CN116526126A - Relay data link antenna device, communication method, electronic device, and storage medium - Google Patents
Relay data link antenna device, communication method, electronic device, and storage medium Download PDFInfo
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/125—Means for positioning
- H01Q1/1257—Means for positioning using the received signal strength
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/20—Resilient mountings
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/285—Aircraft wire antennas
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/52—Means for reducing coupling between antennas; Means for reducing coupling between an antenna and another structure
- H01Q1/521—Means for reducing coupling between antennas; Means for reducing coupling between an antenna and another structure reducing the coupling between adjacent antennas
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q1/00—Details of selecting apparatus or arrangements
- H04Q1/02—Constructional details
- H04Q1/08—Frames or mounting racks for relays; Accessories therefor
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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 relay data link antenna device, a communication method, an electronic device and a storage medium. The invention has the beneficial effects that: the relay data chain antenna is changed from two omnidirectional antennas to two directional antennas, so that the communication quality is enhanced, the communication distance is remarkably improved, and the relay platform does not need to consider the influence caused by the curvature of the earth because the two directional antennas have the adjustment capability on the pitching of the holder; the two rotary tables are integrated into a large system, so that the compactness and unification of equipment are realized, and the problem of mutual shielding of the two antennas caused by installation is avoided; the problem that two paths of antennas are connected respectively is solved by using the two radio-frequency slip rings; the problem of small torque margin of the pitching torque motor is solved by utilizing the matching of the torsion spring and the chute, so that the equipment is more miniaturized; the prior signal searching method is improved, so that the signal shielding problem during communication can be rapidly solved.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a relay data link antenna device, a communication method, electronic equipment and a storage medium.
Background
Along with the continuous improvement of the science and technology level in China in recent years, unmanned aerial vehicles are widely applied to a plurality of fields such as detection, transportation, disaster reduction, anti-terrorism, fire prevention, rescue and the like. Especially to the inspection of power line, petroleum pipeline, compare in artifical line of patrolling, unmanned aerial vehicle all has very big advantage in work efficiency, running cost, accuracy and security. The measurement and control data chain is used as a core component in the unmanned aerial vehicle system, and is used for bearing the two-way communication between the unmanned aerial vehicle and the ground measurement and control terminal, so that the uploading of ground control instructions and the remote measurement of the unmanned aerial vehicle and the downloading of load data are ensured. At present, most of measurement and control data chains of an unmanned aerial vehicle system are in line-of-sight transmission, line-of-sight straight-through data chains cannot work normally in non-line-of-sight environments with obstacle shielding in mountain areas, hills and the like, and working environments of industries such as power grid lines, petroleum pipelines and the like are often complex. Therefore, under the conditions of inconvenient ground traffic and changeable task areas, the influence of obstacles in the areas on the viewing conditions is overcome, a relay data chain system is designed and developed, the air-ground transmission distance is expanded, and the method has very important significance for the application of the unmanned aerial vehicle in the complex environment.
The current relay data link systems are roughly classified into three types, namely a satellite relay system, a tower relay system and an unmanned aerial vehicle relay system. The satellite relay and the tower relay have the problems of high use cost, limited operation and the like, so that the current unmanned aerial vehicle relay system has the most wide application prospect. However, most of the current unmanned aerial vehicle relay systems use omni-directional antennas, which have the problems of short communication distance, high flight height of the unmanned aerial vehicle to be relayed, and the like.
Disclosure of Invention
In view of the above, the present invention aims to propose a relay data link antenna apparatus, a communication method, an electronic apparatus, and a storage medium, which solve at least one of the problems in the prior art described above.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the utility model provides a relay data chain antenna equipment, includes upper portion revolving stage, lower part revolving stage and protection casing, the protection casing outside is installed to upper portion revolving stage upper end, upper portion revolving stage lower extreme passes the protection casing and installs to lower part revolving stage, upper portion revolving stage lower extreme and lower part revolving stage all are located protection casing inside, upper portion revolving stage includes whole base, double-circuit radio frequency sliding ring, low frequency via hole sliding ring, upper portion auxiliary support subassembly, upper portion every single move support arm, upper portion support casing and circular polarization directional antenna, whole base is located protection casing upper end, whole base bottom passes protection casing inner wall in proper order, upper portion support casing and is connected to the double-circuit radio frequency sliding ring, the double-circuit radio frequency sliding ring is located upper portion support casing inside, the double-circuit radio frequency sliding ring bottom passes the connecting rod and is connected to low frequency via hole sliding ring, upper portion support casing bottom both sides are connected with upper portion every single move support arm lower extreme one side and install circular polarization directional antenna, upper portion auxiliary support subassembly is 2, and two upper portion auxiliary support subassembly symmetry sets up, every upper portion auxiliary support subassembly is connected to every single support arm through upper portion auxiliary support arm upper portion installation support arm bottom one side through the upper portion support casing, every single support arm installation portion is connected to the upper portion.
Further, the lower rotary table comprises a rotary table base, a single-channel radio-frequency slip ring, a lower supporting shell, lower auxiliary supporting components, lower pitching support arms, linear polarization directional antennas and lower via hole slip rings, wherein the top of the rotary table base is connected to the upper pitching support arms, the bottom of the rotary table base penetrates through the lower supporting shell to be connected to the lower via hole slip rings, the single-channel radio-frequency slip rings are further installed at the final center of the bottom of the rotary table base, the lower via hole slip rings are located inside the lower supporting shell, two sides of the bottom of the lower supporting shell are respectively connected with two sides of the upper ends of the lower pitching support arms, the linear polarization directional antennas are installed on one side of the lower ends of the lower pitching support arms, the number of the lower auxiliary supporting components is 2, the two lower auxiliary supporting components are symmetrically arranged, the upper ends of the lower auxiliary supporting components are all installed on one side of the top of the lower supporting shell through connecting shafts, and the bottoms of the lower auxiliary supporting components are all installed on one side of the middle of the lower pitching support arms through the connecting shafts.
Further, the upper auxiliary supporting component comprises a left auxiliary supporting component and a right auxiliary supporting component, the left auxiliary supporting component and the right auxiliary supporting component are symmetrically arranged on the left side and the right side of the upper supporting shell respectively, and the upper auxiliary supporting component and the lower auxiliary supporting component have the same structure;
the left side auxiliary support assembly comprises a bottom connecting block, a left torsion spring and a connecting rod, wherein the bottom connecting block is of a disc structure, the upper part of the bottom connecting block is connected to a connecting shaft of an upper support shell through the left torsion spring, a long through hole is formed in the lower part of the bottom connecting block, the upper end of the connecting rod is installed in the long through hole, the lower end of the connecting rod is installed to a connecting shaft of an upper pitching support arm, and the left side auxiliary support assembly and the right side auxiliary support assembly are identical in structure.
A communication method of a relay data link antenna apparatus, comprising the steps of:
s1, mounting relay data chain antenna equipment to a relay unmanned aerial vehicle, wherein an upper turntable is responsible for aligning to a target unmanned aerial vehicle, a lower turntable is responsible for aligning to a ground console, after the relay data chain antenna equipment is electrified, keeping a zero position of the turntable motionless, collecting longitude and latitude height data of the relay unmanned aerial vehicle, and calculating the aircraft coiling speed, the coiling radius and the coiling center point according to a plurality of calculation cycle data; calculating the optimal time period of the cradle head searching signal according to three types of data of the airplane coiling speed, the coiling radius and the coiling center point, and calculating the minimum rotation speed of the cradle head searching signal according to the optimal time period;
s2, according to the data calculated in the step S1, firstly, rotating an azimuth axis of a lower rotary table, recording the level of an AGC signal in each sampling period after receiving the level of the signal, and differencing the current level signal and the last period signal to form a two-dimensional array pt= { v, v, }; for the nth sampling period, recording an AGC signal level value difference data group ptn= { pt1, pt2 … Ptn } under the first n sampling periods; after the azimuth axis rotates for one circle, the pitching axis rotates from zero position and records an AGC signal level difference value array Qtn = { qt1, qt2 … qtn };
s3, searching signals of the upper rotary table after the lower rotary table finds the optimal alignment position; the upper turntable search adopts the same method as the lower turntable signal search to perform signal search;
s4, performing software decoupling angle compensation on the lower turntable when the upper turntable performs signal searching rotation in the step S3 so as to keep the orientation of the lower turntable;
s5, when the antennas carried by the upper turntable and the lower turntable are aligned with the target, acquiring the longitude and latitude height of the ground console and the longitude and latitude height of the target unmanned aerial vehicle through the outside; taking the time T2 as a sampling period to form each longitude and latitude high array;
s6, carrying out Kalman filtering on the longitude and latitude high arrays recorded in the step S5;
s7, after the relay data chain antenna equipment completes tracking of the ground control console and the target unmanned aerial vehicle under the condition of no shielding, corresponding level value arrays and level change amplitude arrays are recorded in each sampling period according to the process in the tracking stage; after entering the tracking stage, AGC signal level discrimination is performed at the end of each sampling period: when the signal level is smaller than the minimum set value, and the level change rate has a value larger than the maximum set value, judging that the current signal is blocked;
s8, after the signal is blocked, obtaining the longitude and latitude high change rate of the ground console and the longitude and latitude high change rate of the target unmanned aerial vehicle based on the filtered data in the step S6, and calculating longitude and latitude high data of the lost target; taking T3 as a period, the method comprises three stages, wherein the three stages are respectively as follows: estimating the longitude and latitude height at the moment T3, estimating 2 times of the longitude and latitude height T3, and estimating 3 times of the longitude and latitude height T3; performing signal reconnection; after the estimated longitude and latitude heights are obtained in the first period by taking the time T3 as the period, firstly calculating a number guiding angle under a geodetic coordinate system, then vectorizing the number guiding angle in the geodetic coordinate system to obtain a number guiding angle vector, and carrying out number guiding angle vector; according to the rotation sequence of the right-hand coordinate system, wherein the Z axis is upward, the X axis is forward, the Y axis is leftward and the ZYX axis, the numerical guiding angle vector is transferred to the lower part of the turntable coordinate system to form a new direction;
and S9, judging whether the lower turntable and the upper turntable lose targets, if the lower turntable loses targets, carrying out small-angle convolution line scanning according to the number guiding angle vector under the turntable coordinate system obtained in the step S8 as a reference, and if the upper turntable loses targets, carrying out decoupling operation of the lower turntable according to the method of the step S4, so that the lower turntable can guarantee pointing when the upper turntable searches targets.
Further, in step S2, IIR filtering is performed on the collected level value, where the formula of IIR filtering is:
；
；
wherein ,for the filtered value, +.>For the original value +.>Representing the filtering time constantCount (n)/(l)>The sampling period, a, is the filtering weight.
Further, in step S4, the lower turntable performs software decoupling angle compensation, including the steps of:
s41, finally establishing the direction after searching according to the signal of the lower turntableMathematical modeling is performed, a coordinate system is established by a turntable base, and the direction is +.>Carrying out vectorization;
s42, pointing according to the rotation sequence of the right-hand coordinate system, wherein the Z axis is upward, the X axis is forward, the Y axis is leftward and the ZYX axisTurning to the ground coordinate system to form a new pointing +.>；
S43, according to the directionThe azimuth angle and the pitch angle of the lower turntable are calculated, so that the lower turntable can point to the direction with the strongest signal.
Further, in step S6, the kalman filtering is performed on the warp and weft height arrays recorded in step S5, including the following steps:
s61, using the collected longitude size X and the change rateEstablishing an array: />；
S62, discretizing the theoretical CV model to obtain a one-dimensional uniform motion model, wherein the expression of the one-dimensional uniform motion model is as follows:
；
wherein, T is the sampling time,for the original value +.>Zero mean gaussian white noise;
and S63, filtering the longitude by using an extended Kalman filter EKF and combining a CV model to obtain the magnitude and the change rate of the longitude after the filtering.
Further, in step S9, the small-angle clothoid scan is performed based on the number reference angle vector in the turntable coordinate system obtained in step S8, and the method includes the steps of:
s91, pointing to the right around the theoretical number of angle vectors in turnDegree, go up->Degree, left->Degree, DOUYIN (lower->Degree, right->Periodic scanning in a degree manner, the scanning angle being determined according to a distance formula>The distance formula is expressed as:
；
s is the distance between the relay and the target;
in the periodic scanning process, the central processing unit simultaneously monitors and collects parameters of the internal operation of the dual-servo turntable tracking antenna system, including real-time azimuth angle, pitch angle and real-time acquisition signal AGC value, and when the acquired real-time signal AGC value is greater than a preset threshold value, cross adjustment fine search is carried out; if the first period does not achieve the locking target, scanning in a second period and a third period; if none of the alignment is accurate, then the omnidirectional search needs to be performed again in the manner of step S1.
An electronic device comprising a processor and a memory communicatively coupled to the processor and configured to store instructions executable by the processor, the memory storing instructions executable by the processor, the instructions being executable by the processor, the processor configured to perform the method of communicating by the relay datalink antenna device.
A computer readable storage medium storing a computer program which when executed by a processor implements the communication method of the relay data link antenna apparatus.
Compared with the prior art, the relay data link antenna device, the communication method, the electronic device and the storage medium have the following advantages:
according to the relay data chain antenna equipment, the communication method, the electronic equipment and the storage medium, the relay data chain antenna is changed into the directional antenna, so that the communication quality is improved; the two rotary tables are integrated into a large system, so that the compactness and unification of equipment are realized, and the problem of mutual shielding of the two antennas caused by installation is avoided; the problem that two paths of antennas are connected respectively is solved by using the two radio-frequency slip rings; the problem of small torque margin of the pitching torque motor is solved by utilizing the matching of the torsion spring and the chute, so that the equipment is more miniaturized; the prior signal searching method is improved, so that the signal shielding problem during communication can be rapidly solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of an overall structure according to an embodiment of the present invention;
FIG. 2 is a schematic view of a removal protective housing according to an embodiment of the invention;
FIG. 3 is a schematic bottom view of a removal protective housing according to an embodiment of the invention;
FIG. 4 is a schematic left-hand view of a removal protective housing according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an embodiment of the present invention after entering a tracking stage;
reference numerals illustrate:
1. an upper turntable; 11. an integral base; 12. a two-way radio frequency slip ring; 13. a low frequency via slip ring; 14. an upper auxiliary support assembly; 141. a left side auxiliary support assembly; 1411. a bottom connecting block; 1412. a left torsion spring; 1413. a connecting rod; 142. a right side auxiliary support assembly; 15. an upper pitch arm; 16. an upper support housing; 17. a circularly polarized directional antenna; 2. a lower turntable; 21. a turntable base; 22. a single-channel radio frequency slip ring; 23. a lower support housing; 24. a lower auxiliary supporting assembly; 25. a lower pitch arm; 26. a linearly polarized directional antenna; 27. a lower via slip ring; 3. and protecting the shell.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 5, a relay data chain antenna apparatus has an overall structure divided into upper and lower two-axis turn tables, respectively named upper turn table 1 and lower turn table 2, and is further provided with a protective case 3, the lower part of the upper turn table 1 and the lower turn table 2 being located in the protective case 3.
The upper turntable 1 comprises an integral base 11, a double-path radio frequency slip ring 12, a low-frequency via slip ring 13, an upper auxiliary supporting component 14, an upper pitching support arm 15, an upper supporting shell 16 and a circularly polarized directional antenna 17. The two-way radio frequency slip ring 12 is fixed on the integral base 11, and the low frequency via slip ring 13 is also fixed on the integral base 11 above the two-way radio frequency slip ring 12. The radio frequency cable passes through the two-way radio frequency slip ring 12 first and then through the middle hole of the low frequency via slip ring 13 to the inside of the upper turntable 1. One radio frequency wire penetrates out of the middle hole of the upper pitching support arm 15 and is connected with the circularly polarized directional antenna 17, and the other radio frequency wire penetrates out of the upper pitching support arm 15 and enters the turntable base 21, and then is connected with the single-path radio frequency slip ring 22. The low-frequency control signal line enters the upper turntable 1 through the low-frequency via slip ring 13, then one part is connected into the control loop of the upper turntable 1, and the other part continuously penetrates out of the upper pitching support arm 15 and then enters the turntable base 21.
The lower turntable 2 comprises a turntable base 21, a one-way radio frequency slip ring 22, a lower support housing 23, a lower auxiliary support assembly 24, a lower pitch arm 25, a linearly polarized directional antenna 26, and a lower via slip ring 27. The radio frequency wire directly passes through the middle hole of the lower pitching support arm 25 and is connected with the polarized directional antenna 26, and the low-frequency control signal wire is connected with the lower through hole slip ring 27 and enters the internal connection control loop of the lower turntable 2.
The upper auxiliary supporting component 14 and the lower auxiliary supporting component 24 are identical in structure, the upper auxiliary supporting component 14 comprises a left auxiliary supporting component 141 and a right auxiliary supporting component 142, the left auxiliary supporting component 141 and the right auxiliary supporting component 142 are symmetrically arranged on the left side and the right side of the upper supporting shell 16 respectively, the left auxiliary supporting component 141 and the right auxiliary supporting component 142 are identical in structure, and the left auxiliary supporting component 141 comprises a bottom connecting block 1411, a left torsion spring 1412 and a connecting rod 1413.
The practical installation method comprises the following steps: loading a relay nacelle into the relay unmanned aerial vehicle; wherein the upper turntable 1 is responsible for aligning the target unmanned aerial vehicle and the lower turntable 2 is responsible for aligning the ground console.
A communication method of a relay data link antenna apparatus, comprising the steps of:
s1, after the relay data chain antenna equipment is electrified, keeping the zero position of the turntable motionless, collecting longitude and latitude height data of the relay unmanned aerial vehicle, and calculating the airplane coiling speed, the coiling radius and the coiling center point according to a plurality of calculation period data. And calculating the optimal time period of the cradle head searching signal according to the three types of data, and calculating the minimum rotating speed of the cradle head signal searching according to the time period.
S2, according to the data calculated in the step S1, firstly, rotating the azimuth axis of the lower rotary table 2, recording the level of an AGC signal in each sampling period after receiving the level of the signal, and differencing the current level signal with the signal in the previous period to form a two-dimensional array pt= { v, v, }, for the tn-th sampling period, recording the level value difference number Ptn= { pt1, pt2 … Ptn of the AGC signal in the first n sampling periods; after one rotation of the azimuth axis, the pitch axis rotates from the null position and records the AGC signal level difference value array Qtn = { qt1, qt2 … qtn }. The method for carrying out IIR filtering on the acquired level value comprises the following steps:
；
；
wherein ,for the filtered value, +.>For the original value +.>Representing the filter time constant, < >>The sampling period, a, is the filtering weight.
And S3, after the lower turntable 2 finds the optimal alignment position, searching the signal of the upper turntable 1. The upper turntable 1 searches for signals in the same way as the lower turntable 2 searches for signals.
S4, because the lower turntable 2 and the upper turntable 1 are in a coupling relation structurally, the lower turntable 2 needs to be subjected to software decoupling angle compensation when the upper turntable 1 rotates. The specific method is that the final established direction is established after searching according to the signal of the lower turntable 2Mathematical modeling is performed to build a coordinate system with the turntable base 21, pointing +.>Vectorization is performed. Then pointing +.>Turning to the ground coordinate system to form a new pointing +.>. Then according to the direction +.>The azimuth and pitch angles of the lower turntable 2 are solved. So that the lower turntable 2 can be stably directed in the direction in which the signal is strongest.
S5, when the antennas of the upper turntable and the lower turntable are aligned with the target, acquiring the longitude and latitude height of the ground console and the longitude and latitude height of the target aircraft through the outside. And forming each longitude and latitude high array by taking the time T2 as a sampling period.
S6, carrying out Kalman filtering on the longitude and latitude high array recorded in the last step, and adopting a CV model, wherein the specific method is as follows, taking longitude filtering as an example:
first: with longitude magnitude X and rate of changeEstablishing an array of->；
Second,: discretizing the theoretical CV model to obtain a one-dimensional uniform motion model (discretization), namely:
；
wherein T is the sampling time;
third,: and filtering the longitude by combining an extended Kalman filter EKF with a CV model to obtain the magnitude and the change rate of the longitude after the filtering.
And S7, after the relay data chain antenna equipment completes tracking of the ground control console and the target unmanned aerial vehicle under the condition of no shielding, recording a corresponding level value array and a level change amplitude array in each sampling period according to the process in the tracking stage. After entering the tracking phase, as shown in fig. 5, AGC signal level discrimination is performed at the end of each sampling period: when the signal level is smaller than the minimum set value and the level change rate has a value larger than the maximum set value, the current signal is judged to be blocked.
And S8, after the signal is blocked, the longitude and latitude high change rate of the ground console and the longitude and latitude high change rate of the target unmanned aerial vehicle can be known based on the data filtered in the step S6, and the longitude and latitude high data of the lost target is estimated at the moment. Taking T3 as a period, estimating the longitude and latitude height at the moment of T3 in three stages, namely estimating the longitude and latitude height by 2 times of T3, and estimating the longitude and latitude height by 3 times of T3. And performing signal reconnection operation. After the estimated longitude and latitude heights are obtained in the first period by taking the time T3 as the period, firstly calculating the number guiding angles under the geodetic coordinate system, and then vectorizing the number guiding angles in the geodetic coordinate system. The vector is rotated to a turntable coordinate system according to the rotation sequence of a right-hand coordinate system, namely, a Z axis is upward, an X axis is forward, a Y axis is leftward and a ZYX axis, and a new direction is formed.
S9, carrying out small-angle convolution line scanning according to the number guide angle vector under the turntable coordinate system obtained in the step S8 as a reference. Specifically, the right-first direction is performed around the theoretical number of guiding angle vectorsDegree-upper->Degree-left->degree-Down->Degree-right->Periodic scanning of the degree, but the scanning angle is determined according to the distance formula +.>Is of a size of (a) and (b). The specific formula is as follows:
；
wherein S is the distance between the relay and the target.
In the scanning process, the antenna monitors and collects parameters of internal system operation, including real-time azimuth angle, pitch angle, real-time collected signal AGC value, and the like, and when the collected real-time signal AGC value is greater than a preset threshold value, cross adjustment fine search is performed, so that target pointing is accurately locked. And if the first period does not achieve the locking target, performing second and third period scanning. If none of the alignment is accurate, then the full search needs to be performed again in the manner of step one.
S10, step S9 is a searching method for the lost target of the lower turntable 2, if the upper turntable 1 loses the target, the decoupling operation of the lower turntable 2 is required to be performed according to the method of step S4 in searching, so that the lower turntable can guarantee the pointing direction when the upper turntable 1 searches for the target.
The invention has the advantages that: the relay data chain antenna is changed into a directional antenna, so that the communication quality is enhanced; the two rotary tables are integrated into a large system, so that the compactness and unification of equipment are realized, and the problem of mutual shielding of the two antennas caused by installation is avoided; the problem that two paths of antennas are connected respectively is solved by using the two radio-frequency slip rings; the problem of small torque margin of the pitching torque motor is solved by utilizing the matching of the torsion spring and the chute, so that the equipment is more miniaturized; the prior signal searching method is improved, so that the signal shielding problem during communication can be rapidly solved.
The effect can also be achieved by using two turntables mounted separately, but that would allow shielding at a specific angle.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. Relay data link antenna apparatus, characterized in that: comprises an upper rotary table (1), a lower rotary table (2) and a protective shell (3), wherein the upper end of the upper rotary table (1) is mounted outside the protective shell (3), the lower end of the upper rotary table (1) penetrates through the protective shell (3) and is mounted inside the lower rotary table (2), the lower end of the upper rotary table (1) and the lower rotary table (2) are both positioned inside the protective shell (3), the upper rotary table (1) comprises an integral base (11), a double-channel radio frequency slip ring (12), a low-frequency via-hole slip ring (13), an upper auxiliary supporting component (14), an upper pitching support arm (15), an upper supporting shell (16) and a circularly polarized directional antenna (17), the integral base (11) is positioned at the upper end of the protective shell (3), the bottom of the integral base (11) sequentially penetrates through the inner wall of the protective shell (3) and the upper supporting shell (16) and is connected to the double-channel radio frequency slip ring (12), the bottom of the double-channel radio frequency slip ring (12) is positioned inside the upper supporting shell (16), the double-channel radio frequency slip ring (12) is connected to the low-frequency via a connecting rod, the upper supporting arm (16) and the upper supporting arm (16) is connected with the circularly polarized antenna (17) at two sides of the upper end (15) respectively, the upper auxiliary support assemblies (14) are 2, the two upper auxiliary support assemblies (14) are symmetrically arranged, the upper ends of the upper auxiliary support assemblies (14) are all installed on one side of the top of the upper support shell (16) through connecting shafts, the bottoms of the upper auxiliary support assemblies (14) are all installed on one side of the middle of the upper pitching support arm (15) through connecting shafts, and the lower turntable (2) is installed at the bottom of the upper pitching support arm (15).
2. The relay data link antenna apparatus of claim 1, wherein: the utility model provides a lower part revolving stage (2) include revolving stage base (21), single way radio frequency sliding ring (22), lower part support casing (23), lower part auxiliary support subassembly (24), lower part every single move support arm (25), linear polarization directional antenna (26), lower part via hole sliding ring (27), revolving stage base (21) top is connected to upper portion every single move support arm (15), revolving stage base (21) bottom passes lower part support casing (23) and is connected to lower part via hole sliding ring (27), single way radio frequency sliding ring (22) are still installed in revolving stage base (21) bottom final center department, lower part via hole sliding ring (27) are located lower part support casing (23) inside, lower part support casing (23) bottom both sides are connected with lower part every single move support arm (25) upper end both sides respectively, linear polarization directional antenna (26) are installed to lower part every single move support arm (25) lower extreme one side, lower part auxiliary support subassembly (24) are 2, and two lower part auxiliary support subassembly (24) symmetry sets up, every lower part auxiliary support subassembly (24) upper end all is connected to lower part support arm (23) through connecting to one side of each auxiliary support arm (25) through the upper portion support casing (25).
3. The relay data link antenna apparatus according to claim 2, characterized in that: the upper auxiliary supporting assembly (14) comprises a left auxiliary supporting assembly (141) and a right auxiliary supporting assembly (142), the left auxiliary supporting assembly (141) and the right auxiliary supporting assembly (142) are symmetrically arranged at the left side and the right side of the upper supporting shell (16) respectively, and the upper auxiliary supporting assembly (14) and the lower auxiliary supporting assembly (24) have the same structure;
the left side auxiliary support subassembly (141) includes bottom connecting block (1411), left torsional spring (1412), connecting rod (1413), bottom connecting block (1411) is disc structure, bottom connecting block (1411) upper portion is connected to the connecting axle of upper portion support casing (16) through left torsional spring (1412), long through-hole has been seted up to bottom connecting block (1411) lower part, in connecting rod (1413) upper end was installed to long through-hole, connecting rod (1413) lower extreme was installed to the connecting axle of upper portion every single move support arm (15), both structures of left side auxiliary support subassembly (141) and right side auxiliary support subassembly (142) are the same.
4. A communication method of a relay data link antenna device, applied to the relay data link antenna device according to any one of claims 1 to 3, characterized in that: the method comprises the following steps:
s1, mounting relay data chain antenna equipment to a relay unmanned aerial vehicle, wherein an upper turntable (1) is responsible for aligning to a target unmanned aerial vehicle, a lower turntable (2) is responsible for aligning to a ground console, keeping a turntable zero position motionless after the relay data chain antenna equipment is electrified, collecting longitude and latitude height data of the relay unmanned aerial vehicle, and calculating aircraft coiling speed, coiling radius and coiling center point according to a plurality of calculation cycle data; calculating the optimal time period of the cradle head searching signal according to three types of data of the airplane coiling speed, the coiling radius and the coiling center point, and calculating the minimum rotation speed of the cradle head searching signal according to the optimal time period;
s2, according to the data calculated in the step S1, firstly, rotating an azimuth axis of a lower rotary table (2), recording the level of an AGC signal in each sampling period after receiving the level of the signal, and differencing the current level signal and the signal of the previous period to form a two-dimensional array pt= { v, v, }; for the nth sampling period, recording an AGC signal level value difference data group ptn= { pt1, pt2 … Ptn } under the first n sampling periods; after the azimuth axis rotates for one circle, the pitching axis rotates from zero position and records an AGC signal level difference value array Qtn = { qt1, qt2 … qtn };
s3, after the lower turntable (2) finds the optimal alignment position, searching the signal of the upper turntable (1); the upper turntable (1) searches for signals by adopting the same method as that of the lower turntable (2);
s4, performing software decoupling angle compensation on the lower turntable (2) when the upper turntable (1) performs signal searching rotation in the step S3 so as to keep the orientation of the lower turntable;
s5, when the antennas carried by the upper turntable and the lower turntable are aligned with the target, acquiring the longitude and latitude height of the ground console and the longitude and latitude height of the target unmanned aerial vehicle through the outside; taking the time T2 as a sampling period to form each longitude and latitude high array;
s6, carrying out Kalman filtering on the longitude and latitude high arrays recorded in the step S5;
s7, after the relay data chain antenna equipment completes tracking of the ground control console and the target unmanned aerial vehicle under the condition of no shielding, corresponding level value arrays and level change amplitude arrays are recorded in each sampling period according to the process in the tracking stage; after entering the tracking stage, AGC signal level discrimination is performed at the end of each sampling period: when the signal level is smaller than the minimum set value, and the level change rate has a value larger than the maximum set value, judging that the current signal is blocked;
s8, after the signal is blocked, obtaining the longitude and latitude high change rate of the ground console and the longitude and latitude high change rate of the target unmanned aerial vehicle based on the filtered data in the step S6, and calculating longitude and latitude high data of the lost target; taking T3 as a period, the method comprises three stages, wherein the three stages are respectively as follows: estimating the longitude and latitude height at the moment T3, estimating 2 times of the longitude and latitude height T3, and estimating 3 times of the longitude and latitude height T3; performing signal reconnection; after the estimated longitude and latitude heights are obtained in the first period by taking the time T3 as the period, firstly calculating a number guiding angle under a geodetic coordinate system, then vectorizing the number guiding angle in the geodetic coordinate system to obtain a number guiding angle vector, and carrying out number guiding angle vector; according to the rotation sequence of the right-hand coordinate system, wherein the Z axis is upward, the X axis is forward, the Y axis is leftward and the ZYX axis, the numerical guiding angle vector is transferred to the lower part of the turntable coordinate system to form a new direction;
s9, judging whether the lower turntable (2) and the upper turntable (1) lose targets, if the lower turntable (2) loses targets, carrying out small-angle convolution line scanning according to the number-induced angle vector under the turntable coordinate system obtained in the step S8 as a reference, and if the upper turntable (1) loses targets, carrying out decoupling operation of the lower turntable (2) according to the method of the step S4, so that the lower turntable (2) can guarantee pointing direction when the upper turntable (1) searches targets.
5. The communication method of the relay data link antenna apparatus according to claim 4, wherein: in step S2, IIR filtering is performed on the collected level value, where the formula of IIR filtering is:
；
；
wherein ,for the filtered value, +.>For the original value +.>Representing the filter time constant, < >>The sampling period, a, is the filtering weight.
6. The communication method of the relay data link antenna apparatus according to claim 4, wherein: in step S4, the lower turntable (2) performs software decoupling angle compensation, comprising the steps of:
s41, searching according to the signal of the lower turntable (2) and finally establishing the directionMathematical modeling is performed, a coordinate system is established by a turntable base (21), and the direction is increased>Carrying out vectorization;
s42, pointing according to the rotation sequence of the right-hand coordinate system, wherein the Z axis is upward, the X axis is forward, the Y axis is leftward and the ZYX axisTurning to the ground coordinate system to form a new pointing +.>；
S43, according to the directionThe azimuth angle and the pitch angle of the lower turntable (2) are calculated, so that the lower turntable (2) can point to the direction with the strongest signal.
7. The communication method of the relay data link antenna apparatus according to claim 4, wherein: in step S6, the kalman filtering is performed on the warp and weft height arrays recorded in step S5, including the following steps:
s61, using the collected longitude size X and the change rateEstablishing an array: />；
S62, discretizing the theoretical CV model to obtain a one-dimensional uniform motion model, wherein the expression of the one-dimensional uniform motion model is as follows:
；
wherein, T is the sampling time,for the original value +.>Zero mean gaussian white noise;
and S63, filtering the longitude by using an extended Kalman filter EKF and combining a CV model to obtain the magnitude and the change rate of the longitude after the filtering.
8. The communication method of the relay data link antenna apparatus according to claim 4, wherein: in step S9, the small-angle convolution line scan is performed based on the number reference angle vector in the turntable coordinate system obtained in step S8, and the method comprises the following steps:
s91, pointing to the right around the theoretical number of angle vectors in turnDegree, go up->Degree, left->Degree, DOUYIN (lower->Degree, right->Periodic scanning in a degree manner, the scanning angle being determined according to a distance formula>The distance formula is expressed as:
；
s is the distance between the relay and the target;
in the periodic scanning process, the central processing unit simultaneously monitors and collects parameters of the internal operation of the dual-servo turntable tracking antenna system, including real-time azimuth angle, pitch angle and real-time acquisition signal AGC value, and when the acquired real-time signal AGC value is greater than a preset threshold value, cross adjustment fine search is carried out; if the first period does not achieve the locking target, scanning in a second period and a third period; if none of the alignment is accurate, then the omnidirectional search needs to be performed again in the manner of step S1.
9. An electronic device comprising a processor and a memory communicatively coupled to the processor for storing processor-executable instructions, characterized in that: the memory stores instructions executable by the processor for performing the communication method of the relay data link antenna apparatus according to any one of the preceding claims 1-8.
10. A computer-readable storage medium storing a computer program, characterized in that: the computer program, when executed by a processor, implements a communication method of a relay data link antenna apparatus as claimed in any one of claims 1 to 8.
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