CN105828345A - Ground-air wireless sensor network communication device and method compatible with UAV - Google Patents
Ground-air wireless sensor network communication device and method compatible with UAV Download PDFInfo
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- CN105828345A CN105828345A CN201610301127.6A CN201610301127A CN105828345A CN 105828345 A CN105828345 A CN 105828345A CN 201610301127 A CN201610301127 A CN 201610301127A CN 105828345 A CN105828345 A CN 105828345A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
- H04W36/0011—Control or signalling for completing the hand-off for data sessions of end-to-end connection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/14—Reselecting a network or an air interface
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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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Abstract
The invention discloses a ground-air wireless sensor network communication device compatible with a UAV. The device comprises a sensing monitoring system, a mobile platform system, an integrated Wi-Fi network communication system and a dispatching control platform. The sensing monitoring system indicates that in a sensor network, sensor nodes randomly scattered in a monitored region monitor specific variable objects in a target region in real time. The mobile platform system comprises UAVs for mounting Wi-Fi network communication modules, wherein the controllability of the flying speeds and the paths of the UAVs is realized by using rotor vertical lifting platforms. The integrated Wi-Fi network communication system indicates a structure which takes a Wi-Fi communication mode as the main and refers to a cellular mobile communication network. The dispatching control platform is a set of software platform which is used for controlling flying paths of the unmanned aerial vehicles and collecting wireless network topology control information and environment variable information. According to the device, grid network development demands can be satisfied; and through establishment of the UAV communication network taking the network as the center, sufficient stability and reliability and high interconnection and interoperability can be realized.
Description
Technical field
The present invention relates to the research field of unmanned plane and mobile communication system, particularly to a kind of compatible UAV (nothing
People's aircraft) the communicator of air-ground radio sensing network and method.
Background technology
In UAV (unmanned vehicle) the technology high-speed development of the current whole world, particularly China's unmanned plane has occupied entirely
In the case of the share in ball civilian unmanned plane market 70%, UAV technology seems to have had arrived at peak, and its potentiality are seen
Like also being excavated completely, but practical situation is China's UAV technology breakthrough still phoenix feathers and unicorn horns in leading-edge field,
Only advantage in terms of flying to control design, mapping of taking photo by plane, agriculture expansive approach, many core technologies are still located
Under the monopolization of American-European countries, particularly how to meet the motility of UAV service communication, adaptability, band
Wide controllability and information/data stream service real-time propose requirements at the higher level to UAV command and control net network
Aspect.Conventional UAV communication network be single concentrating on how to design, set up, optimize UAV with
On the Communication topology of base station, the many-sides such as UAV, sensor monitoring, communication real-time optimization are contained in rare consideration
The proposition of systemic apparatus and method.
Summary of the invention
Present invention is primarily targeted at the shortcoming overcoming prior art with not enough, it is provided that a kind of compatible UAV (nothing
People's aircraft) air-ground wireless sensor network communication device and method, it is possible to meet the network Development need of rasterizing
Ask, set up network-centric UAV communication network, complete the command and control of UAV, environmental data is adopted
Collection management, communication quality control etc. service, it is achieved enough stability, reliability, powerful interconnecting
And interoperability.
In order to achieve the above object, the present invention is by the following technical solutions:
The air-ground wireless sensor network communication device of a kind of compatible UAV that the present invention provides, including sensor monitoring
System, mobile platform system, integration Wi-Fi network communication system and scheduling control platform；
Described sensor monitoring system refers in sensor network, is arbitrarily scattered in the sensing in monitored district
Particular variables object in node real-time monitoring objective region；
Described mobile platform system is the UAV of carry Wi-Fi communication module, uses rotor VTOL platform,
Realizing the controllability of UAV flight speed and track, this mobile platform system can the flight of scheduled control platform
The constraint of path planning, mobile platform system can be according to service needed carry relevant device；
Described integration Wi-Fi network communication system refers to, based on Wi-Fi communication mode, move with reference to honeycomb
The structure of communication network, builds by airborne communication module, sensing node communication module, base station server and friendship
Change the ground-air Data-Link communication network of control centre's gateway node four major part composition；
Described scheduling control platform is a set of for the control of unmanned plane during flying path, Wi-Fi topology control letter
Breath and the software platform of environmental variable information gathering, be used for realizing the displaying of GIS thematic map, real-time flight parameter
Display, base station overlay area, load capacity, communication quality visualization, base station messaging parameter on-line tuning, environment
Variable information shows in real time, historical record inquiry.
As preferred technical scheme, described each sensing node circuit board is integrated with polytype environmental variable
Sensor, when sensing node receives decision instruction type immediately after the data acquisition instructions of base station, and
Send to base station with the form set, the data that sensor acquisition is arrived according to instruction.
As preferred technical scheme, described airborne communication module refers to the airborne of carry on mobile platform system
Wi-Fi module built-in ICP/IP protocol stack, has HSSI High-Speed Serial Interface and turns Wi-Fi function, be used for realizing height
Data transparency conversion between speed serial line interface and wireless network, mobile platform system, when switching across spatial domain, is adopted
With the dual link switch mode of link layer triggers, software is taked load shift strategy, it is achieved integrated network
Wi-Fi terminal automatically switches machine-processed；The dual link switch mode of described link layer triggers refers to airborne Wi-Fi mould
Block simultaneously with the WAP communication of two base station servers, base station link stratum server monitoring link status,
If it find that new network, then decide whether to switch over；If it is determined that switching, server will be two
In link one is connected to new network, and concurrent outgoing link layer triggers；Airborne Wi-Fi module passes through new net
Network is registered, and keeps the data communication of another link simultaneously；After succeeding in registration, airborne Wi-Fi
Module carries out data transmit-receive at new network, then another link is also connected to new network.
As preferred technical scheme, described sensing node communication module refers to the Wi Fi in each sensing node
The module moment remains and the communication of the Wi Fi intermodule in base station, and gathered for sensing node data is uploaded
To base station, the local communication network of sensing node and base station composition has the function of self-organizing, individual node warp
Crossing initial communication and negotiation, form the multihop network of a transmission information, each sensing network equipment is provided with
One gateway being connected to transmission network, transmission network is by a single-hop link or a series of wireless network
Node composition.
As preferred technical scheme, the Wi-Fi module built-in ICP/IP protocol stack in described sensing node,
There is HSSI High-Speed Serial Interface and turn Wi-Fi function, for realizing the data between HSSI High-Speed Serial Interface and wireless network
Transparent translation, arranging sensing node by Wi-Fi module relevant configuration order is UDP client, and base station is
UDP server end；The local port of described UDP client can be random, can receive any base station server and send out
To the data of this sensing node client, but HSSI High-Speed Serial Interface be forwarded to that the target of UDP determines that a certain
Remote base stations server, the sensing node as client only sends data, other server to this server
Data can only be sent to sensing node, not receive the data of sensing node；Described UDP server end is local
Port is fixed, and can receive any sensing node client and issue the data of this base station server, but high speed serialization
It is last and the client of the communication of server, i.e. the high speed string of base station that interface is forwarded to the target of UDP
Line interface data are forwarded to the last and sensing node of base station communication.
As preferred technical scheme, after described sensing node, base station power on or restart, acquiescence operates in turn
Under pattern, after the data of all types of sensing module collections in sensing node are analyzed by master processor processes, pass
Deliver to HSSI High-Speed Serial Interface, will form immediately when HSSI High-Speed Serial Interface receives the data of maximum package length
One bag data carry out transparent forwarding to Wi-Fi radiofrequency launcher, and when module HSSI High-Speed Serial Interface receives
During data maximum package length not, then it is currently received at packet interval time to rear HSSI High-Speed Serial Interface
Data composition one bag forwards, and the data after forwarding send to base station through radio-frequency module；In like manner, base station
The process receiving data is contrary with said process.
As preferred technical scheme, described base station server plays in forming a connecting link in functional structure
Continue node effect, realizes sharing by the data of application layer and server interlayer；Described switching control center net
Articulare is responsible for collecting the collection data uploaded each base station, and is sent by the order data of scheduling Control Centre
To base station, the hardware designs of switching control center is integrated with data memory module, Wi-Fi module and goes here and there at a high speed
Line interface communication module, software strategy needs do data pretreatment to meet the call format of communication module,
It addition, use storehouse scheduling strategy in the scheduling strategy that data send.
As preferred technical scheme, described GIS thematic map show be one based on measuring mapping,
Using data base as data storage and the data source of use, the global space analysis with computer programming as platform
Technology；
Described real-time flight parameter shows it is the real-time flight attitude of selected UAV in a reflecting regional
Parameter shows, wherein parameter include the direction of UAV, position, highly, speed, overload, acceleration, angle
Displacement, angular velocity, angular acceleration and motor speed, flight parameter in the region can arbitrarily adjust to reach
To the purpose controlling UAV flight attitude.
As preferred technical scheme, described communication quality visualizes all communication chain in referring to current system
The signal intelligence on road can be shown in real time by digital simulation, wherein parameter include communication bandwidth, data transmission rate and
Operating frequency；
Described environmental variable show in real time refer to dispatch control platform first receive the data from sensing node
And be stored in data base, then from data base, read up-to-date environmental variable data show in real time with vertically hung scroll form；
Described historical record query function refers to inquire about environmental variable parameter note on historical record interface
Record, UAV flight parameter record, UAV flight path plan record, base station overlay area plan record and base station are logical
Letter quality on-line tuning record.
Present invention also offers the air-ground radio sensing network communication means of a kind of compatible UAV, including walking as follows
Rapid:
(1), before system electrification, configuring each base station is UDP server end, sensing node and UAV mobile platform
For UDP client, and each device in initializing system；
(2), after system electrification, instruction is sent by operation scheduling control platform to switching control center；
(3) data being done after switching control center receives instruction pretreatment, and is stored in order storehouse, storehouse is adjusted
Degree algorithm sends instructions to target BS by the data in reading order storehouse；
(4) target BS distributes instruction to region residing for it after receiving the order data of switching control center；
(5) decision instruction type after the data acquisition instructions of base station is received when sensing node, and according to
Instruct data sensor acquisition arrived with the form set to send to base station；
(6) UAV receives and carries corresponding airborne equipment after the trajectory planning instruction of base station, performs by instruction
Task；
(7), after scheduling control platform receives ambient parameter and the UAV on-board data of sensing node collection, pass through
Inverse model carries out the calibration that becomes more meticulous, finally by Vonoroi figure method and data fusion means and pattern recognition
Algorithm, obtains the Temporal And Spatial Distribution Model that becomes more meticulous between operating area environmental key-element and spectral signature.
The present invention compared with prior art, has the advantage that and beneficial effect:
1) present invention is to cover based on multiple small-power base stations, collaboration communication, it is not necessary to use airborne high-power number
Conduct electricity platform.
2) coverage of the present invention can flexible expansion, carefully carry out the network planning, signal blind zone can be eliminated.
3) multiple stage unmanned plane and monitor terminal can be accommodated in the net of the present invention.
4) use double link structure on the UAV airborne communication module hardware of the present invention, software is taked load
Shift strategy, it is achieved integrated network Wi-Fi terminal automatically switches machine-processed.
Accompanying drawing explanation
Fig. 1 systematic communication network topological structure schematic diagram；
Fig. 2 system data flows to figure；
Fig. 3 dispatches control platform logic structural representation；
Fig. 4 switching control center data dispatch schematic diagram.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but the embodiment party of the present invention
Formula is not limited to this.
Embodiment
As it is shown in figure 1, the air-ground wireless sensor network communication device of a kind of compatible UAV (unmanned vehicle)
Put down including sensing and monitoring system, mobile platform system, integration Wi-Fi network communication system and scheduling control
Platform；
Described sensor monitoring system refers in sensor network, is arbitrarily scattered in the sensing in monitored district
Particular variables object in node real-time monitoring objective region；
Described mobile platform system is the UAV of carry Wi-Fi communication module, uses rotor VTOL platform,
Realizing the controllability of UAV flight speed and track, this mobile platform system can the flight of scheduled control platform
The constraint of path planning, mobile platform system can be according to service needed carry relevant device；
Described integration Wi-Fi network communication system refers to, based on Wi-Fi communication mode, move with reference to honeycomb
The structure of communication network, builds by airborne communication module, sensing node communication module, base station server and friendship
Change the ground-air Data-Link communication network of control centre's gateway node four major part composition；
Described scheduling control platform is a set of for the control of unmanned plane during flying path, Wi-Fi topology control letter
Breath and the software platform of environmental variable information gathering, be used for realizing the displaying of GIS thematic map, real-time flight parameter
Display, base station overlay area, load capacity, communication quality visualization, base station messaging parameter on-line tuning, environment
Variable information shows in real time, historical record inquiry.
Data science, flowing reasonable, effective are the keys that native system can be properly functioning, for this by setting such as
System data shown in Fig. 2 flows to figure.
Scheduling control platform, i.e. control centre carry out order control to slave computer equipment, join including real-time flight
Number collection, boat footpath planning, environmental variable parameter acquisition, base station overlay area setting, load capacity setting, communication
Quality visualization and base station messaging parameter on-line tuning etc., its internal logic structure schematic diagram is as shown in Figure 3.
Whole scheduling control platform divides two interfaces, main interface and historical record interface.It is integrated with GIS on main interface
Thematic map exhibition section, base station messaging parameter adjust district, ambient parameter show area, flight parameter adjusts and track is advised
Partition；Historical record interface is switched by tab bar on main interface, and its sub-interface includes ambient parameter collection
History interface, UAV flight parameter gather history interface, UAV flight path plans that history interface, base station are covered
Cover region planning history interface.Whole dispatching platform data all read from data base or write, common data base
Instrument all can use, and can effectively meet system data storage demand such as mysql, sql server etc..Scheduling control
The direct command of platform applies liking switching control center.
Be integrated with data memory module in described switching control center gateway node hardware designs, Wi-Fi communicates mould
Block and HSSI High-Speed Serial Interface communication module, software strategy uses dual stack data keep in pattern, and to data
Do pretreatment to meet the call format of communication module.Switching control center is as host computer and slave computer equipment
Level one data control centre, its data dispatch schematic diagram is as shown in Figure 4.As can be seen from Figure 4, this system number
Many according to type, amount is big, and content is complicated, and dual stack structure under batch mode therefore will be used (to include instruction
Storehouse and data stack), scheduling protocol uses storehouse dispatching algorithm first-in last-out, effectively solves system data
Scheduling problem.With switching control center produce direct interaction be that each is by wireless WI-FI module and exchange
The base station of control centre's interconnection.
System includes multiple base station, specifically to draw according to truth and setting quantity, and a panel region is responsible in each base station
Interior sensing node, through this region UAV between communication.For ensureing the reliability of communication quality, acceptable
The communication quality parameter carrying out self scheduling control platform adjusts order, and described base station server rises in functional structure
To the via node effect formed a connecting link, realize sharing by the data of application layer and server interlayer.Employing connects
Inlet identity separates the Mobility Management Strategy of mapping with switching-routing identifier, the double attribute of Traditional IP address
Separate, access the identity of mark GC group connector, the position of switching-routing identifier GC group connector.This mechanism
Make UAV platform the most only swap the switching of Route Distinguisher, and be used for setting up transmission
The access mark connected keeps constant in this course, and connection will not be interrupted.
For sensing node, receive the data acquisition command of self scheduling control platform, and send according to order
Gather data to process to processing terminal.First continuous collecting local environment aerial temperature and humidity, illumination, soil
The ambient parameters such as earth humiture, carbon dioxide, wind-force, wind direction, obtain ground reference point basic data.Its
Secondary, utilize ground base data that the inverse model between airborne light spectrum image-forming data and ambient parameter is carried out finely
Change calibration.Finally by Vonoroi figure method and data fusion means (such as Kalman filtering, Bayesian Estimation,
Principal component analysis etc.), obtain the Temporal And Spatial Distribution Model that becomes more meticulous between operating area environmental key-element and spectral signature.
UAV receives the trajectory planning order of self scheduling control platform, and carries corresponding airborne equipment, by life
Make execution task.As airborne equipment uses spectrum imaging system, obtain the spectrogram of operating area different-waveband
Picture, in conjunction with key parameter concrete in artificial pickup area, utilize data fusion means (such as Kalman filtering,
Bayesian inference, principal component analysis etc.) with pattern recognition (such as deep neural network, support vector regression
Deng) algorithm, seek the spatial and temporal distributions relational model obtained between operating area key element and airborne spectroscopic data.
Described sensing node is by sensing unit, data processing unit, data transmission unit and power supply four part group
Become.Sensing unit is made up of various kinds of sensors and digital-to-analogue conversion equipment, and the type of sensor is by monitored thing
The form of reason signal determines；Data process generally selects low-power-consumption embedded microcontroller；Data transmission is single
Unit is mainly made up of Wi-Fi communication module.When sensing node receives after the data acquisition instructions of base station
Decision instruction type immediately, and send extremely with the form set, the data that sensor acquisition is arrived according to instruction
Base station.
Described airborne communication module refers to the built-in TCP/IP of airborne Wi-Fi module of carry on mobile platform system
Protocol stack, has HSSI High-Speed Serial Interface and turns Wi-Fi function, be used for realizing HSSI High-Speed Serial Interface and wireless network it
Between data transparency conversion, mobile platform system when switch across spatial domain, employing link layer triggers dual link
Switch mode, software is taked load shift strategy, it is achieved integrated network Wi-Fi terminal automatic switching machine
System；The dual link switch mode of described link layer triggers refers to that airborne Wi-Fi module takes with two base stations simultaneously
The WAP communication of business device, base station link stratum server monitoring link status, if it find that new network,
Then decide whether to switch over；If it is determined that switching, server will be connected in both links
New network, concurrent outgoing link layer triggers；Airborne Wi-Fi module is registered by new network, protects simultaneously
Hold the data communication of another link；After succeeding in registration, airborne Wi-Fi module is entered at new network
Row data transmit-receive, is then also connected to new network another link.
Described sensing node communication module refers to that the Wi Fi module moment in each sensing node remains and base station
In the communication of Wi Fi intermodule, and gathered for sensing node data are uploaded to base station, sensing node and base
The local communication network of composition of standing has the function of self-organizing, individual node through initial communication and negotiation,
Forming the multihop network of a transmission information, each sensing network equipment is provided with one and is connected to transmission network
Gateway, transmission network is made up of a single-hop link or a series of wireless network node.
Wi-Fi module built-in ICP/IP protocol stack in described sensing node, has HSSI High-Speed Serial Interface and turns
Wi-Fi function, for realizing the data transparency conversion between HSSI High-Speed Serial Interface and wireless network, passes through Wi-Fi
It is UDP client that module relevant configuration order arranges sensing node, and base station is UDP server end；Described UDP
The local port of client can be random, can receive any base station server and issue this sensing node client
Data, but HSSI High-Speed Serial Interface is forwarded to a certain remote base stations server that the target of UDP determines that, as
The sensing node of client only sends data to this server, and other server can only send number to sensing node
According to, do not receive the data of sensing node；Described UDP server end local port is fixed, and can receive arbitrarily
Sensing node client issues the data of this base station server, but HSSI High-Speed Serial Interface is forwarded to the target of UDP
Be last and the client of the communication of server, i.e. the HSSI High-Speed Serial Interface data of base station are forwarded to
Afterwards with the sensing node of base station communication.
After described sensing node, base station power on or restart, acquiescence operates under rotary-die type, in sensing node
After the data of all types of sensing module collections are analyzed by master processor processes, it is sent to HSSI High-Speed Serial Interface, when
HSSI High-Speed Serial Interface receives the data of maximum package length and will form bag data immediately and carry out transparent forwarding
To Wi-Fi radiofrequency launcher, and work as the maximum not package length of data that module HSSI High-Speed Serial Interface receives
Time, then form a bag in the packet interval time to the data that rear HSSI High-Speed Serial Interface is currently received and forward,
Data after forwarding send to base station through radio-frequency module；In like manner, the process of the reception data of base station and above-mentioned mistake
Journey is contrary.
Described base station server plays the via node effect formed a connecting link in functional structure, by application layer
Realize sharing with the data of server interlayer；Described switching control center gateway node is responsible for collecting each base
The collection data that station is uploaded, and the order data of scheduling Control Centre is sent to base station, switching control center
Hardware designs on be integrated with data memory module, Wi-Fi module and HSSI High-Speed Serial Interface communication module, software
Need data are done pretreatment on strategy to meet the call format of communication module, it addition, send in data
Scheduling strategy uses storehouse scheduling strategy.
Described GIS thematic map show be one based on measuring mapping, store using data base as data
With the data source used, the global space analytical technology with computer programming as platform；
Described real-time flight parameter shows it is the real-time flight attitude of selected UAV in a reflecting regional
Parameter shows, wherein parameter include the direction of UAV, position, highly, speed, overload, acceleration, angle
Displacement, angular velocity, angular acceleration and motor speed, flight parameter in the region can arbitrarily adjust to reach
To the purpose controlling UAV flight attitude.
Described communication quality visualizes the signal intelligence of all communication links in referring to current system can be by number
Display in real time intended by type matrix, and wherein parameter includes communication bandwidth, data transmission rate and operating frequency；
Described environmental variable show in real time refer to dispatch control platform first receive the data from sensing node
And be stored in data base, then from data base, read up-to-date environmental variable data show in real time with vertically hung scroll form；
Described historical record query function refers to inquire about environmental variable parameter note on historical record interface
Record, UAV flight parameter record, UAV flight path plan record, base station overlay area plan record and base station are logical
Letter quality on-line tuning record.
Described UAV and airborne equipment have referred at carry fixed-wing or the rotor craft of Wi-Fi communication module
Upper lift-launch airborne equipment, described airborne equipment is the equipment that can meet demand according to practical situation, such as mapping work
Tool optical spectrum imagers, infrared camera and other sensor measuring equipment, application tool fertilizer applicator, spill medicine device etc..
The air-ground radio sensing network communication implementation of a kind of compatible UAV (unmanned vehicle) includes walking as follows
Rapid:
(1), before system electrification, configuring each base station, to be that UDP server end, sensing node and UAV move flat
Platform is UDP client, and each device in initializing system.
(2), after system electrification, instruction is sent by operation scheduling control platform to switching control center.
(3) after switching control center receives instruction, data are done pretreatment, and is stored in order storehouse.Storehouse
Dispatching algorithm sends instructions to target BS by the data in reading order storehouse.
(4) target BS distributes instruction to region residing for it after receiving the order data of switching control center.
(5) receive decision instruction type after the data acquisition instructions of base station when sensing node, and press
The data with the form (such as: " place+data type+numerical value+$ ") set, sensor acquisition arrived according to instruction
Send to base station.
(6) UAV receives and carries corresponding airborne equipment after the trajectory planning instruction of base station, performs by instruction
Task.
(7) after scheduling control platform receives ambient parameter and the UAV on-board data of sensing node collection, logical
Cross inverse model and carry out the calibration that becomes more meticulous.Know finally by Vonoroi figure method, data fusion means and pattern
Other algorithms etc., obtain the Temporal And Spatial Distribution Model that becomes more meticulous between operating area environmental key-element and spectral signature.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-mentioned reality
Execute the restriction of example, the change made under other any spirit without departing from the present invention and principle, modification,
Substitute, combine, simplify, all should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (10)
1. the air-ground wireless sensor network communication device of a compatible UAV, it is characterised in that include sensing
Monitoring system, mobile platform system, integration Wi-Fi network communication system and scheduling control platform；
Described sensor monitoring system refers in sensor network, is arbitrarily scattered in the sensing in monitored district
Particular variables object in node real-time monitoring objective region；
Described mobile platform system is the UAV of carry Wi-Fi communication module, uses rotor VTOL platform,
Realizing the controllability of UAV flight speed and track, this mobile platform system can the flight of scheduled control platform
The constraint of path planning, mobile platform system can be according to service needed carry relevant device；
Described integration Wi-Fi network communication system refers to, based on Wi-Fi communication mode, move with reference to honeycomb
The structure of communication network, builds by airborne communication module, sensing node communication module, base station server and friendship
Change the ground-air Data-Link communication network of control centre's gateway node four major part composition；
Described operation scheduling control platform is a set of for the control of unmanned plane during flying path, Wi-Fi topology
Control information and the software platform of environmental variable information gathering, be used for realizing GIS thematic map and show, fly in real time
Line parameter shows, base station overlay area, load capacity, communication quality visualization, base station messaging parameter on-line tuning,
Environmental variable information shows in real time, historical record inquiry.
The air-ground wireless sensor network communication device of compatible UAV the most according to claim 1, it is special
Levy and be, described each sensing node circuit board is integrated with polytype environmental variable sensor, when sensing joint
Point receives decision instruction type immediately after the data acquisition instructions of base station, and according to instruction with setting
Form, data sensor acquisition arrived send to base station.
The air-ground wireless sensor network communication device of compatible UAV the most according to claim 1, it is special
Levying and be, described airborne communication module refers to that on mobile platform system, the airborne Wi-Fi module of carry is built-in
ICP/IP protocol stack, has HSSI High-Speed Serial Interface and turns Wi-Fi function, is used for realizing HSSI High-Speed Serial Interface and nothing
Data transparency conversion between gauze, mobile platform system, when switching across spatial domain, uses link layer triggers
Dual link switch mode, software is taked load shift strategy, it is achieved integrated network Wi-Fi terminal is automatic
Handover mechanism；The dual link switch mode of described link layer triggers refer to airborne Wi-Fi module simultaneously with two
The WAP communication of base station server, base station link stratum server monitoring link status, if it find that newly
Network, then decide whether to switch over；If it is determined that switching, server is by both links
Bar is connected to new network, and concurrent outgoing link layer triggers；Airborne Wi-Fi module is registered by new network,
Keep the data communication of another link simultaneously；After succeeding in registration, airborne Wi-Fi module is new
Network carries out data transmit-receive, then another link is also connected to new network.
The air-ground wireless sensor network communication device of compatible UAV the most according to claim 1, it is special
Levy and be, described sensing node communication module refer to the Wi Fi module moment in each sensing node remain with
The communication of the Wi Fi intermodule in base station, and gathered for sensing node data are uploaded to base station, sensing node
With the function that the local communication network of base station composition has self-organizing, individual node is through initial communication and association
Business, forms the multihop network of a transmission information, and each sensing network equipment is provided with one and is connected to transmission network
The gateway of network, transmission network is made up of a single-hop link or a series of wireless network node.
The air-ground wireless sensor network communication device of compatible UAV the most according to claim 4, it is special
Levy and be, the Wi-Fi module built-in ICP/IP protocol stack in described sensing node, there is HSSI High-Speed Serial Interface
Turn Wi-Fi function, for realizing the data transparency conversion between HSSI High-Speed Serial Interface and wireless network, pass through Wi-Fi
It is UDP client that module relevant configuration order arranges sensing node, and base station is UDP server end；Described UDP
The local port of client can be random, can receive any base station server and issue this sensing node client
Data, but HSSI High-Speed Serial Interface is forwarded to a certain remote base stations server that the target of UDP determines that, as
The sensing node of client only sends data to this server, and other server can only send number to sensing node
According to, do not receive the data of sensing node；Described UDP server end local port is fixed, and can receive arbitrarily
Sensing node client issues the data of this base station server, but HSSI High-Speed Serial Interface is forwarded to the target of UDP
Be last and the client of the communication of server, i.e. the HSSI High-Speed Serial Interface data of base station are forwarded to
Afterwards with the sensing node of base station communication.
The air-ground wireless sensor network communication device of compatible UAV the most according to claim 1, it is special
Levying and be, after described sensing node, base station power on or restart, acquiescence operates under rotary-die type, sensing node
In the data of all types of sensing module collections analyzed by master processor processes after, be sent to HSSI High-Speed Serial Interface,
Bag data will be formed immediately carry out transparent turn when HSSI High-Speed Serial Interface receives the data of maximum package length
Send to Wi-Fi radiofrequency launcher, and the maximum not package of data received when module HSSI High-Speed Serial Interface is long
When spending, then form a bag in the packet interval time to the data that rear HSSI High-Speed Serial Interface is currently received and carry out turning
Sending out, the data after forwarding send to base station through radio-frequency module；In like manner, the process of the reception data of base station is with upper
State process contrary.
The air-ground wireless sensor network communication device of compatible UAV the most according to claim 1, it is special
Levying and be, described base station server plays the via node effect formed a connecting link in functional structure, should
Realize sharing by the data of layer and server interlayer；Described switching control center gateway node is responsible for collecting respectively
The collection data that individual base station is uploaded, and the order data of scheduling Control Centre is sent to base station, exchange controls
Data memory module, Wi-Fi module and HSSI High-Speed Serial Interface communication module it is integrated with in the hardware designs at center,
Need data are done pretreatment in software strategy to meet the call format of communication module, it addition, send out in data
The scheduling strategy sent uses storehouse scheduling strategy.
The air-ground wireless sensor network communication device of compatible UAV the most according to claim 1, it is special
Levy and be, described GIS thematic map show be one based on measuring mapping, using data base as data
Storage and the data source used, the global space analytical technology with computer programming as platform；
Described real-time flight parameter shows it is the real-time flight attitude of selected UAV in a reflecting regional
Parameter shows, wherein parameter include the direction of UAV, position, highly, speed, overload, acceleration, angle
Displacement, angular velocity, angular acceleration and motor speed, flight parameter in the region can arbitrarily adjust to reach
To the purpose controlling UAV flight attitude.
The air-ground wireless sensor network communication device of compatible UAV the most according to claim 1, it is special
Levying and be, described communication quality visualizes the signal intelligence of all communication links in referring to current system and can lead to
Crossing digital simulation to show in real time, wherein parameter includes communication bandwidth, data transmission rate and operating frequency；
Described environmental variable show in real time refer to dispatch control platform first receive the data from sensing node
And be stored in data base, then from data base, read up-to-date environmental variable data show in real time with vertically hung scroll form；
Described historical record query function refers to inquire about environmental variable parameter note on historical record interface
Record, UAV flight parameter record, UAV flight path plan record, base station overlay area plan record and base station are logical
Letter quality on-line tuning record.
10. the air-ground radio sensing network communication means of a compatible UAV, it is characterised in that include as follows
Step:
(1), before system electrification, configuring each base station is UDP server end, sensing node and UAV mobile platform
For UDP client, and each device in initializing system；
(2), after system electrification, instruction is sent by operation scheduling control platform to switching control center；
(3) data being done after switching control center receives instruction pretreatment, and is stored in order storehouse, storehouse is adjusted
Degree algorithm sends instructions to target BS by the data in reading order storehouse；
(4) target BS distributes instruction to region residing for it after receiving the order data of switching control center；
(5) decision instruction type after the data acquisition instructions of base station is received when sensing node, and according to
Instruct data sensor acquisition arrived with the form set to send to base station；
(6) UAV receives and carries corresponding airborne equipment after the trajectory planning instruction of base station, performs by instruction
Task；
(7), after scheduling control platform receives ambient parameter and the UAV on-board data of sensing node collection, pass through
Inverse model carries out the calibration that becomes more meticulous, finally by Vonoroi figure method and data fusion means and pattern recognition
Algorithm, obtains the Temporal And Spatial Distribution Model that becomes more meticulous between operating area environmental key-element and spectral signature.
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