CN104158635A - MIMO-based high-reliability remote control information transmitting method for line patrol unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a high-reliability remote control information transmitting method of an inspection unmanned aerial vehicle based on MIMO, and relates to an application space diversity receiving device for detecting or preventing errors in received information. The method comprises the following steps: firstly, separating a real part and an imaginary part of a complex modulation signal after constellation mapping; secondly, performing serial-parallel conversion on the separated real part data and imaginary part data; and thirdly, forming a column vector by 16 data on two parallel layers, and multiplying the column vector by a coding matrix to finish precoding operation. The invention discloses a high-reliability remote control information transmitting method based on an MIMO technology, which is applied to line patrol unmanned aerial vehicles. The invention adopts the space-time coding at the ground control station, which not only can bring extra diversity gain to the system, but also can better resist the channel interference and reduce the occurrence probability of instruction transmission errors. The invention can make the receiving end obtain higher signal-to-noise ratio and improve the reliability of the remote control and remote measurement system under the condition of not increasing the system feedback overhead.

Description

The highly reliable remote information launching technique of a kind of line walking unmanned plane based on MIMO

Technical field

Technical scheme of the present invention relates to the application space diversity receiving device that detects or prevent from receiving the mistake in information, the specifically highly reliable remote information launching technique of a kind of line walking unmanned plane based on MIMO.

Background technology

Early stage unmanned plane is mainly used for military field, in the time of more, is as target drone, to meet the needs of Missile Firing and military training.Along with near twenty or thirty year the developing rapidly of unmanned plane technology, unmanned plane starts more for meteorological observation, forest fire protection, and geography information is observed and the civil area such as petroleum pipeline detection.

But no matter be in civil area or military domain, remote control and telemetering technique is all the key technology of UAS.Especially in military war field, the reliability that how to improve remote control telemetering system has become the focus of current research.Nowadays war environment complicated and changeable makes UAS must have strong anti-interference ability to guarantee the execution of unmanned plane task.Therefore, be more necessary the remote information launching technique of high reliability to study, so that the strong jamming of antagonism Battle Field Electromagnetic.

The prior art situation that the highly reliable remote information launching technique of line walking unmanned plane based on MIMO is studied has:

In list of references < < unmanned aerial vehicle remote control data link electromagnetic environment self-adaptive simulation research > >, utilize Simulink to build no-manned machine distant control chain circuit simulation model, and provided under white Gaussian noise condition, error rate result when link is subject to various interference, has evaluated no-manned machine distant control chain circuit and has resisted the ability of various interference.

In list of references 2 < < unmanned aerial vehicle remote control telemetering system research > >, the development both domestic and external of UAV's telecomma system and present Research have been introduced, predict problem and developing direction that unmanned plane faced from now on simultaneously, wherein just comprised the confidentiality and the antijamming capability that how to improve remote control telemetering system.

List of references 3 < < no-manned machine distant control channel bit error rate Research of Improving Method > > has proposed a kind of method of utilizing convolution code to encode to no-manned machine distant control channel, simulation result shows, under certain channel condition, its control command transmission error rates obviously declines, and under the constant condition of bit rate, UAS control command transmission reliability improves.

Summary of the invention

The object of the present invention is to provide the highly reliable remote information launching technique of a kind of line walking unmanned plane based on MIMO, the method, in the situation that not increasing system feedback expense, can make receiving terminal obtain higher signal to noise ratio, has improved the reliability of remote control telemetering system.

The present invention solves this technical problem adopted technical scheme: the highly reliable remote information launching technique of the line walking unmanned plane based on MIMO of the present invention, includes following steps:

The first step, to the complex modulated signal after constellation mapping carry out real part imaginary component from;

Second step, goes here and there and changes the real part after separation and imaginary data;

The 3rd step, forms column vectors by 16 data on two parallel layers, with the encoder matrix pre-encode operation that multiplied each other.

The complex modulated signal of the above-mentioned first step after to constellation mapping carry out real part imaginary component from method be:

If ground control station adopts eight antenna transmissions, unmanned plane adopts single antenna to receive, and after ovennodulation, generates complex modulation symbol s _irepresent; To its carry out real part imaginary component from after be expressed as Re[s _i] and Im[s _i].

The real part of above-mentioned second step after to separation and imaginary data are gone here and there and the method changed is:

Re[s _i] and Im[s _i] to be mapped to respectively eight parallel layers upper for two-way serial data, i=1,2 ... 8;

Above-mentioned the 3rd step forms column vectors by 16 data on parallel layer, with the multiplied each other method of pre-encode operation of encoder matrix is:

If the data that in second step, every layer comprises are respectively { Re[s ₁], Re[s ₂] ... Re[s ₈] and { Im[s ₁], Im[s ₂] ... Im[s ₈], the column vector forming is

X＝(Re[s ₁],Re[s ₂]…Re[s ₈],Im[s ₁],Im[s ₂]…Im[s ₈]) ^T

Utilize following formula to complete pre-encode operation:

Y＝AX

Here be the matrixes of 64 * 16 dimensions, wherein the 1st, 2,11,12,21,22,31,32,33,34,43,44,53,54,63,64 row are as implied above, and other row is the column vectors that 0, Y is 64 * 1 dimensions, is expressed as:

$Y=\left[\begin{array}{c}{y}^{\left(1\right)}\left(1\right)\\ y^{\left(2\right)}\left(1\right)\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ y^{\left(8\right)}\left(1\right)\\ y^{\left(1\right)}\left(2\right)\\ y^{\left(2\right)}\left(2\right)\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ y^{\left(8\right)}\left(2\right)\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ y^{\left(1\right)}\left(8\right)\\ y^{\left(2\right)}\left(8\right)\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ y^{\left(8\right)}\left(8\right)\end{array}\right]$

Here y ⁽¹⁾(1) represent that antenna 1 is the 1st data that constantly send; For the ease of observing, write delivery plan above as matrix form:

In above-mentioned formula, in horizontal direction, represent the data that different time sends, in vertical direction, represent the data that different antennae sends at synchronization.

The invention has the beneficial effects as follows: the inventive method is the highly reliable remote information launching technique based on MIMO technology, is applied to line walking unmanned plane.At ground control station, adopt Space Time Coding not only can bring extra diversity gain for system, can also better resist channel disturbance, reduce the probability of happening of command mistake.

Accompanying drawing explanation

Fig. 1 is the flow chart of the line walking unmanned plane highly reliable remote information launching technique of the embodiment of the present invention based on MIMO.

Fig. 2 is the implementation procedure figure of the line walking unmanned plane highly reliable remote information launching technique of the embodiment of the present invention based on MIMO.

Embodiment

Below in conjunction with drawings and Examples, the present invention is further described.

Referring to Fig. 1, the highly reliable remote information launching technique of the line walking unmanned plane based on MIMO of the present invention, comprises the steps:

The first step, to the complex modulated signal after constellation mapping carry out real part imaginary component from;

Second step, goes here and there and changes the real part after separation and imaginary data;

The 3rd step, forms column vectors by 16 data on two parallel layers, with the encoder matrix pre-encode operation that multiplied each other.

Referring to Fig. 2, the implementation procedure of a kind of highly reliable remote information launching technique of line walking unmanned plane based on MIMO of the present invention is: first to the complex modulated signal after constellation mapping carry out real part imaginary component from.If the complex modulation symbol s generating after ovennodulation _i(i=1,2 ... 8) represent, the two paths of signals after real part imaginary part separation module can be expressed as Re[s _i] and Im[s _i] i=1 here, 2 ... 8.Then the real part after separation and imaginary data are gone here and there and changed.Re[s _i] and Im[s _i] (i=1,2 ... 8) two-way serial data is mapped to respectively on eight parallel layers.Finally 16 data on parallel layer are formed to column vectors, with the encoder matrix pre-encode operation that multiplied each other.If the data that in second step, every layer comprises are respectively { Re[s ₁], Re[s ₂] ... Re[s ₈] and { Im[s ₁], Im[s ₂] ... Im[s ₈].The column vector forming is

X＝(Re[s ₁],Re[s ₂]…Re[s ₈],Im[s ₁],Im[s ₂]…Im[s ₈]) ^T

Utilize following formula to complete pre-encode operation:

Y＝AX

Here be the matrixes of 64 * 16 dimensions, wherein the 1st, 2,11,12,21,22,31,32,33,34,43,44,53,54,63,64 row are as implied above, and other row is 0.Y is the column vector of 64 * 1 dimensions, is expressed as:

$Y=\left[\begin{array}{c}{y}^{\left(1\right)}\left(1\right)\\ y^{\left(2\right)}\left(1\right)\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ y^{\left(8\right)}\left(1\right)\\ y^{\left(1\right)}\left(2\right)\\ y^{\left(2\right)}\left(2\right)\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ y^{\left(8\right)}\left(2\right)\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ y^{\left(1\right)}\left(8\right)\\ y^{\left(2\right)}\left(8\right)\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ y^{\left(8\right)}\left(8\right)\end{array}\right]$

Here y ⁽¹⁾(1) represent that antenna 1 is the 1st data that constantly send; For the ease of observing, can be write delivery plan above as matrix form:

In above-mentioned formula, in horizontal direction, represent the data that different time sends, in vertical direction, represent the data that different antennae sends at synchronization.

The highly reliable remote information launching technique that the present invention is based on MIMO technology is applied to line walking unmanned plane.The present invention adopts Space Time Coding not only can bring extra diversity gain for system at ground control station, can also better resist channel disturbance, reduces the probability of happening of command mistake.

Claims (4)

1. the highly reliable remote information launching technique of the line walking unmanned plane based on MIMO, is characterized in that including following steps:

The first step, to the complex modulated signal after constellation mapping carry out real part imaginary component from;

Second step, goes here and there and changes the real part after separation and imaginary data;

The 3rd step, forms column vectors by 16 data on two parallel layers, with the encoder matrix pre-encode operation that multiplied each other.

2. the highly reliable remote information launching technique of the line walking unmanned plane based on MIMO according to claim 1, it is characterized in that complex modulated signal after the above-mentioned first step is to constellation mapping carry out real part imaginary component from method be:

If ground control station adopts eight antenna transmissions, unmanned plane adopts single antenna to receive, and after ovennodulation, generates complex modulation symbol s _irepresent; To its carry out real part imaginary component from after be expressed as Re[s _i] and Im[s _i].

3. the highly reliable remote information launching technique of the line walking unmanned plane based on MIMO according to claim 1, is characterized in that real part after above-mentioned second step is to separation and imaginary data are gone here and there and the method changed is:

Re[s _i] and Im[s _i] to be mapped to respectively eight parallel layers upper for two-way serial data, i=1,2 ... 8.

4. the highly reliable remote information launching technique of the line walking unmanned plane based on MIMO according to claim 1, is characterized in that above-mentioned the 3rd step forms column vectors by 16 data on parallel layer, with the multiplied each other method of pre-encode operation of encoder matrix is:

If the data that in second step, every layer comprises are respectively { Re[s ₁], Re[s ₂] ... Re[s ₈] and { Im[s ₁], Im[s ₂] ... Im[s ₈], the column vector forming is

X＝(Re[s ₁],Re[s ₂]…Re[s ₈],Im[s ₁],Im[s ₂]…Im[s ₈]) ^T

Utilize following formula to complete pre-encode operation:

Y＝AX

Here be the matrixes of 64 * 16 dimensions, wherein the 1st, 2,11,12,21,22,31,32,33,34,43,44,53,54,63,64 row are as implied above, and other row is the column vectors that 0, Y is 64 * 1 dimensions, is expressed as:

Here y ⁽¹⁾(1) represent that antenna 1 is the 1st data that constantly send; For the ease of observing, write delivery plan above as matrix form:

In above-mentioned formula, in horizontal direction, represent the data that different time sends, in vertical direction, represent the data that different antennae sends at synchronization.