned at a plurality of scanning azimuth angles; and
and re-determining the target azimuth angle of the directional antenna 21 according to the communication strength, wherein the target azimuth angle is the scanning azimuth angle with the maximum communication strength.
Specifically, when the change value of the communication strength between the drone 200 and the directional antenna 21 is smaller than the first preset threshold, that is, when the relative position between the drone 200 and the directional antenna 21 does not change much, the relative position information between the drone 200 and the directional antenna 21 is first calculated according to the position information of the drone 200 and the position attitude information of the directional antenna 21 at that time, and the relative position information indicates the difference between the current azimuth angle of the drone 200 and the horizontal direction of the timing antenna 21. Subsequently, the ground control terminal 100 only needs to change the azimuth angle according to the relative position information without acquiring the own azimuth angle, and compares and judges the received signal strength RSSI received by the directional antenna 21 after each azimuth angle change, thereby determining that the corresponding azimuth angle when the RSSI is maximum, that is, the communication strength is maximum, is the target azimuth angle.
Referring to fig. 2, 3 and 10 together, in some embodiments, the remote controller 30 includes an omnidirectional antenna 31, and the antenna alignment method of the embodiments of the present invention further includes the following steps:
s161: judging whether the communication strength between the directional antenna 21 and the unmanned aerial vehicle 200 is smaller than a second preset threshold value; and
s162: and controlling the omnidirectional antenna 31 to communicate with the unmanned aerial vehicle 200 when the communication strength is smaller than a second preset threshold value.
In some embodiments, step S161 may be implemented by the first processor 23 and step S162 may be implemented by the second processor 32.
That is, the first processor 23 is further configured to:
judging whether the communication strength between the directional antenna 21 and the unmanned aerial vehicle 200 is smaller than a second preset threshold value;
the second processor 32 is further configured to:
and controlling the omnidirectional antenna 31 to communicate with the unmanned aerial vehicle 200 when the communication strength is smaller than a second preset threshold value.
It can be understood that, although the directional antenna 21 of the embodiment of the present invention may be aligned with the drone 200 by adjusting the communication direction, in some special cases, for example, when the drone 200 is controlled by the pilot to fly to the back of the huge building, even if the directional antenna 21 is aligned with the drone 200, the drone 200 may lose contact with the ground control end 100 due to the shielding of the huge building. When the time of losing connection between the drone 200 and the ground control terminal 100 exceeds a predetermined time, for example, 10 seconds, the drone may return automatically, and the position of the drone 200 may fall at the gain null point of the directional antenna 21 during the return. Therefore, when judging that the communication intensity between directional antenna 21 and unmanned aerial vehicle 200 is less than the second preset threshold value, thereby can scan unmanned aerial vehicle 200's position through omnidirectional antenna 31 that sets up on remote controller 30 and realize unmanned aerial vehicle 200 and ground control end 100's communication connection. Therefore, the unmanned aerial vehicle 200 can continue to communicate with the ground control terminal 100 within a certain time even after loss of connection, and the safety of the unmanned aerial vehicle 200 is guaranteed.
In summary, in the antenna alignment method and the ground control terminal 100 according to the embodiments of the present invention, the communication direction of the directional antenna 21 is adjusted to always align the communication direction of the directional antenna 21 with the unmanned aerial vehicle 200, so that the ground control terminal 100 and the unmanned aerial vehicle 200 are always in the optimal receiving and transmitting states, and the stability of communication between the ground control terminal 100 and the unmanned aerial vehicle 200 is improved.
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for performing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the above method may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be executed in the form of hardware or in the form of a software functional module. The integrated module, if executed in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (20)
1. An antenna alignment method for controlling a ground control terminal having a directional antenna to align the directional antenna with a drone, the antenna alignment method comprising the steps of:
acquiring the position information of the unmanned aerial vehicle;
acquiring position and attitude information of the ground control end; and
controlling the communication direction of the directional antenna to align to the unmanned aerial vehicle according to the position information and the position attitude information;
wherein the step of controlling the communication direction of the directional antenna to align with the drone according to the position information and the position and attitude information comprises the steps of:
judging whether the change value of the communication direction is smaller than a first preset threshold value or not;
when the variation value is smaller than the first preset threshold value, controlling the ground control end to change the azimuth angle of the directional antenna into a plurality of scanning azimuth angles;
acquiring the communication strength between the unmanned aerial vehicle and the directional antenna when the directional antenna is positioned at the plurality of scanning azimuth angles; and
and re-determining a target azimuth angle of the directional antenna according to the communication strength, wherein the target azimuth angle is the scanning azimuth angle with the maximum communication strength.
2. The antenna alignment method of claim 1, wherein the location information comprises a latitude and longitude of the drone, the location attitude information comprises a latitude and longitude of the directional antenna, and the communication direction comprises a horizontal direction parameter; the step of controlling the communication direction of the directional antenna to align with the unmanned aerial vehicle according to the position information and the position and attitude information further comprises the steps of:
and calculating the horizontal direction parameter according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the directional antenna.
3. The antenna alignment method of claim 1, wherein the position information includes an altitude of the drone, the position attitude information includes an altitude of the directional antenna, and the communication direction includes an altitude direction parameter; the step of controlling the communication direction of the directional antenna to align with the unmanned aerial vehicle according to the position information and the position and attitude information further comprises the steps of:
and calculating the height direction parameter according to the height of the unmanned aerial vehicle and the height of the directional antenna.
4. The antenna alignment method of claim 1, wherein the ground control end comprises a tracking antenna device, the tracking antenna device comprises a pan-tilt for horizontally rotating the directional antenna, the communication direction comprises a target azimuth parameter of the directional antenna, and the position and orientation information comprises a current azimuth parameter of the directional antenna; the step of controlling the communication direction of the directional antenna to align with the unmanned aerial vehicle according to the position information and the position and attitude information further comprises:
and controlling the horizontal rotation of the holder to enable the difference degree between the current azimuth angle parameter and the target azimuth angle parameter to be smaller than a first preset range.
5. The antenna alignment method of claim 1, wherein the ground control end comprises a tracking antenna device comprising a pan-tilt for adjusting the tilt of the directional antenna, the communication direction comprises a target pitch angle parameter of the directional antenna, and the position attitude information comprises a current pitch angle parameter; the step of controlling the communication direction of the directional antenna to align with the unmanned aerial vehicle according to the position information and the position and attitude information further comprises the steps of:
and controlling the holder to enable the difference degree of the current pitch angle parameter and the target pitch angle parameter to be smaller than a second preset range.
6. The antenna alignment method of claim 1, wherein the directional antenna comprises a phased array antenna, the phased array antenna comprising a plurality of directional radiating elements, each of the radiating elements corresponding to a radiating direction, the communication direction comprising a target azimuth parameter of the directional antenna; the step of controlling the communication direction of the directional antenna to align with the unmanned aerial vehicle according to the position information and the position and attitude information further comprises the steps of:
controlling the phased array antenna to selectively activate the radiating elements and make the difference degree between the radiation direction of the activated radiating elements and the target azimuth angle parameter less than a third predetermined range.
7. The antenna alignment method of claim 1, wherein the directional antenna comprises a phased array antenna comprising a plurality of directional radiating elements, each radiating element corresponding to a radiating direction, the communication direction comprising a target pitch angle parameter of the directional antenna; the step of controlling the communication direction of the directional antenna to align with the unmanned aerial vehicle according to the position information and the position and attitude information further comprises the steps of:
controlling the phased array antenna to selectively activate the radiating elements and cause the activated radiating elements to differ from the target pitch angle parameter by less than a fourth predetermined range.
8. The antenna alignment method according to claim 1, wherein the antenna alignment method comprises the steps of:
and controlling the ground control end to analyze the position information and the position and attitude information.
9. The method of claim 8, wherein the ground control terminal comprises a tracking antenna device and a remote controller in communication with the tracking antenna device, and the step of controlling the ground control terminal to resolve the position information and the position attitude information comprises the steps of:
controlling the tracking antenna device to receive the position information sent by the unmanned aerial vehicle;
controlling the tracking antenna device to forward the position information to the remote controller;
controlling the remote controller to analyze the position information to obtain analyzed position information; and
and controlling the remote controller to send the analyzed position information to the tracking antenna device.
10. The antenna alignment method of claim 1, wherein the ground control terminal comprises a remote control including an omni-directional antenna, the antenna alignment method further comprising the steps of:
judging whether the communication strength between the directional antenna and the unmanned aerial vehicle is smaller than a second preset threshold value; and
and when the communication strength is smaller than the second preset threshold value, controlling the omnidirectional antenna to communicate with the unmanned aerial vehicle.
11. A ground control end, ground control end includes directional antenna, ground control end is used for controlling directional antenna aligns with unmanned aerial vehicle, its characterized in that, ground control end still includes first processor, first processor is used for:
acquiring the position information of the unmanned aerial vehicle;
acquiring position and attitude information of the ground control end; and
controlling the communication direction of the directional antenna to align to the unmanned aerial vehicle according to the position information and the position attitude information;
wherein the first processor is further configured to:
judging whether the change value of the communication direction is smaller than a preset threshold value or not;
when the variation value is smaller than the preset threshold value, controlling the ground control end to change the azimuth angle of the directional antenna into a plurality of scanning azimuth angles;
acquiring the communication strength between the unmanned aerial vehicle and the directional antenna when the directional antenna is positioned at the plurality of scanning azimuth angles; and
and re-determining the target azimuth angle of the directional antenna according to the communication strength, wherein the target azimuth angle is the scanning azimuth angle with the maximum communication strength.
12. The ground control terminal of claim 11, wherein the location information includes a latitude and longitude of the drone, the location attitude information includes a latitude and longitude of the directional antenna, and the communication direction includes a horizontal direction parameter; the first processor is further configured to:
and calculating the horizontal direction parameter according to the longitude and latitude of the unmanned aerial vehicle and the longitude and latitude of the directional antenna.
13. The ground control terminal of claim 11, wherein the position information includes an altitude of the drone, the position attitude information includes an altitude of the directional antenna, and the communication direction includes an altitude direction parameter; the first processor is further configured to:
and calculating the height direction parameter according to the height of the unmanned aerial vehicle and the height of the directional antenna.
14. The ground control terminal according to claim 11, wherein the ground control terminal comprises a tracking antenna device, the tracking antenna device comprises a pan-tilt for horizontally rotating the directional antenna, the communication direction comprises a target azimuth parameter of the directional antenna, and the position and orientation information comprises a current azimuth parameter of the directional antenna; the first processor is further configured to:
and controlling the holder to enable the difference degree between the current azimuth angle parameter and the target azimuth angle parameter to be smaller than a first preset range.
15. The ground control terminal according to claim 11, wherein the ground control terminal comprises a tracking antenna device, the tracking antenna device comprises a pan-tilt for adjusting the tilt of the directional antenna, the communication direction comprises a target pitch angle parameter of the directional antenna, and the position attitude information comprises a current pitch angle parameter; the first processor is further configured to:
and controlling the holder to enable the difference degree of the current pitch angle parameter and the target pitch angle parameter to be smaller than a second preset range.
16. The ground control terminal of claim 11, wherein the directional antenna comprises a phased array antenna, the phased array antenna comprises a plurality of directional radiating elements, each of the radiating elements corresponds to a radiating direction, and the communication direction comprises a target azimuth parameter of the directional antenna; the first processor is further configured to:
controlling the phased array antenna to selectively activate the radiating elements and a degree of difference between the radiating direction of the activated radiating elements and the target azimuth angle parameter is less than a third predetermined range.
17. The ground control terminal of claim 11, wherein the directional antenna comprises a phased array antenna, the phased array antenna comprises a plurality of directional radiating elements, each of the radiating elements corresponds to a radiating direction, and the communication direction comprises a target pitch angle parameter of the directional antenna; the communication direction comprises a target pitch angle parameter of the directional antenna, the first processor is further configured to:
controlling the phased array antenna to selectively activate the radiating elements and cause the activated radiating elements to differ from the target pitch angle parameter by less than a fourth predetermined range.
18. The ground control terminal of claim 11, further comprising a second processor to:
and controlling the ground control end to analyze the position information and the position and attitude information.
19. The ground control terminal according to claim 18, wherein the ground control terminal comprises a tracking antenna device and a remote controller in communication with the tracking antenna device, the first processor further configured to:
controlling the tracking antenna device to receive the position information sent by the unmanned aerial vehicle; and
controlling the tracking antenna device to forward the position information to the remote controller;
the second processor is further configured to:
controlling the remote controller to analyze the position information to obtain analyzed position information; and
and controlling the remote controller to send the analyzed position information to the tracking antenna device.
20. The ground control terminal of claim 11, wherein the ground control terminal comprises a remote control including an omnidirectional antenna and a second processor, the first processor further configured to:
judging whether the communication strength between the directional antenna and the unmanned aerial vehicle is smaller than a second preset threshold value; and
the second processor is further configured to:
and when the communication strength is smaller than the second preset threshold value, controlling the omnidirectional antenna to communicate with the unmanned aerial vehicle.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/081472 WO2018191965A1 (en) | 2017-04-21 | 2017-04-21 | Antenna alignment method and ground control terminal |
Publications (2)
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| CN108475076A CN108475076A (en) | 2018-08-31 |
| CN108475076B true CN108475076B (en) | 2021-05-04 |
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| CN109361478B (en) * | 2018-10-19 | 2021-06-04 | 天宇经纬（北京）科技有限公司 | Unmanned aerial vehicle communication quality control method, device and system |
| CN109890037A (en) * | 2019-02-14 | 2019-06-14 | 飞牛智能科技（南京）有限公司 | The method of adjustment and system of direction of arrival |
| CN109991993A (en) * | 2019-04-19 | 2019-07-09 | 江苏荣耀天翃航空科技有限公司 | The double flight control systems in the world based on RTK Differential positioning and winged control |
| CN111912404B (en) * | 2019-05-09 | 2024-04-05 | 西安京东天鸿科技有限公司 | Output attitude correction system and method for flight equipment |
| CN110336626B (en) * | 2019-07-08 | 2022-01-14 | 中国人民解放军陆军装备部驻北京地区军事代表局驻石家庄地区第一军事代表室 | Directional antenna alignment method, alignment device and terminal |
| CN110365386B (en) * | 2019-07-10 | 2022-06-17 | 中国水利水电第四工程局有限公司 | Communication enhancement method for unmanned aerial vehicle and unmanned aerial vehicle |
| CN112350753A (en) * | 2019-08-07 | 2021-02-09 | 索尼公司 | Electronic device and method in wireless communication system |
| WO2021035670A1 (en) * | 2019-08-30 | 2021-03-04 | 深圳市大疆创新科技有限公司 | Method, device, and system for adjusting direction of antenna |
| CN112563750A (en) * | 2019-09-25 | 2021-03-26 | 比亚迪股份有限公司 | Antenna attitude adjustment method and system |
| CN112909547B (en) * | 2019-12-04 | 2022-12-02 | ***通信集团上海有限公司 | System and method for adjusting directional antenna of unmanned aerial vehicle |
| CN111294772B (en) * | 2020-02-24 | 2022-12-16 | 无锡职业技术学院 | Vehicle-mounted point-to-point communication system based on intelligent antenna adjustment and method thereof |
| CN111565319A (en) * | 2020-03-31 | 2020-08-21 | 广州中科云图智能科技有限公司 | Live broadcast method and device for unmanned aerial vehicle video and unmanned aerial vehicle nest |
| CN111504231B (en) * | 2020-05-06 | 2021-09-21 | 深圳小鱼儿科技有限公司 | Method and system for simulating coverage area of directional antenna by light |
| CN111669208B (en) * | 2020-05-29 | 2023-04-07 | 北京小米移动软件有限公司 | Antenna selection method, first electronic device and storage medium |
| CN111930151A (en) * | 2020-07-14 | 2020-11-13 | 西安爱生无人机技术有限公司 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
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| WO2022061886A1 (en) * | 2020-09-28 | 2022-03-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle, control terminal, and system |
| CN112433237B (en) * | 2020-11-10 | 2023-04-07 | 广州肯赛特通信科技有限公司 | Automatic satellite tracking method, device, equipment and storage medium |
| WO2022252066A1 (en) * | 2021-05-31 | 2022-12-08 | 深圳市大疆创新科技有限公司 | Antenna selection method of mobile platform and mobile platform |
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