CN114221718A - Telemetering remote control system based on Beidou and LoRa networking - Google Patents
Telemetering remote control system based on Beidou and LoRa networking Download PDFInfo
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- CN114221718A CN114221718A CN202111621936.2A CN202111621936A CN114221718A CN 114221718 A CN114221718 A CN 114221718A CN 202111621936 A CN202111621936 A CN 202111621936A CN 114221718 A CN114221718 A CN 114221718A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/10—Monitoring; Testing of transmitters
- H04B17/15—Performance testing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/20—Monitoring; Testing of receivers
- H04B17/29—Performance testing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention provides a telemetering and remote control system based on Beidou and LoRa communication networking. The remote sensing and control system comprises: the system comprises a main node and more than two slave nodes; a Beidou communication network and a LoRa communication network are arranged among the nodes; the networking mode of the Beidou communication network is as follows: all the slave nodes are directly communicated with the master node in a Beidou communication mode to form a star topology communication network; the networking mode of the LoRa communication network is as follows: the master node and each slave node are communicated with the adjacent nodes through an LoRa networking communication mode to form a network type topology communication network; each slave node can directly or indirectly communicate with the master node through more than one slave node through LoRa communication; in addition, the master node and all slave nodes automatically receive and store Beidou positioning data.
Description
Technical Field
The invention relates to a remote measurement and control system, in particular to a remote measurement and control system for Beidou and LoRa communication networking, and belongs to the field of communication and control.
Background
With the development of wireless technology, monitoring and combat gradually develop to wireless and clustering. At present, carrier platforms such as airplanes and ships are used for monitoring and fighting, a single wireless communication mode is mainly used, communication distance, data volume, interference resistance, power consumption and the like cannot be taken into consideration, and therefore remote monitoring fighting has certain limitation.
The Beidou communication comprises Beidou short message communication and a Beidou positioning system. The Beidou satellite communication system has the advantages that the communication distance is ignored, communication can be achieved in the Beidou satellite coverage range, the power consumption is low, and the positioning function is achieved; the method has the defects that the communication data volume is small, only one message (three-level card) not more than 140 bytes can be transmitted and received every minute, and the message is influenced by shielding.
The LoRa is a long-distance wireless communication technology, and has the advantages of strong anti-interference capability, low power consumption, good communication within a 10km range, generally supporting a communication rate of 9600 baud rate and large communication data volume. The disadvantage is that the communication distance is limited and the occlusion has a certain impact on the communication.
Disclosure of Invention
In view of this, the invention provides a telemetry and remote control system based on Beidou and LoRa communication networking, which has two wireless communication links of Beidou and LoRa, wherein the two wireless communication links are redundant, the communication distance is long, and a high-reliability wireless communication mode is provided for telemetry and remote control.
Telemetering remote control system based on big dipper and loRa communication network deployment includes: the system comprises a main node and more than two slave nodes;
a Beidou communication network and a LoRa communication network are arranged among the nodes;
the networking mode of the Beidou communication network is as follows: all the slave nodes are directly communicated with the master node in a Beidou communication mode to form a star topology communication network;
the networking mode of the LoRa communication network is as follows: the master node and each slave node are communicated with the adjacent nodes through an LoRa networking communication mode to form a network type topology communication network; each slave node can directly or indirectly communicate with the master node through more than one slave node through LoRa communication;
in addition, the master node and all slave nodes automatically receive and store Beidou positioning data.
In a preferred embodiment of the present invention, the remote measurement and control system includes:
in the telemetry mode: each slave node periodically sends data to the master node through the Beidou communication network; meanwhile, all the slave nodes periodically broadcast data through the LoRa communication network, wherein the broadcast data comprise locally stored data and received data broadcast by other slave nodes, so that the data of all the slave nodes can be transmitted to the master node;
in the remote control mode: the master node sends a control command to each slave node through the Beidou communication network; meanwhile, the master node and all the slave nodes broadcast data periodically through the LoRa communication network, and the broadcast data comprises locally stored data and received data broadcast by other slave nodes, so that the control instruction of the master node can be sent to all the slave nodes.
As a preferred mode of the present invention, the function control cards in the master node and the slave node are both provided with: the device comprises a power supply unit, a control unit, a Beidou communication module, a LoRa communication module, a memory and an external interface;
the power supply unit is used for converting a direct-current power supply input in a wide voltage range into a power supply required by the Beidou communication module, the LoRa communication module, the control unit and the memory;
the control unit is communicated with the Beidou communication module and the LoRa communication module through a UART serial port; the control unit has the functions of data screening and forwarding;
the Beidou communication module is a UART-to-Beidou communication assembly and is provided with two UART serial ports, one port is a short message communication forwarding interface, and the other port is a Beidou positioning information forwarding interface.
The LoRa communication module is a UART-to-LoRa communication assembly;
the memory is used for storing data in the control unit.
As a preferred aspect of the present invention, in the LoRa communication network, when the master node or the slave node receives a data frame of another node, the master node or the slave node receives data of the same node in the same period only once according to the timestamp, and the data of the other node in the same period is directly discarded as duplicate data, and then the data of all internal nodes is updated and stored.
In a preferred embodiment of the present invention, the master node function control card and the slave node function control card have the same configuration, and can perform function multiplexing.
As a preferred mode of the present invention, the function control card is further provided with an external interface, and the external interface is respectively connected to the power supply unit and the control unit, and provides a power supply interface, a download interface, and a USB debug interface to the outside.
Has the advantages that:
(1) the remote measurement and control system has two wireless communication links of big dipper and LoRa, and both are redundant each other, and the low power dissipation, communication distance is far away, provides the wireless communication mode of high reliability for remote measurement and control.
(2) The hardware of the control card of the master node and the slave node in the remote measuring and controlling system can be replaced mutually, and any node can be configured as the master node through software; and the slave node is scalable.
(3) The LoRa communication adopts a network type topological networking mode, so that the radiation range of the nodes can be enlarged, and meanwhile, part of the slave nodes can be used as relays to prolong the communication distance (namely, the slave nodes in the communication network can be used as measurement and control nodes and relays to forward data, so that the communication distance is prolonged). The Beidou communication can be carried out without a visible distance, and ultra-long distance transmission can be realized; both the two modes can realize ultra-long-distance wireless communication, and provide convenience for remote control and remote measurement.
(4) Possess big dipper locate function, navigation or location when can the supplementary monitoring operation.
(5) All node data can be stored and forwarded, and even if the short-time communication is interrupted, the data can be retransmitted after the communication is recovered.
Drawings
FIG. 1 is a schematic diagram of a telemetry and telemetry system networking of the present invention;
FIG. 2 is a functional block diagram of a control card;
FIG. 3 is a slave node workflow diagram;
fig. 4 is a master node work flow diagram.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1:
aircraft, boats and ships monitoring operation environment are aerial or sea, shelter from few usually, and the distance is far away, combines the advantage of big dipper communication and loRa communication, for the remote monitoring and the operation of platforms such as adaptation aircraft, boats and ships, this embodiment has provided a telemetering measurement remote control system based on big dipper and loRa network deployment.
As shown in fig. 1, the telemetering and remote control system is formed by networking a master node and a plurality of slave nodes, each node comprises a control card, and has the functions of Beidou positioning, Beidou short message networking communication, LoRa networking communication, data storage, logic control (which means the functions of data screening, forwarding, controlling and the like).
The master node control card and the slave node control card have the same structure composition, so that the master node control card and the slave node control card can perform function multiplexing, namely the master node and the slave node control card can be replaced mutually on hardware, and any node can be configured to be a master node through software.
The nodes of the remote measurement and control system are provided with a Beidou communication network and a LoRa communication network.
The networking mode of the Beidou communication network is as follows: all slave nodes are directly communicated with the master node through the Beidou short message networking communication mode, namely all the slave nodes are directly interacted with the master node in information, and therefore the topological structure of the Beidou communication network is star-shaped. Each slave node periodically transmits data to the master node. In addition, when the master node needs to control the slave node, the control command is directly sent to the slave node for control processing through Beidou short message networking communication; when the master node needs to monitor the data of the slave nodes, the data monitoring instruction is directly sent to the slave nodes through Beidou short message networking communication, and the slave nodes receiving the data monitoring instruction feed back the monitoring data to the master node through the Beidou short message networking communication.
The networking mode of the LoRa communication network is as follows: each node (including slave nodes and master nodes) communicates with the adjacent nodes through an LoRa networking communication mode, so that the topological structure of the LoRa communication network is in a network type; each slave node can communicate with the master node directly or indirectly (through one or more slave nodes) through the LoRa networking communication method. As shown in fig. 1, the slave node 4 and the slave node 1 adjacent thereto, the slave node 2 and the slave node 5 communicate through the LoRa networking communication manner; the slave node 1 and the master node adjacent thereto, the slave node 2 and the slave node 4 communicate through the LoRa networking communication method. In this LoRa communication network, the slave node 1, the slave node 2, and the slave node 3 serve as relays, and the communication distance of the LoRa communication network is extended, so that data of the slave node 4 and the slave node 5 can be transmitted to the master node.
All nodes (including slave nodes and master nodes) periodically broadcast and send data (send the data to nodes connected with the nodes in the LoRa communication network) in a LoRa networking communication mode, and simultaneously periodically broadcast and send the received data and locally stored data; so as to ensure that the data interaction can be carried out between the master node and all the slave nodes. Specifically, the method comprises the following steps: in a remote control mode, the master node and the slave nodes broadcast data periodically to ensure that the instruction of the master node can be sent to all the slave nodes; in the telemetry mode, all the slave nodes periodically broadcast data to realize the data transmission of all the slave nodes to the master node.
In addition, each node can automatically receive the position information of the Beidou satellite navigation system and store the position information to local node data.
As shown in fig. 2, the control card in each node includes: the device comprises a power supply unit, a control unit, a Beidou communication module, a LoRa communication module, a memory and an external interface;
the power supply unit is mainly a power supply conversion chip and converts a direct-current power supply input in a wide voltage range into a power supply required by the Beidou communication module, the LoRa communication module, the control unit and the memory.
The control unit is a minimum system of a single chip microcomputer and comprises an embedded microprocessor of a 32-bit ARM core, a clock circuit, a reset circuit, a power supply filter and the like; microcontroller passes through UART serial ports and communicates with big dipper communication module, loRa communication module.
The Beidou communication module is a UART-to-Beidou communication assembly, comprises a power amplifier circuit, a Beidou communication radio frequency chip, a baseband processing assembly and the like, and realizes the forwarding of data of a UART port of a microcontroller and Beidou communication data in a control unit. The Beidou communication module is provided with two UART serial ports, one is a short message communication forwarding interface, and the other is a Beidou positioning information forwarding interface.
loRa communication module is UART commentaries on classics loRa communication assembly, contains power amplifier circuit, loRa communication radio frequency chip, baseband processing module etc. realizes forwarding of data and loRa communication data of microcontroller UART mouth among the control unit.
The memory is a flash memory chip and is used for storing data in the control unit.
The external interface is a circuit board connector, is respectively connected with the power supply unit and the control unit, and provides a power supply interface, a download interface and a USB debugging interface for the outside.
In the telemetry mode, the working flow of the slave node is as shown in fig. 3:
step 101: firstly, judging whether Beidou positioning data (namely position information of a Beidou satellite navigation system received through a Beidou communication module) is received, if so, storing the Beidou positioning data, and then entering step 102; otherwise, directly entering step 102;
step 102: whether data sent by other slave nodes in the LoRa communication network are received or not, if not, the step 103 is entered; if so, firstly judging whether the data is repeated data, if so, entering step 103; if not, the step 103 is entered after the data is stored;
step 103: whether the LoRa communication module reaches a data sending period or not, if so, the LoRa communication module sends data through the LoRa communication network in a broadcasting mode, and if not, the step 104 is carried out;
step 104: and if so, sending data to the main node through the Beidou communication module, and then returning to the step 101, otherwise, directly returning to the step 101.
In the telemetry mode, the workflow of the master node is as shown in fig. 4:
step 101: firstly, judging whether data sent by a slave node LoRa communication module is received or not, and if not, entering step 102; if so, firstly judging whether the data is repeated data, if so, entering step 102; if not, the data is stored and then the step 102 is carried out;
step 102: judging whether the Beidou positioning data is received or not, if so, storing the Beidou positioning data, and then entering step 103; otherwise, go to step 103 directly;
step 103: if the set data sending period is reached, sending data to the workstation through an external interface and returning to the step 101 if the set data sending period is reached, otherwise, directly returning to the step 101;
example 2:
on the basis of the embodiment 1, by taking the example of constructing a monitoring small ship cluster, 20 monitoring ships are provided, each monitoring ship is provided with one slave node, and slave node addresses 1-20 are set. A work station is arranged on the shore base, and a main node is arranged on the work station.
In the remote measuring process, a camera is arranged on the monitoring ship, so that whether enemies exist in the nearby area can be monitored; the monitoring ship is provided with a direct current power supply which supplies power for the camera and a control card on the slave node. The data collected by the camera is transmitted to the slave node control card control unit through the USB port, and the data is processed and judged by the control unit to form brief enemy information; meanwhile, position information received by the Beidou communication module is transmitted to the control unit through the UART port and then stored in the memory; these two kinds of information (enemy information and position information) are used as data information to be transmitted.
The shore-based workstation provides a direct-current power supply for the main node control card, receives the information stored in the memory of the shore-based workstation through the USB port and displays the information.
The Beidou communication mode is as follows: all slave nodes send information to the master node in a Beidou short message mode at the frequency of 1 min/time.
In the LoRa communication mode: all slave nodes transmit data in a broadcasting mode at a frequency of 10 s/time; taking slave node 1 as an example: the slave node 1 sends a data frame containing 20 slave node information to all nodes connected with the LoRa communication network in a broadcasting mode at the frequency of 10 s/time (wherein the information of the slave nodes 2-20 is the last data stored by the slave node 1, and the information of the slave node 1 is the latest data at this time); meanwhile, the slave node 1 receives data frames of other 19 slave nodes, each frame also contains information of 20 slave nodes, and the total number of the slave nodes is 19 × 20-380 slave node information; the control unit of the slave node 1 receives the data of the same node in the same period only once according to the time stamp (the other data are repeated data which are transmitted and are directly discarded), and updates and stores the data of 20 slave nodes.
The slave nodes 2-19 are the same as the slave node 1, so that all the slave nodes have 20 slave nodes with latest data and finally transmit the data to the master node. Because of the distance limitation of the LoRa communication, the general reliable communication distance is about 10km (open environment, no interference, large module power, and the communication distance can reach as far as 20km), assuming that the distance from the slave node 1 to the master node is 50km, it is obvious that the master node cannot directly receive the data of the slave node 1, but there may be other slave nodes between the slave node 1 and the master node, and at this time, part of the slave nodes serve as both a point of the monitoring system and a relay, and finally, the information of the slave node 1 is transmitted back to the master node. The Beidou positioning information is combined, the positions of the slave nodes are controlled, and the data of the farthest slave nodes can be transmitted back to the master node through LoRa wireless communication.
The remote control process is similar to the remote measurement process, the communication link is the same, and the control command of the master node is mainly transmitted to each slave node.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (6)
1. Telemetering remote control system based on big dipper and loRa communication network deployment, its characterized in that includes: the system comprises a main node and more than two slave nodes;
a Beidou communication network and a LoRa communication network are arranged among the nodes;
the networking mode of the Beidou communication network is as follows: all the slave nodes are directly communicated with the master node in a Beidou communication mode to form a star topology communication network;
the networking mode of the LoRa communication network is as follows: the master node and each slave node are communicated with the adjacent nodes through an LoRa networking communication mode to form a network type topology communication network; each slave node can directly or indirectly communicate with the master node through more than one slave node through LoRa communication;
in addition, the master node and all slave nodes automatically receive and store Beidou positioning data.
2. The telemetry and telecontrol system based on Beidou and LoRa communication networking of claim 1, characterized in that the telemetry and telecontrol system is provided with a telecontrol mode and a telemetry mode:
in the telemetry mode: each slave node periodically sends data to the master node through the Beidou communication network; meanwhile, all the slave nodes periodically broadcast data through the LoRa communication network, wherein the broadcast data comprise locally stored data and received data broadcast by other slave nodes, so that the data of all the slave nodes can be transmitted to the master node;
in the remote control mode: the master node sends a control command to each slave node through the Beidou communication network; meanwhile, the master node and all the slave nodes broadcast data periodically through the LoRa communication network, and the broadcast data comprises locally stored data and received data broadcast by other slave nodes, so that the control instruction of the master node can be sent to all the slave nodes.
3. The telemetry and remote control system based on Beidou and LoRa communication networking according to claim 1, wherein the functional control cards in the master node and the slave nodes are respectively provided with: the device comprises a power supply unit, a control unit, a Beidou communication module, a LoRa communication module, a memory and an external interface;
the power supply unit is used for converting a direct-current power supply input in a wide voltage range into a power supply required by the Beidou communication module, the LoRa communication module, the control unit and the memory;
the control unit is communicated with the Beidou communication module and the LoRa communication module through a UART serial port; the control unit has the functions of data screening and forwarding;
the Beidou communication module is a UART-to-Beidou communication assembly and is provided with two UART serial ports, one port is a short message communication forwarding interface, and the other port is a Beidou positioning information forwarding interface.
The LoRa communication module is a UART-to-LoRa communication assembly;
the memory is used for storing data in the control unit.
4. The telemetry and remote control system based on Beidou and LoRa communication networking according to claim 1, wherein in the LoRa communication network, when a master node or a slave node receives data frames of other nodes, the master node or the slave node only receives data of the same node in the same period once according to a time stamp, the data of the same node in the same period are used as repeated data and directly discarded, and then the data of all internal nodes are updated and stored.
5. The telemetry and remote control system based on Beidou and LoRa communication networking according to claim 2, wherein the master node and the slave node function control cards are identical in structure composition and can be reused in function.
6. The telemetry and remote control system based on Beidou and LoRa communication networking according to claim 2, characterized in that an external interface is further arranged on the function control card, and the external interface is respectively connected with the power supply unit and the control unit and provides a power supply interface, a download interface and a USB debugging interface for the outside.
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