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CN116896798A - Unmanned aerial vehicle relay transmission method and system based on downlink redundancy and uplink switching mechanism - Google Patents

Unmanned aerial vehicle relay transmission method and system based on downlink redundancy and uplink switching mechanism Download PDF

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Publication number
CN116896798A
CN116896798A CN202310884378.1A CN202310884378A CN116896798A CN 116896798 A CN116896798 A CN 116896798A CN 202310884378 A CN202310884378 A CN 202310884378A CN 116896798 A CN116896798 A CN 116896798A
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CN
China
Prior art keywords
communication base
data
base station
unmanned aerial
aerial vehicle
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CN202310884378.1A
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Chinese (zh)
Inventor
王江平
郑嘉辉
何源丰
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Zhuhai Ziyan Unmanned Aerial Vehicle Co ltd
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Zhuhai Ziyan Unmanned Aerial Vehicle Co ltd
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Priority to CN202310884378.1A priority Critical patent/CN116896798A/en
Publication of CN116896798A publication Critical patent/CN116896798A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W80/00—Wireless network protocols or protocol adaptations to wireless operation
    • H04W80/06—Transport layer protocols, e.g. TCP [Transport Control Protocol] over wireless
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/12—Wireless traffic scheduling
    • H04W72/1263—Mapping of traffic onto schedule, e.g. scheduled allocation or multiplexing of flows
    • H04W72/1268—Mapping of traffic onto schedule, e.g. scheduled allocation or multiplexing of flows of uplink data flows
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/12—Wireless traffic scheduling
    • H04W72/1263—Mapping of traffic onto schedule, e.g. scheduled allocation or multiplexing of flows
    • H04W72/1273—Mapping of traffic onto schedule, e.g. scheduled allocation or multiplexing of flows of downlink data flows
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/20—Control channels or signalling for resource management
    • H04W72/21—Control channels or signalling for resource management in the uplink direction of a wireless link, i.e. towards the network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/20—Control channels or signalling for resource management
    • H04W72/23—Control channels or signalling for resource management in the downlink direction of a wireless link, i.e. towards a terminal
    • 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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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses an unmanned aerial vehicle relay transmission method and system based on downlink redundancy and an uplink switching mechanism, and the method comprises the following steps: acquiring a communication range of the unmanned aerial vehicle, and judging whether the unmanned aerial vehicle falls into the communication ranges of different communication base stations at the same time; if not, determining a communication base station capable of being used for transmitting data, forwarding downlink data to a ground station through the communication base station capable of being used for transmitting data, and forwarding uplink data to the unmanned aerial vehicle through the communication base station capable of being used for transmitting data; if yes, determining different communication base stations capable of being used for transmitting data, and forwarding downlink data to a ground station through the different communication base stations capable of being used for transmitting data respectively for data redundancy combination; and determining an uplink data transmission communication base station in different communication base stations capable of transmitting data, and forwarding the uplink data to the unmanned aerial vehicle through the uplink data transmission communication base station. The invention improves the channel reliability and avoids the wireless channel from occupying the bandwidth.

Description

Unmanned aerial vehicle relay transmission method and system based on downlink redundancy and uplink switching mechanism
Technical Field
The invention relates to the technical field of unmanned aerial vehicle communication, in particular to an unmanned aerial vehicle relay transmission method and system based on downlink redundancy and an uplink switching mechanism.
Background
The unmanned aerial vehicle communication is a means for realizing remote control of the unmanned aerial vehicle, and can realize remote control and telemetry information interaction between the unmanned aerial vehicle and a ground station or between the unmanned aerial vehicle and a remote control terminal. There are various unmanned aerial vehicle communication modes, including data link communication, mobile communication, satellite characteristics and the like. The data link is a main means for realizing data interaction between the ground control end and the unmanned aerial vehicle carrying end. However, data link communications are typically line-of-sight data links, subject to obstruction by obstructions, resulting in communication disruption.
In order to cope with the influence of the blocking of factors such as earth curvature, ground objects, environment and the like when the unmanned aerial vehicle executes beyond-the-horizon flight tasks and extend the acting distance of a data link, relay communication becomes a commonly selected system scheme.
The core idea of relay communication is to obtain the effect of space diversity by using a mode of deploying relay communication base stations, so as to enhance the communication between the ends. The relay communication base station is provided with customized relay communication equipment, an air communication bridge is erected, the communication distance can be effectively extended, the wireless signal coverage radius is improved, and more scene choices are added for the application of the small-scale wireless private network in an emergency scene. The method is particularly suitable for certain special environments or emergency communication, such as application scenes of rescue after earthquake and flood, and the like, and can provide multi-hop expansion of communication for the existing wireless and wired network.
However, when the existing unmanned aerial vehicle relay communication method solves the problem that the communication base stations cannot directly communicate due to the blocking of the obstacle, a plurality of relay communication base stations must be erected. When relay communication is performed by a plurality of relay communication base stations, the reliability of the wireless communication channel is poor and the packet loss rate of the wireless forwarding is high, so that the communication connection efficiency is low. In addition, in the conventional relay communication method, different communication base stations are connected by wireless methods, so that in order to avoid wireless signal interference, it is necessary to divide wireless channels for uplink and downlink data of the plurality of communication nodes, occupy bandwidth, and further reduce information transmission efficiency.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an unmanned aerial vehicle relay transmission method and system based on downlink redundancy and uplink switching mechanism, which are used for solving the technical problems that when the existing unmanned aerial vehicle relay communication mode solves the problem of barrier blocking, a plurality of relay stations are required to be erected and a plurality of wireless channels are divided to cause low communication connection efficiency and reduced information transmission efficiency, so that the problems of limited communication range caused by barrier blocking are solved, the channel reliability is improved, and the purpose of avoiding the wireless channels from occupying bandwidth is achieved.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
an unmanned aerial vehicle relay transmission method based on downlink redundancy and an uplink switching mechanism comprises the following steps:
searching the unmanned aerial vehicle through a communication base station to acquire a communication range of the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle falls into the communication ranges of different communication base stations at the same time according to the communication ranges;
if not, determining a communication base station capable of being used for transmitting data according to the falling communication range, forwarding downlink data transmitted by the unmanned aerial vehicle to a ground station through the communication base station capable of being used for transmitting data, and forwarding uplink data transmitted by the ground station to the unmanned aerial vehicle through the communication base station capable of being used for transmitting data;
if yes, determining different communication base stations capable of being used for transmitting data according to the falling communication range, and forwarding downlink data transmitted by the unmanned aerial vehicle to the ground station through the different communication base stations capable of being used for transmitting data for data redundancy combination; and determining an uplink data transmission communication base station in the different communication base stations capable of being used for transmitting data, and forwarding the uplink data sent by the ground station to the unmanned aerial vehicle through the uplink data transmission communication base station.
As a preferred embodiment of the present invention, when determining the communication base station capable of transmitting data and forwarding the downlink data, the method includes:
when the unmanned aerial vehicle is only in the communication range of the first communication base station, the first communication base station is determined to be the communication base station which can be used for transmitting data, and downlink data sent by the unmanned aerial vehicle are forwarded to the ground station through the first communication base station;
when the unmanned aerial vehicle is only in the communication range of the second communication base station, the second communication base station is determined to be the communication base station capable of being used for transmitting data, downlink data transmitted by the unmanned aerial vehicle is forwarded to the first communication base station through the second communication base station, and then is forwarded to the ground station through the first communication base station;
the ground station is connected with the first communication base station, the first communication base station and the second communication base station are connected through wires, and the second communication base station is arranged at the highest point of the terrain in a preset range taking the second communication base station as the center.
As a preferred embodiment of the present invention, when determining the communication base station capable of transmitting data and forwarding the downlink data, the method further includes:
when the unmanned aerial vehicle is simultaneously in the communication range of the first communication base station and the second communication base station, the downlink data which are simultaneously transmitted by the unmanned aerial vehicle through wireless link broadcasting are received through the first communication base station and the second communication base station, the downlink data are forwarded to the ground station, and after the downlink data are simultaneously received by the ground station, data redundancy combination is carried out.
In a preferred embodiment of the present invention, when performing data redundancy combining, the method includes:
and removing redundant data and filling lost data according to the data identification field of the data packet protocol header.
As a preferred embodiment of the present invention, when forwarding the uplink data, the method includes:
and selecting one of the first communication base station and the second communication base station as the uplink data transmission communication base station, unicast transmitting the uplink data to the uplink data transmission communication base station through a wireless link, and forwarding the uplink data to the unmanned aerial vehicle by the uplink data transmission communication base station.
As a preferred embodiment of the present invention, determining an uplink data transmission communication base station among the different communication base stations that can be used for transmitting data includes:
and according to the signal intensity and the packet loss rate of each different communication base station which can be used for transmitting data and is received by the unmanned aerial vehicle, selecting the communication base station with the highest communication efficiency as an uplink data transmission communication base station of the next time period.
As a preferred embodiment of the present invention, when the signal strength acquisition is performed, the method includes:
the signal intensity values of the different communication base stations which can be used for transmitting data are received through the timing updating of the unmanned aerial vehicle airborne terminal, and the signal intensity values are sent to the ground station through downlink data;
when the packet loss rate is acquired, the method comprises the following steps:
transmitting data packets through the different communication base stations capable of being used for transmitting data, and recording the transmission quantity of the data packets;
replying data packets transmitted by the different communication base stations capable of being used for transmitting data through the unmanned aerial vehicle, and recording the reply times and the response times of transmission in reply messages;
and recording the received reply times and response times by the different communication base stations capable of being used for transmitting data, further obtaining the response rate and the receiving rate of the data packet, and obtaining the transmitting rate of the data packet according to the response rate and the receiving rate of the data packet.
In a preferred embodiment of the present invention, when obtaining the response rate of the packet, the method includes:
obtaining the response rate of the data packet according to the response times and the transmission number received by the data packet, wherein the response rate is specifically shown in a formula 1:
YL＝YF(1)；
wherein YL is the response rate of the data packet, Y is the response times received by the data packet, and F is the transmitting number of the data packet;
when the receiving rate of the data packet is obtained, the method comprises the following steps:
obtaining the receiving rate of the data packet according to the number of replies sent by the data packet and the number of replies received, wherein the receiving rate is specifically shown in a formula 2:
JS＝HS(2)；
wherein JS is the receiving rate of the data packet, H is the replying times of the data packet, and S is the replying times of the data packet.
As a preferred embodiment of the present invention, when the transmission rate of the data packet is obtained according to the response rate and the reception of the data packet, the following formula 3 is specifically shown:
SL＝YL*(1JS)(3)；
where SL is the emissivity of the packet.
An unmanned aerial vehicle relay transmission system based on downstream redundancy and an upstream switching mechanism, comprising:
communication range acquisition unit: the method comprises the steps that a communication base station is used for searching an unmanned aerial vehicle to obtain a communication range of the unmanned aerial vehicle;
communication method determination unit: the unmanned aerial vehicle is used for judging whether the unmanned aerial vehicle falls into the communication ranges of different communication base stations at the same time according to the communication ranges; and determining a communication base station capable of being used for transmitting data or determining a different communication base station capable of being used for transmitting data according to the judgment result;
a data relay unit: the communication base station is used for transmitting downlink data sent by the unmanned aerial vehicle to a ground station through the communication base station capable of transmitting data, and transmitting uplink data sent by the ground station to the unmanned aerial vehicle through the communication base station capable of transmitting data; or, the downlink data sent by the unmanned aerial vehicle are respectively forwarded to the ground station through the different communication base stations capable of being used for transmitting data to carry out data redundancy combination; and determining an uplink data transmission communication base station in the different communication base stations capable of being used for transmitting data, and forwarding the uplink data sent by the ground station to the unmanned aerial vehicle through the uplink data transmission communication base station.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the unmanned aerial vehicle relay transmission method provided by the invention, the ground station communication base station is connected with the relay communication base station through the wire, so that the channel reliability is improved, and the problem of occupation of wireless channel bandwidth is avoided;
(2) According to the unmanned aerial vehicle relay transmission method, the downlink data are subjected to redundancy combination, so that the communication instantaneity is improved, and the packet loss retransmission is reduced;
(3) According to the unmanned aerial vehicle relay transmission method provided by the invention, the problem that the bandwidth is occupied by the wireless data transmitted by two communication base stations together is avoided by selectively switching the uplink;
(4) According to the unmanned aerial vehicle relay transmission method provided by the invention, the unidirectional transmission efficiency of the communication base station to the unmanned aerial vehicle is obtained, and the uplink is selected based on the signal strength and the transmission efficiency, so that the communication efficiency is better estimated;
(5) According to the unmanned aerial vehicle relay transmission method provided by the invention, through a downlink redundancy mechanism, namely, two communication base stations simultaneously receive downlink broadcast data of the unmanned aerial vehicle, and an uplink switching mechanism, only one communication base station is selected to unicast and send uplink data to the unmanned aerial vehicle, and the two mechanisms are combined, so that the utilization efficiency of a wireless channel is improved to the greatest extent, and meanwhile, the communication stability and reliability are ensured.
The invention is described in further detail below with reference to the drawings and the detailed description.
Drawings
FIG. 1 is a schematic diagram of a terrestrial base station networking relay communication according to an embodiment of the present invention;
FIG. 2-is a schematic illustration of satellite relay communications for a drone according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a method for relay transmission of an unmanned aerial vehicle based on a downlink redundancy and an uplink switching mechanism according to an embodiment of the present invention;
fig. 4 is a logic process diagram of an unmanned aerial vehicle relay transmission method based on a downlink redundancy and an uplink switching mechanism according to an embodiment of the present invention;
fig. 5 is a step diagram of a method for relay transmission of an unmanned aerial vehicle based on a downlink redundancy and an uplink switching mechanism according to an embodiment of the present invention.
Reference numerals illustrate: 1. a first communication base station; 2. a second communication base station; 3. a ground station; 4. unmanned aerial vehicle.
Detailed Description
The unmanned aerial vehicle relay transmission method based on the downlink redundancy and the uplink switching mechanism provided by the invention, as shown in fig. 5, comprises the following steps:
step S1: searching the unmanned aerial vehicle 4 through a communication base station to acquire a communication range of the unmanned aerial vehicle 4;
step S2: judging whether the unmanned aerial vehicle 4 falls into the communication ranges of different communication base stations at the same time according to the communication ranges;
step S3: if not, determining a communication base station capable of being used for transmitting data according to the falling communication range, forwarding downlink data transmitted by the unmanned aerial vehicle 4 to the ground station 3 through the communication base station capable of being used for transmitting data, and forwarding uplink data transmitted by the ground station 3 to the unmanned aerial vehicle 4 through the communication base station capable of being used for transmitting data;
step S4: if yes, determining different communication base stations capable of being used for transmitting data according to the falling communication range, and forwarding downlink data transmitted by the unmanned aerial vehicle 4 to the ground station 3 through the different communication base stations capable of being used for transmitting data respectively for data redundancy combination; and determining an uplink data transmission communication base station among different communication base stations capable of transmitting data, and forwarding the uplink data transmitted by the ground station 3 to the unmanned aerial vehicle 4 through the uplink data transmission communication base station.
In the step S3, when determining a communication base station that can be used for transmitting data and forwarding downlink data, the method includes:
when the unmanned aerial vehicle 4 is only in the communication range of the first communication base station 1, the first communication base station 1 is determined as a communication base station capable of transmitting data, and downlink data transmitted by the unmanned aerial vehicle 4 is forwarded to the ground station 3 through the first communication base station 1;
when the unmanned aerial vehicle 4 is only in the communication range of the second communication base station 2, the second communication base station 2 is determined as a communication base station capable of transmitting data, and downlink data transmitted by the unmanned aerial vehicle 4 is forwarded to the first communication base station 1 through the second communication base station 2 and then forwarded to the ground station 3 through the first communication base station 1;
wherein the ground station 3 is connected to the first communication base station 1, the first communication base station 1 and the second communication base station 2 are connected by wire, and the second communication base station 2 is disposed at a highest point of the topography within a preset range centered on the second communication base station.
Specifically, the first communication base station 1 and the second communication base station 2 are connected through a wired connection mode, namely, the ground communication base station and the relay communication base station are directly connected through a wired connection mode, so that the problem that a plurality of relay communication base stations are required to be erected because of barrier blocking between the first communication base station 1 and the second communication base station 2 and direct communication cannot be realized is avoided; further, the problems of low communication connection efficiency caused by poor reliability of a wireless communication channel and high packet loss rate of multiple wireless forwarding are avoided. And if the first communication base station 1, the second communication base station 2 and the unmanned aerial vehicle 4 are all connected in a wireless manner, in order to avoid wireless signal interference, wireless channels need to be divided for uplink and downlink data of the first communication base station 1, the second communication base station 2 and the unmanned aerial vehicle 4, and bandwidth is occupied, so that information transmission efficiency is reduced.
In the step S4, when determining the communication base station that can be used to transmit data and forwarding downlink data, the method further includes:
when the unmanned aerial vehicle 4 is simultaneously in the communication range of the first communication base station 1 and the second communication base station 2, the downlink data which is simultaneously transmitted by the unmanned aerial vehicle 4 through the wireless link broadcast is received through the first communication base station 1 and the second communication base station 2, and the downlink data is forwarded to the ground station 3 and is simultaneously received by the ground station 3, and then data redundancy combination is carried out.
Further, when performing data redundancy combining, the method includes:
and removing redundant data and filling lost data according to the data identification field of the data packet protocol header.
Specifically, when the ground station 3 performs redundancy combination of two downlink data of the first communication base station 1 and the second communication base station 2, redundant data is removed and lost data is filled according to a data identification field of a data packet protocol header, such as a sequence number, a timestamp, and the like. For example, the first communication base station 1 receives the message sequence [1,2,4,5], the second communication base station 2 receives the message sequence [2,3,4,5], and the message sequence [1,2,3,4,5] obtained by redundancy combination of the ground station 3 is finally obtained. The invention reduces the packet loss rate to the greatest extent, reduces retransmission, improves the message instantaneity and improves the communication efficiency through the downlink redundancy mechanism.
In the step S4, when forwarding the uplink data, the method includes:
one of the first communication base station 1 and the second communication base station 2 is selected as an uplink data transmission communication base station (i.e. the first communication base station 1 or the second communication base station 2 is selected), and uplink data is unicast-transmitted to the uplink data transmission communication base station through a wireless link, and is forwarded to the unmanned aerial vehicle 4 by the uplink data transmission communication base station.
Specifically, the invention avoids the problem of double occupied bandwidth caused by the fact that the first communication base station 1 and the second communication base station 2 transmit wireless data together by the link switching or the connection establishment mode.
Further, determining an uplink data transmission communication base station among different communication base stations that can be used for transmitting data, includes:
according to the signal intensity and the packet loss rate of the different communication base stations which can be used for transmitting data and are received by the unmanned aerial vehicle 4, the communication base station with the highest communication efficiency is selected as the uplink data transmission communication base station of the next time period.
Further, in performing signal strength acquisition, the method includes:
the signal intensity values of the different communication base stations which can be used for transmitting data are received through the unmanned aerial vehicle 4 on-board terminal at regular time update, and are sent to the ground station 3 through downlink data;
when packet loss rate acquisition is performed, the method comprises the following steps:
transmitting data packets through different communication base stations capable of transmitting data, and recording the transmission quantity of the data packets;
the unmanned aerial vehicle 4 replies the data packets transmitted by different communication base stations which can be used for transmitting data, and the reply times of the transmission are recorded in the reply message;
the response rate and the receiving rate of the data packet are further obtained by recording the received reply times and response times by different communication base stations capable of transmitting data, and the transmitting rate of the data packet is obtained according to the response rate and the receiving rate of the data packet.
Further, when obtaining the response rate of the data packet, the method includes:
according to the response times and the transmitting number of the data packets, the response rate of the data packets is obtained, and the response rate is specifically shown as a formula 1:
YL＝YF(1)；
wherein YL is the response rate of the data packet, Y is the response times received by the data packet, and F is the transmitting number of the data packet;
when the receiving rate of the data packet is obtained, the method comprises the following steps:
obtaining the receiving rate of the data packet according to the reply times sent by the data packet and the received reply times, wherein the receiving rate is specifically shown in a formula 2:
JS＝HS(2)；
wherein JS is the receiving rate of the data packet, H is the replying times of the data packet, S is the replying times of the data packet.
Further, when the response rate of the data packet and the emissivity of the received data packet are obtained, the following formula 3 is specifically shown:
SL＝YL*(1JS)(3)；
where SL is the packet's emissivity.
Specifically, in the present invention, because the communication base station only performs the selective switching of the uplink data link, the channel estimation method of the present invention is used to estimate the signal strength of the communication base station received by the unmanned aerial vehicle 4 and the efficiency of the communication base station transmitting signals to the unmanned aerial vehicle 4, so as to better estimate the communication quality of the uplink data unidirectional link of the communication base station to the unmanned aerial vehicle 4. Compared with the evaluation of the bidirectional transmission quality of the link, the uplink unidirectional link selection method meets the requirement of uplink unidirectional link selection.
The invention provides an unmanned aerial vehicle relay transmission system based on downlink redundancy and an uplink switching mechanism, which comprises the following components: communication range acquisition unit, communication scheme determination unit, and data relay unit.
The communication range obtaining unit is configured to search the unmanned aerial vehicle 4 through the communication base station, and obtain a communication range where the unmanned aerial vehicle 4 is located.
The communication mode determining unit is used for determining whether the unmanned aerial vehicle 4 falls into the communication ranges of different communication base stations at the same time according to the communication ranges; and determines a communication base station that can be used for transmitting data or a different communication base station that can be used for transmitting data according to the determination result.
The data relay unit is used for forwarding downlink data sent by the unmanned aerial vehicle 4 to the ground station 3 through a communication base station capable of transmitting data, and forwarding uplink data sent by the ground station 3 to the unmanned aerial vehicle 4 through the communication base station capable of transmitting data; or, the downlink data sent by the unmanned aerial vehicle 4 are respectively forwarded to the ground station 3 through different communication base stations capable of being used for transmitting the data to carry out data redundancy combination; and determining an uplink data transmission communication base station among different communication base stations capable of transmitting data, and forwarding the uplink data transmitted by the ground station 3 to the unmanned aerial vehicle 4 through the uplink data transmission communication base station.
The following examples are further illustrative of the present invention, but the scope of the present invention is not limited thereto.
Ground base station networking relay communication
Depending on local operators, the ground communication base station of the unmanned aerial vehicle is built, and a plurality of ground base stations are networked to form an empty low-altitude ATG (AirtoGround) network, which is shown in fig. 1. The unmanned aerial vehicle system combines background flight management and flyer roaming switching in a one-to-many mode with the ground base station, so that the working range of the unmanned aerial vehicle system is enlarged.
Cellular mobile radio networking relay communication
The unmanned aerial vehicle 4 deploys an onboard mobile cellular network access terminal system on the board, and a 4G/5G base station deployed on the ground is operated through the access network to form a low-altitude cellular mobile network, so that multi-scene application is realized.
With the increase of the coverage rate of the global 4G and 5G cellular mobile networks, the unmanned aerial vehicle 4 can support the online operation of multiple unmanned aerial vehicles 4 in a low-altitude environment in a low-cost, high-mobility and multi-scene mode, and also provides possibility for establishing a new special ground service network for the unmanned aerial vehicle 4.
Satellite communication
Satellite communication is characterized by a large communication range and is not easily affected by the terrain environment. In the range covered by the electric wave emitted by the communication satellite, any point on the earth can be communicated with the satellite, so that mobile internet service or private network service is obtained, and the influence of the curvature of the earth and the shielding of the terrain is not easy to cause.
The satellite communication system consists of an unmanned aerial vehicle satellite communication terminal, a communication satellite and an earth station. As shown in fig. 2, the unmanned aerial vehicle-mounted satellite communication terminal uses a communication satellite as a relay node for transmission, and transmits unmanned aerial vehicle data to an earth station. The satellite communication system is used as important relay communication, so that the transmission of the unmanned aerial vehicle task load acquisition video is realized, and the functions of remote operation and the like of a user on the unmanned aerial vehicle 4 and task equipment through the satellite communication system are ensured.
The innovation point of the invention is that: through a local operator, the ground communication base station of the unmanned aerial vehicle 4 is built, and the unmanned aerial vehicle 4 expands the flight range of the unmanned aerial vehicle 4 in a one-to-many mode; the ground base station can select the uplink node by judging the signal intensity of two ground communication base stations (the first communication base station 1 and the second communication base station 2) received by the unmanned aerial vehicle 4, and the whole flying process always keeps a one-to-one mode of the uplink node and the downlink node. As shown in fig. 3, the solid line is always transmitting data, and the two dotted lines are alternatively transmitting data. In order to prevent the bandwidth of the on-board end of the unmanned aerial vehicle 4 from becoming large, there is one and only one transmission path for uplink data. While downstream data is always transmitted.
As shown in fig. 4, the logic process: the unmanned aerial vehicle 4 on-board terminal updates the signal intensity value of the unmanned aerial vehicle relative to the received ground nodes every second and then broadcasts the signal intensity value to each ground node through wireless; each ground node forwards the signal intensity value and the packet loss rate of the ground node relative to the onboard end to an application layer of the node 1, and the node 1 selects the node as the next second uplink node by judging the signal intensity value and the packet loss rate of each node in the application layer.
The effect is realized: the downlink data is received by two nodes at the same time, and then redundancy merging data is applied to the layer of node 1; the uplink data is transmitted by one node all the time, so that only the node with the best signal and the minimum packet loss rate is ensured to be used as the uplink node, the flight range is enlarged, the communication quality is improved, and the bandwidth occupancy rate is reduced.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.

Claims (10)

1. The unmanned aerial vehicle relay transmission method based on the downlink redundancy and the uplink switching mechanism is characterized by comprising the following steps of:
searching the unmanned aerial vehicle through a communication base station to acquire a communication range of the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle falls into the communication ranges of different communication base stations at the same time according to the communication ranges;
if not, determining a communication base station capable of being used for transmitting data according to the falling communication range, forwarding downlink data transmitted by the unmanned aerial vehicle to a ground station through the communication base station capable of being used for transmitting data, and forwarding uplink data transmitted by the ground station to the unmanned aerial vehicle through the communication base station capable of being used for transmitting data;
if yes, determining different communication base stations capable of being used for transmitting data according to the falling communication range, and forwarding downlink data transmitted by the unmanned aerial vehicle to the ground station through the different communication base stations capable of being used for transmitting data for data redundancy combination; and determining an uplink data transmission communication base station in the different communication base stations capable of being used for transmitting data, and forwarding the uplink data sent by the ground station to the unmanned aerial vehicle through the uplink data transmission communication base station.
2. The unmanned aerial vehicle relay transmission method based on the downstream redundancy and the upstream switching mechanism according to claim 1, wherein when determining the communication base station that can be used to transmit data and forwarding the downstream data, comprising:
when the unmanned aerial vehicle is only in the communication range of the first communication base station, the first communication base station is determined to be the communication base station which can be used for transmitting data, and downlink data sent by the unmanned aerial vehicle are forwarded to the ground station through the first communication base station;
when the unmanned aerial vehicle is only in the communication range of the second communication base station, the second communication base station is determined to be the communication base station capable of being used for transmitting data, downlink data transmitted by the unmanned aerial vehicle is forwarded to the first communication base station through the second communication base station, and then is forwarded to the ground station through the first communication base station;
the ground station is connected with the first communication base station, the first communication base station and the second communication base station are connected through wires, and the second communication base station is arranged at the highest point of the terrain in a preset range taking the second communication base station as the center.
3. The unmanned aerial vehicle relay transmission method based on the downstream redundancy and the upstream switching mechanism according to claim 2, wherein when determining the communication base station that can be used to transmit data and forwarding the downstream data, further comprising:
when the unmanned aerial vehicle is simultaneously in the communication range of the first communication base station and the second communication base station, the downlink data which are simultaneously transmitted by the unmanned aerial vehicle through wireless link broadcasting are received through the first communication base station and the second communication base station, the downlink data are forwarded to the ground station, and after the downlink data are simultaneously received by the ground station, data redundancy combination is carried out.
4. The unmanned aerial vehicle relay transmission method based on the downlink redundancy and the uplink switching mechanism according to claim 3, wherein when the data redundancy combination is performed, the method comprises the following steps:
and removing redundant data and filling lost data according to the data identification field of the data packet protocol header.
5. The unmanned aerial vehicle relay transmission method based on the downstream redundancy and the upstream switching mechanism according to claim 3, wherein when forwarding the upstream data, the method comprises:
and selecting one of the first communication base station and the second communication base station as the uplink data transmission communication base station, unicast transmitting the uplink data to the uplink data transmission communication base station through a wireless link, and forwarding the uplink data to the unmanned aerial vehicle by the uplink data transmission communication base station.
6. The unmanned aerial vehicle relay transmission method based on the downstream redundancy and the upstream switching mechanism according to claim 1 or 5, wherein determining an upstream data transmission communication base station among the different communication base stations that can be used for transmitting data comprises:
and according to the signal intensity and the packet loss rate of each different communication base station which can be used for transmitting data and is received by the unmanned aerial vehicle, selecting the communication base station with the highest communication efficiency as an uplink data transmission communication base station of the next time period.
7. The unmanned aerial vehicle relay transmission method based on the downlink redundancy and the uplink switching mechanism according to claim 6, wherein when the signal strength acquisition is performed, the method comprises:
the signal intensity values of the different communication base stations which can be used for transmitting data are received through the timing updating of the unmanned aerial vehicle airborne terminal, and the signal intensity values are sent to the ground station through downlink data;
when the packet loss rate is acquired, the method comprises the following steps:
transmitting data packets through the different communication base stations capable of being used for transmitting data, and recording the transmission quantity of the data packets;
replying data packets transmitted by the different communication base stations capable of being used for transmitting data through the unmanned aerial vehicle, and recording the reply times and the response times of transmission in reply messages;
and recording the received reply times and response times by the different communication base stations capable of being used for transmitting data, further obtaining the response rate and the receiving rate of the data packet, and obtaining the transmitting rate of the data packet according to the response rate and the receiving rate of the data packet.
8. The unmanned aerial vehicle relay transmission method based on the downlink redundancy and the uplink switching mechanism according to claim 7, wherein when obtaining the response rate of the data packet, the unmanned aerial vehicle relay transmission method comprises:
obtaining the response rate of the data packet according to the response times and the transmission number received by the data packet, wherein the response rate is specifically shown in a formula 1:
YL＝Y/F (1)；
wherein YL is the response rate of the data packet, Y is the response times received by the data packet, and F is the transmitting number of the data packet;
when the receiving rate of the data packet is obtained, the method comprises the following steps:
obtaining the receiving rate of the data packet according to the number of replies sent by the data packet and the number of replies received, wherein the receiving rate is specifically shown in a formula 2:
JS＝H/S (2)；
wherein JS is the receiving rate of the data packet, H is the replying times of the data packet, and S is the replying times of the data packet.
9. The unmanned aerial vehicle relay transmission method based on the downlink redundancy and the uplink switching mechanism according to claim 8, wherein when the transmitting rate of the data packet is obtained according to the response rate and the receiving of the data packet, the method is specifically as shown in formula 3:
SL＝YL*(1/JS) (3)；
where SL is the emissivity of the packet.
10. An unmanned aerial vehicle relay transmission system based on downlink redundancy and an uplink switching mechanism is characterized by comprising:
communication range acquisition unit: the method comprises the steps that a communication base station is used for searching an unmanned aerial vehicle to obtain a communication range of the unmanned aerial vehicle;
communication method determination unit: the unmanned aerial vehicle is used for judging whether the unmanned aerial vehicle falls into the communication ranges of different communication base stations at the same time according to the communication ranges; and determining a communication base station capable of being used for transmitting data or determining a different communication base station capable of being used for transmitting data according to the judgment result;
a data relay unit: the communication base station is used for transmitting downlink data sent by the unmanned aerial vehicle to a ground station through the communication base station capable of transmitting data, and transmitting uplink data sent by the ground station to the unmanned aerial vehicle through the communication base station capable of transmitting data; or, the downlink data sent by the unmanned aerial vehicle are respectively forwarded to the ground station through the different communication base stations capable of being used for transmitting data to carry out data redundancy combination; and determining an uplink data transmission communication base station in the different communication base stations capable of being used for transmitting data, and forwarding the uplink data sent by the ground station to the unmanned aerial vehicle through the uplink data transmission communication base station.
CN202310884378.1A 2023-07-19 2023-07-19 Unmanned aerial vehicle relay transmission method and system based on downlink redundancy and uplink switching mechanism Pending CN116896798A (en)

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