CN114221718B - Remote measuring and controlling system based on Beidou and LoRa networking - Google Patents
Remote measuring and controlling system based on Beidou and LoRa networking Download PDFInfo
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- CN114221718B CN114221718B CN202111621936.2A CN202111621936A CN114221718B CN 114221718 B CN114221718 B CN 114221718B CN 202111621936 A CN202111621936 A CN 202111621936A CN 114221718 B CN114221718 B CN 114221718B
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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 remote measuring and controlling system based on Beidou and LoRa communication networking, which is provided with two wireless communication links, namely Beidou and LoRa, wherein the two wireless communication links are redundant, the communication distance is long, and a wireless communication mode with high reliability is provided for remote measuring and controlling. The telemetry and remote control system comprises: one master node and more than two slave nodes; each node is 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 respectively 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 respectively communicate with adjacent nodes through a LoRa networking communication mode to form a network topology communication network; each slave node can directly communicate with the master node or indirectly communicate with the master node through more than one slave node; in addition, the master node and all slave nodes automatically receive and store Beidou positioning data.
Description
Technical Field
The invention relates to a telemetry and remote control system, in particular to a telemetry and remote 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 are gradually developed to wireless and clustered. At present, carrier platforms such as airplanes, ships and the like are used for monitoring and fighting by using a single wireless communication mode, and the aspects of communication distance, data volume, interference resistance, power consumption and the like cannot be considered, so that the remote monitoring and fighting has certain limitations.
The Beidou communication comprises Beidou short message communication and a Beidou positioning system. The Beidou satellite positioning system has the advantages that communication can be realized in the coverage area of the Beidou satellite regardless of the communication distance, the power consumption is low, and the positioning function is realized; the disadvantage is that the communication data volume is small, only one message (three-level card) with the size not more than 140 bytes can be received/sent per minute, and the message is influenced by shielding.
LoRa is a long-distance wireless communication technology, has the advantages of strong anti-interference capability, low power consumption, capability of well communicating within a range of 10km, capability of 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 influence on the communication.
Disclosure of Invention
In view of the above, the invention provides a telemetry and remote control system based on Beidou and LoRa communication networking, which has two wireless communication links, namely Beidou and LoRa, which are redundant and have long communication distance, and provides a high-reliability wireless communication mode for telemetry and remote control.
Remote measuring remote control system based on big dipper and loRa communication network deployment includes: one master node and more than two slave nodes;
each node is 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 respectively 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 respectively communicate with adjacent nodes through a LoRa networking communication mode to form a network topology communication network; each slave node can directly communicate with the master node or indirectly communicate with the master node through more than one slave node;
in addition, the master node and all slave nodes automatically receive and store Beidou positioning data.
As a preferred embodiment of the present invention, the telemetry and remote control system includes a remote control mode and a telemetry mode:
the telemetry mode is as follows: each slave node periodically transmits data to the master node through the Beidou communication network; meanwhile, all slave nodes periodically broadcast data through the LoRa communication network, wherein the broadcasted data comprises locally stored data and received data broadcasted by other slave nodes, so that the data of all the slave nodes can be sent to the master node;
the remote control mode is as follows: the master node sends a control command to each slave node through a Beidou communication network; meanwhile, the master node and all the slave nodes broadcast data periodically through the LoRa communication network, and the broadcasted data comprise locally stored data and received data broadcasted by other slave nodes, so that the control instruction of the master node can be transmitted to all the slave nodes.
As a preferable mode of the present invention, the function control cards in the master node and the slave node are 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 a data screening and forwarding function;
the Beidou communication module is a UART-to-Beidou communication assembly and is provided with two paths of UART serial ports, one path is a short message communication forwarding interface, and the other path 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.
In the preferred mode of the present invention, in the LoRa communication network, when the master node or the slave node receives the data frames of other nodes, the data of the same node in the same period is received only once according to the time stamp, the data of the other nodes in the same period are taken as repeated data, and then the data of all the nodes in the LoRa communication network are directly discarded, and the data of all the nodes in the LoRa communication network are updated and stored.
As a preferred embodiment of the present invention, the master node and the slave node function control card have the same structure and are capable of performing function multiplexing.
As a preferable mode of the invention, the function control card is also provided with an external interface, the external interface is respectively connected with the power supply unit and the control unit, and a power supply interface, a downloading interface and a USB debugging interface are externally provided.
The beneficial effects are that:
(1) The remote measuring and controlling system has two wireless communication links, namely Beidou and LoRa, which are redundant, low in power consumption and long in communication distance, and provides a wireless communication mode with high reliability for remote measuring and controlling.
(2) In the telemetry and remote control system, the hardware of a master node and a slave node control card can be replaced, and any node can be configured as a master node through software; and slave nodes are scalable.
(3) The LoRa communication adopts a network topology networking mode, so that the radiation range of the nodes can be increased, and meanwhile, part of slave nodes can be used as relays to prolong the communication distance (namely, the slave nodes in the communication network are 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 regardless of distance, and ultra-long-distance transmission can be achieved; the two modes can realize ultra-long distance wireless communication, thereby providing convenience for long-distance remote control and remote measurement.
(4) The Beidou positioning function is achieved, and navigation or positioning during combat monitoring can be assisted.
(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 restored.
Drawings
FIG. 1 is a schematic diagram of a telemetry and remote control system networking of the present invention;
FIG. 2 is a schematic block diagram of a control card;
FIG. 3 is a slave node workflow diagram;
fig. 4 is a master node workflow diagram.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1:
the aircraft and ship monitoring combat environment is in the air or on the sea, is usually small in shielding, is long in distance, combines the advantages of Beidou communication and LoRa communication, and provides a telemetry and remote control system based on Beidou and LoRa networking for adapting to remote monitoring and combat of platforms such as aircraft and ships.
As shown in figure 1, the remote measuring and controlling 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 (namely, the functions of data screening, forwarding, control and the like) and the like.
The main node control card and the slave node control card have the same structure, so that the main node control card and the slave node control card can be functionally multiplexed, namely, the main node and the slave node control card can be mutually replaced in hardware, and any node can be configured as a main node through software.
Each node of the telemetry and remote control system is 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 respectively communicated with the master node in a Beidou short message networking communication mode, namely, each sub node is respectively and directly interacted with the master node 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 master node directly sends a control command to the slave node through Beidou short message networking communication for control processing; when the master node needs to monitor the data of the slave node, the data monitoring instruction is directly sent to the slave node through Beidou short message networking communication, and the slave node receiving the data monitoring instruction feeds 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 (comprising a slave node and a master node) communicates with the adjacent nodes through a LoRa networking communication mode respectively, so that the topology structure of the LoRa communication network is a network type; each slave node can communicate with the master node directly or indirectly (through more than one slave node) through a LoRa networking communication scheme. As shown in fig. 1, the slave node 4 and the slave node 1, the slave node 2 and the slave node 5 adjacent to the slave node communicate by a LoRa networking communication mode; slave node 1 communicates with its neighboring master node, slave node 2 and slave node 4 by the LoRa networking communication scheme. In the LoRa communication network, the slave node 1, the slave node 2 and the slave node 3 act as relays, and the communication distance of the LoRa communication network is prolonged, 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 to nodes connected with the slave nodes and the master nodes in the LoRa communication network) in a LoRa networking communication mode, and all nodes periodically broadcast and send the received data and locally stored data; so as to ensure that data interaction can be carried out between the master node and all the slave nodes. Specific: in a remote control mode, the master node and the slave nodes broadcast data periodically so as to ensure that instructions of the master node can be sent to all the slave nodes; in telemetry mode, all slave nodes periodically broadcast data to effect transmission of data from all 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 within 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 direct current power supply input in a wide voltage range into power supplies required by the Beidou communication module, the LoRa communication module, the control unit and the memory.
The control unit is a singlechip minimum system and comprises an embedded microprocessor with a 32-bit ARM core, a clock circuit, a reset circuit, a power supply filter and the like; the microcontroller is communicated with the Beidou communication module and the LoRa communication module through the UART serial port.
The big Dipper communication module is a UART-to-big Dipper communication module, and comprises a power amplifier circuit, a big Dipper communication radio frequency chip, a baseband processing module and the like, so that the forwarding of data of a microcontroller UART port and big Dipper communication data in the control unit is realized. 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.
The LoRa communication module is a UART-to-LoRa communication assembly, and comprises a power amplifier circuit, a LoRa communication radio frequency chip, a baseband processing assembly and the like, so that the forwarding of data of a microcontroller UART port and LoRa communication data in the control unit is realized.
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, and is respectively connected with the power supply unit and the control unit, and is externally provided with a power supply interface, a downloading interface and a USB debugging interface.
In telemetry mode, the slave node workflow is as shown in fig. 3:
step 101: firstly judging whether Beidou positioning data (namely, the 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 enter step 102;
step 102: whether data sent by other slave nodes in the LoRa communication network are received or not, and if not, entering step 103; if received, firstly judging whether the data is repeated data, if yes, entering step 103; if not, the step 103 is entered after storing the data;
step 103: whether the LoRa communication module reaches the data transmission period or not, if so, the LoRa communication module broadcasts and transmits data through a LoRa communication network, otherwise, the step 104 is entered;
step 104: and (3) whether the data transmission period of the Beidou communication module is reached, if so, transmitting 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 telemetry mode, the main node workflow is as shown in fig. 4:
step 101: firstly judging whether data sent by a slave node LoRa communication module is received, if not, entering step 102; if received, firstly judging whether the data is repeated data, if yes, entering step 102; if not, the step 102 is entered after storing the data;
step 102: judging whether Beidou positioning data are received, if so, storing the Beidou positioning data, and then entering step 103; otherwise, directly enter step 103;
step 103: if the set data transmission period is reached, the data is transmitted to the workstation through the external interface and then returned to the step 101, otherwise, the data is directly returned to the step 101;
example 2:
on the basis of the above embodiment 1, taking the example of constructing a small ship cluster for monitoring, 20 monitoring ships are provided, each monitoring ship is provided with a slave node, and slave node addresses 1-20 are set. The shore base is provided with a workstation, and the workstation is provided with a main node.
In the telemetering process, a monitoring ship is provided with a camera, so that whether the nearby area has enemy or not can be monitored; the monitoring ship is provided with a direct current power supply for supplying power to the cameras and the control cards on the slave nodes. The camera acquisition data is transmitted to the slave node control card control unit through the USB port, and the control unit processes and judges the acquired data to form brief hostile information; meanwhile, the position information received by the Beidou communication module is transmitted to the control unit through a UART port and then stored in the memory; these two kinds of information (adversary information and location information) are taken as data information to be transferred.
The shore-based workstation provides direct current power for the main node control card, receives information stored in a memory of the shore-based workstation through a USB port and displays the information.
Under the big dipper communication mode: and all the slave nodes send information to the master node in a Beidou short message mode at the frequency of 1 min/time.
The LoRa communication mode is as follows: all slave nodes transmit data by broadcasting at a frequency of 10 s/time; taking slave node 1 as an example: the slave node 1 sends data frames containing 20 pieces of slave node information to all nodes connected with the slave node 1 by broadcasting 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); simultaneously receiving data frames of other 19 slave nodes from the slave node 1, wherein each frame also contains information of 20 slave nodes, and the total information of 19 multiplied by 20=380 slave nodes; the control unit of the slave node 1 only receives the data of the same node in the same period (the other data are all repeated data forwarded and are directly discarded) once according to the time stamp, and updates and stores the data of 20 slave nodes.
Slave nodes 2-19 are identical to slave node 1, and thus, all slave nodes have 20 slave nodes up-to-date data, and finally, the data is transmitted to the master node. Because the LoRa communication has a distance limitation, the general reliable communication distance is about 10km (the open environment is free from interference, the module power is high, and the communication distance can reach 20km at the maximum), the slave node 1 is assumed to isolate the master node from the slave node to be 50km, and obviously the master node cannot directly receive the data of the slave node 1, but other slave nodes possibly exist between the slave node 1 and the master node, at the moment, part of the slave nodes serve as a point of a monitoring system and serve as a repeater, and finally, the information of the slave node 1 is transmitted back to the master node. And combining with Beidou positioning information, controlling the positions of the slave nodes, and ensuring that the data of the farthest slave node can be transmitted back to the master node through LoRa wireless communication.
The remote control process is similar to the telemetry process, and the communication links are the same, so that the control command of the master node is mainly transmitted to each slave node.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (4)
1. Remote measurement remote control system based on big dipper and loRa communication network deployment, its characterized in that includes: one master node and more than two slave nodes;
each node is 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 respectively 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 respectively communicate with adjacent nodes through a LoRa networking communication mode to form a network topology communication network; each slave node can directly communicate with the master node or indirectly communicate with the master node through more than one slave node;
in addition, the master node and all slave nodes automatically receive and store Beidou positioning data;
the remote control system comprises a remote control mode and a remote control mode:
the telemetry mode is as follows: each slave node periodically transmits data to the master node through the Beidou communication network; meanwhile, all slave nodes periodically broadcast data through the LoRa communication network, wherein the broadcasted data comprises locally stored data and received data broadcasted by other slave nodes, so that the data of all the slave nodes can be sent to a master node-;
the remote control mode is as follows: the master node sends a control command to each slave node through a Beidou communication network; meanwhile, the master node and all the slave nodes broadcast data periodically through the LoRa communication network, wherein the broadcasted data comprises locally stored data and received data broadcasted by other slave nodes, so that the control instruction of the master node can be transmitted to all the slave nodes;
in the LoRa communication network, when a master node or a slave node receives data frames of other nodes, only data of the same period of the same node is received once according to a time stamp, the data of the same period of the other nodes are taken as repeated data, and then the data of all the nodes in the LoRa communication network are directly discarded, and the data are updated and stored.
2. The telemetry and remote control system based on Beidou and LoRa communication networking according to claim 1, wherein the master node and the slave node are respectively provided with a function control card, and the function control cards 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 a data screening and forwarding function;
the Beidou communication module is a UART-to-Beidou communication assembly and is provided with two paths of UART serial ports, one path is a short message communication forwarding interface, and the other path 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.
3. 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 card have the same structure composition and can perform function multiplexing.
4. The telemetry and remote control system based on Beidou and LoRa communication networking according to claim 2, wherein 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 is externally provided with a power supply interface, a downloading interface and a USB debugging interface.
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