技术领域technical field
本发明涉及无人机及移动通信系统的研究领域，特别涉及一种兼容UAV(无人飞行器)的地空无线传感网络的通信装置与方法。The invention relates to the research field of unmanned aerial vehicles and mobile communication systems, in particular to a communication device and method for a UAV (unmanned aerial vehicle)-compatible ground-air wireless sensor network.
背景技术Background technique
在当今全球UAV(无人飞行器)技术高速发展，特别是我国无人机已占据全球民用无人机市场70％的份额情况下，UAV技术似乎已经到达了顶峰，其潜力看似也被完全挖掘，但实际情况是我国UAV技术在尖端领域的突破仍然凤毛麟角，仅在飞控设计、航拍测绘、农业拓展应用方面有所优势，许多核心技术仍然处于欧美国家的垄断下，特别是在如何满足UAV业务通信的灵活性、适应性、带宽可控性和信息/数据流服务实时性对UAV指挥与控制通信网络提出更高要求的方面。以往的UAV通信网络只是单一的集中在如何设计、建立、优化UAV与基站的通信拓扑结构上，少有考虑涵盖UAV、传感监测、通信实时优化等多方面的系统性装置与方法的提出。With the rapid development of UAV (Unmanned Aerial Vehicle) technology in the world today, especially when my country's drones have occupied 70% of the global civilian drone market, UAV technology seems to have reached its peak, and its potential seems to have been fully tapped , but the actual situation is that my country's UAV technology breakthroughs in cutting-edge fields are still rare, and it only has advantages in flight control design, aerial surveying and mapping, and agricultural expansion applications. Many core technologies are still under the monopoly of European and American countries, especially in how to meet UAV The flexibility, adaptability, bandwidth controllability and real-time information/data flow service of business communication put forward higher requirements for UAV command and control communication network. In the past, UAV communication networks only focused on how to design, establish, and optimize the communication topology between UAVs and base stations, and rarely considered the proposals of systematic devices and methods covering UAVs, sensor monitoring, and real-time communication optimization.
发明内容Contents of the invention
本发明的主要目的在于克服现有技术的缺点与不足，提供一种兼容UAV(无人飞行器)的地空无线传感网络通信装置与方法，能够满足栅格化的网络发展需求，建立以网络为中心的UAV通信网络，完成UAV的指挥与控制、环境数据采集管理、通信质量控制等服务，实现足够的稳定性、可靠性、强大的互联互通和互操作性。The main purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, to provide a ground-air wireless sensor network communication device and method compatible with UAV (unmanned aerial vehicle), which can meet the development requirements of the grid network, and establish a network UAV communication network as the center, complete UAV command and control, environmental data collection management, communication quality control and other services, to achieve sufficient stability, reliability, strong interconnection and interoperability.
为了达到上述目的，本发明采用以下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
本发明提供的一种兼容UAV的地空无线传感网络通信装置，包括传感监测系统、移动平台系统、一体化Wi-Fi网络通信系统以及调度管制平台；A UAV-compatible ground-air wireless sensor network communication device provided by the present invention includes a sensor monitoring system, a mobile platform system, an integrated Wi-Fi network communication system, and a dispatch control platform;
所述传感器监测系统是指在传感器网络中，任意散落在被监测区内的传感节点实时监测目标区域内的特定变量对象；The sensor monitoring system refers to that in the sensor network, the sensor nodes randomly scattered in the monitored area monitor the specific variable objects in the target area in real time;
所述移动平台系统是挂载Wi-Fi通信模块的UAV，采用旋翼垂直起降平台，实现UAV飞行速度和轨迹的可控性，该移动平台系统可受调度管制平台的飞行路径规划的约束，移动平台系统可根据业务需要挂载相应设备；The mobile platform system is a UAV equipped with a Wi-Fi communication module, and adopts a rotor vertical take-off and landing platform to realize the controllability of UAV flight speed and trajectory. The mobile platform system can be constrained by the flight path planning of the dispatch control platform, The mobile platform system can mount corresponding equipment according to business needs;
所述一体化Wi-Fi网络通信系统指以Wi-Fi通信方式为主，参照蜂窝移动通信网络的结构，构建由机载通信模块、传感节点通信模块、基站服务器和交换控制中心网关节点四大部分组成的地-空数据链通信网络；The integrated Wi-Fi network communication system refers to Wi-Fi communication as the main mode, and with reference to the structure of the cellular mobile communication network, it is composed of four airborne communication modules, sensor node communication modules, base station servers and switching control center gateway nodes. Most of the ground-air data link communication network;
所述调度管制平台是一套用于无人机飞行路径管制、无线网路拓扑控制信息及环境变量信息采集的软件平台，用于实现GIS专题图展示、实时飞行参数显示、基站覆盖区、负载量、通信质量可视化、基站通信参数在线调整、环境变量信息实时显示、历史记录查询。The dispatching control platform is a set of software platforms for UAV flight path control, wireless network topology control information and environmental variable information collection, used to realize GIS thematic map display, real-time flight parameter display, base station coverage area, load capacity , Communication quality visualization, online adjustment of base station communication parameters, real-time display of environmental variable information, and historical record query.
作为优选的技术方案，所述各传感节点电路板上集成了多种类型环境变量传感器，当传感节点接收到来自基站的数据采集指令后立即判断指令类型，并按照指令以设定的格式，将传感器采集到的数据发送至基站。As a preferred technical solution, various types of environmental variable sensors are integrated on the circuit board of each sensor node. When the sensor node receives the data acquisition instruction from the base station, it immediately judges the instruction type and follows the instruction in the format set. , and send the data collected by the sensor to the base station.
作为优选的技术方案，所述机载通信模块是指移动平台系统上挂载的机载Wi-Fi模块内置TCP/IP协议栈，具有高速串行接口转Wi-Fi功能，用于实现高速串行接口和无线网之间的数据透明转换，移动平台系统在跨空域切换时，采用链路层触发的双链路切换模式，软件上采取负载移动策略，实现一体化网络Wi-Fi终端自动切换机制；所述链路层触发的双链路切换模式是指机载Wi-Fi模块同时与两个基站服务器的无线接入点通信，基站链路层服务器监控链路状态，如果发现新的网络，则决定是否要进行切换；如果决定切换，服务器将把两条链路中的一条连接到新的网络，并发出链路层触发；机载Wi-Fi模块通过新网络进行注册，同时保持另一条链路的数据通信工作；注册成功之后，机载Wi-Fi模块在新的网络进行数据收发，然后把另一条链路也连接到新网络来。As a preferred technical solution, the airborne communication module refers to the built-in TCP/IP protocol stack of the airborne Wi-Fi module mounted on the mobile platform system, which has a high-speed serial interface to Wi-Fi function, and is used to realize high-speed serial communication. Data transparent conversion between the line interface and the wireless network, the mobile platform system adopts the dual-link switching mode triggered by the link layer when switching across the airspace, and the software adopts the load moving strategy to realize the automatic switching of the integrated network Wi-Fi terminal Mechanism; the dual-link switching mode triggered by the link layer refers to that the airborne Wi-Fi module communicates with the wireless access points of two base station servers at the same time, and the base station link layer server monitors the link status. If a new network is found , then decide whether to switch; if switch is decided, the server will connect one of the two links to the new network and issue a link layer trigger; the onboard Wi-Fi module registers with the new network while maintaining the other The data communication of one link works; after the registration is successful, the onboard Wi-Fi module transmits and receives data in the new network, and then connects the other link to the new network.
作为优选的技术方案，所述的传感节点通信模块是指各传感节点中的Wi‐Fi模块时刻保持着与基站中的Wi‐Fi模块间的通信，并将传感节点所采集数据上传给基站，传感节点和基站组成的局域通信网络具有自组织的功能，单个节点经过初始的通信和协商，形成一个传输信息的多跳网络，每个传感网络装备设有一个连接到传输网络的网关，传输网络是由一个单跳链接或一系列的无线网络节点组成的。As a preferred technical solution, the sensor node communication module refers to that the Wi-Fi module in each sensor node maintains communication with the Wi-Fi module in the base station at all times, and uploads the data collected by the sensor node For the base station, the local area communication network composed of sensor nodes and base stations has the function of self-organization. After initial communication and negotiation, a single node forms a multi-hop network for transmitting information. Each sensor network equipment is equipped with a connection to the transmission The gateway of the network, the transmission network is composed of a single-hop link or a series of wireless network nodes.
作为优选的技术方案，所述传感节点中的Wi-Fi模块内置TCP/IP协议栈，具有高速串行接口转Wi-Fi功能，用于实现高速串行接口和无线网之间的数据透明转换，通过Wi-Fi模块相关配置命令设置传感节点为UDP客户端，基站为UDP服务器端；所述UDP客户端的本地端口可以随机，可接收任意基站服务器发给该传感节点客户端的数据，但高速串行接口转发到UDP的目标是确定的某一远程基站服务器，作为客户端的传感节点只向该服务器发送数据，其它服务器只能向传感节点发送数据，接收不到传感节点的数据；所述UDP服务器端本地端口固定，可接收任意传感节点客户端发给该基站服务器的数据，但高速串行接口转发到UDP的目标是最后一次和服务器的通讯的客户端，即基站的高速串行接口数据只转发给最后和基站通讯的传感节点。As a preferred technical solution, the Wi-Fi module in the sensor node has a built-in TCP/IP protocol stack, which has a high-speed serial interface to Wi-Fi function, and is used to realize data transparency between the high-speed serial interface and the wireless network Conversion, set the sensor node as a UDP client through the relevant configuration commands of the Wi-Fi module, and the base station as a UDP server; the local port of the UDP client can be random, and can receive data sent to the sensor node client by any base station server, However, the target of the high-speed serial interface forwarding to UDP is a certain remote base station server. The sensor node as the client only sends data to the server, and other servers can only send data to the sensor node, and cannot receive the data from the sensor node. Data; the local port of the UDP server is fixed, and can receive the data sent by any sensor node client to the base station server, but the target of the high-speed serial interface forwarding to UDP is the client that communicated with the server for the last time, that is, the base station The high-speed serial interface data is only forwarded to the sensor node that finally communicates with the base station.
作为优选的技术方案，所述传感节点、基站上电或重启后默认运行在透转模式下，传感节点中的各类型传感模块采集的数据由主处理器处理分析后，传送至高速串行接口，当高速串行接口接收到最大封包长度的数据就会立即组成一包数据进行透明转发至Wi-Fi射频发射器，而当模块高速串行接口接收到的数据不够最大封包长度时，则在封包间隔时间到后把高速串行接口当前收到的数据组成一包进行转发，转发后的数据经射频模块发送至基站；同理，基站的接收数据的过程与上述过程相反。As a preferred technical solution, the sensor nodes and base stations run in transparent mode by default after being powered on or restarted, and the data collected by various types of sensor modules in the sensor nodes are processed and analyzed by the main processor and then transmitted to the high-speed Serial interface, when the high-speed serial interface receives the data with the maximum packet length, it will immediately form a packet of data and transparently forward it to the Wi-Fi RF transmitter, and when the data received by the high-speed serial interface of the module is not enough for the maximum packet length , then after the packet interval time is up, the data currently received by the high-speed serial interface is composed into a packet for forwarding, and the forwarded data is sent to the base station through the radio frequency module; similarly, the process of receiving data by the base station is opposite to the above process.
作为优选的技术方案，所述的基站服务器在功能结构上起到承上启下的中继节点作用，将应用层和服务器层间的数据实现共享；所述的交换控制中心网关节点负责汇总各个基站上传的采集数据，并将调度管制中心的命令数据发送至基站，交换控制中心的硬件设计上集成了数据存储模块、Wi-Fi模块和高速串行接口通信模块，软件策略上需要对数据做预处理以符合通信模块的格式要求，另外，在数据发送的调度策略中采用堆栈调度策略。As a preferred technical solution, the base station server acts as a linking relay node in terms of functional structure, sharing data between the application layer and the server layer; the gateway node of the switching control center is responsible for summarizing the data uploaded by each base station Collect data and send command data from the dispatching control center to the base station. The hardware design of the switching control center integrates a data storage module, a Wi-Fi module and a high-speed serial interface communication module. The software strategy requires preprocessing of the data to It meets the format requirements of the communication module. In addition, the stack scheduling strategy is adopted in the scheduling strategy of data transmission.
作为优选的技术方案，所述的GIS专题图展示是一个以测量测绘为基础，以数据库作为数据存储和使用的数据源，以计算机编程为平台的全球空间分析技术；As a preferred technical solution, the GIS thematic map display is a global spatial analysis technology based on surveying and mapping, using a database as a data source for data storage and use, and using computer programming as a platform;
所述的实时飞行参数显示是一个反映区域内被选中UAV的实时飞行姿态的参数显示，其中参数包括UAV的方向、位置、高度、速度、过载、加速度、角位移、角速度、角加速度及电机转速，在此区域中的飞行参数可随意调整以达到控制UAV飞行姿态的目的。The real-time flight parameter display is a parameter display reflecting the real-time flight attitude of the selected UAV in the area, wherein the parameters include the direction, position, height, speed, overload, acceleration, angular displacement, angular velocity, angular acceleration and motor speed of the UAV , the flight parameters in this area can be adjusted at will to achieve the purpose of controlling the flight attitude of the UAV.
作为优选的技术方案，所述的通信质量可视化是指当前系统内所有通信链路的通信情况可通过数字模拟实时显示，其中参数包括通信带宽、数传速率及工作频率；As a preferred technical solution, the communication quality visualization means that the communication conditions of all communication links in the current system can be displayed in real time through digital simulation, wherein the parameters include communication bandwidth, data transmission rate and operating frequency;
所述的环境变量实时显示是指调度管制平台首先接收来自传感节点的数据并存入数据库，再从数据库中读取最新的环境变量数据以条幅形式实时显示；The real-time display of the environmental variables means that the dispatch control platform first receives the data from the sensor nodes and stores them in the database, and then reads the latest environmental variable data from the database and displays them in real-time in the form of banners;
所述的历史记录查询功能是指在历史记录界面上可以查询环境变量参数记录、UAV飞行参数记录、UAV飞行轨迹规划记录、基站覆盖区规划记录及基站通信质量在线调整记录。The historical record query function means that the environment variable parameter record, UAV flight parameter record, UAV flight trajectory planning record, base station coverage area planning record and base station communication quality online adjustment record can be queried on the historical record interface.
本发明还提供了一种兼容UAV的地空无线传感网络通信方法，包括如下步骤：The present invention also provides a UAV-compatible ground-air wireless sensor network communication method, comprising the following steps:
(1)系统上电前，配置各基站为UDP服务器端，传感节点和UAV移动平台为UDP客户端，并初始化系统内各装置；(1) Before the system is powered on, configure each base station as a UDP server, sensor nodes and UAV mobile platforms as UDP clients, and initialize each device in the system;
(2)系统上电后，通过操作调度管制平台向交换控制中心发送指令；(2) After the system is powered on, send instructions to the exchange control center through the operation dispatching control platform;
(3)交换控制中心收到指令后对数据做预处理，并存入命令堆栈，堆栈调度算法通过读取命令堆栈中的数据将指令发送至目标基站；(3) After receiving the instruction, the exchange control center preprocesses the data and stores it in the command stack, and the stack scheduling algorithm sends the command to the target base station by reading the data in the command stack;
(4)目标基站收到交换控制中心的命令数据后向其所处区域散发指令；(4) The target base station distributes instructions to the area where it is located after receiving the command data from the switching control center;
(5)当传感节点接收到来自基站的数据采集指令后判断指令类型，并按照指令以设定的格式将传感器采集到的数据发送至基站；(5) When the sensor node receives the data acquisition instruction from the base station, it judges the instruction type, and sends the data collected by the sensor to the base station in the format set according to the instruction;
(6)UAV接收来自基站的航迹规划指令后搭载相应机载设备，按指令执行任务；(6) After receiving the track planning instructions from the base station, the UAV is equipped with the corresponding airborne equipment, and performs tasks according to the instructions;
(7)调度管制平台收到传感节点采集的环境参数和UAV机载数据后，通过反演模型进行精细化校准，最后通过Vonoroi图法与数据融合手段与模式识别算法，得到作业区域环境要素与光谱特征间的精细化时空分布模型。(7) After the dispatching control platform receives the environmental parameters collected by the sensor nodes and the UAV airborne data, it performs fine calibration through the inversion model, and finally obtains the environmental elements of the operation area through the Vonoroi diagram method, data fusion means and pattern recognition algorithm A refined spatio-temporal distribution model between spectral features.
本发明与现有技术相比，具有如下优点和有益效果：Compared with the prior art, the present invention has the following advantages and beneficial effects:
1)本发明是基于多个小功率基站覆盖，协作通信，无需使用机载大功率数传电台。1) The present invention is based on the coverage of multiple low-power base stations and cooperative communication, without using an airborne high-power data transmission station.
2)本发明的覆盖范围可灵活扩展，仔细进行网络规划，可以消除信号盲区。2) The coverage of the present invention can be flexibly expanded, and careful network planning can eliminate signal blind spots.
3)本发明的网内可容纳多台无人机与监控终端。3) Multiple drones and monitoring terminals can be accommodated in the network of the present invention.
4)本发明的UAV机载通信模块硬件上采用双链路结构，软件上采取负载移动策略，实现一体化网络Wi-Fi终端自动切换机制。4) The UAV airborne communication module of the present invention adopts a dual-link structure on the hardware, and adopts a load moving strategy on the software to realize the automatic switching mechanism of the integrated network Wi-Fi terminal.
附图说明Description of drawings
图1系统通信网络拓扑结构示意图；Fig. 1 schematic diagram of system communication network topology;
图2系统数据流向图；Figure 2 system data flow diagram;
图3调度管制平台逻辑结构示意图；Figure 3 is a schematic diagram of the logical structure of the dispatching control platform;
图4交换控制中心数据调度示意图。Figure 4 is a schematic diagram of data scheduling in the switching control center.
具体实施方式detailed description
下面结合实施例及附图对本发明作进一步详细的描述，但本发明的实施方式不限于此。The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
实施例Example
如图1所示，一种兼容UAV(无人飞行器)的地空无线传感网络通信装置包括传感监测系统、移动平台系统、一体化Wi-Fi网络通信系统以及调度管制平台；As shown in Figure 1, a ground-air wireless sensor network communication device compatible with UAV (unmanned aerial vehicle) includes a sensor monitoring system, a mobile platform system, an integrated Wi-Fi network communication system, and a dispatch control platform;
所述传感器监测系统是指在传感器网络中，任意散落在被监测区内的传感节点实时监测目标区域内的特定变量对象；The sensor monitoring system refers to that in the sensor network, the sensor nodes randomly scattered in the monitored area monitor the specific variable objects in the target area in real time;
所述移动平台系统是挂载Wi-Fi通信模块的UAV，采用旋翼垂直起降平台，实现UAV飞行速度和轨迹的可控性，该移动平台系统可受调度管制平台的飞行路径规划的约束，移动平台系统可根据业务需要挂载相应设备；The mobile platform system is a UAV equipped with a Wi-Fi communication module, and adopts a rotor vertical take-off and landing platform to realize the controllability of UAV flight speed and trajectory. The mobile platform system can be constrained by the flight path planning of the dispatch control platform, The mobile platform system can mount corresponding equipment according to business needs;
所述一体化Wi-Fi网络通信系统指以Wi-Fi通信方式为主，参照蜂窝移动通信网络的结构，构建由机载通信模块、传感节点通信模块、基站服务器和交换控制中心网关节点四大部分组成的地-空数据链通信网络；The integrated Wi-Fi network communication system refers to Wi-Fi communication as the main mode, and with reference to the structure of the cellular mobile communication network, it is composed of four airborne communication modules, sensor node communication modules, base station servers and switching control center gateway nodes. Most of the ground-air data link communication network;
所述调度管制平台是一套用于无人机飞行路径管制、无线网路拓扑控制信息及环境变量信息采集的软件平台，用于实现GIS专题图展示、实时飞行参数显示、基站覆盖区、负载量、通信质量可视化、基站通信参数在线调整、环境变量信息实时显示、历史记录查询。The dispatching control platform is a set of software platforms for UAV flight path control, wireless network topology control information and environmental variable information collection, used to realize GIS thematic map display, real-time flight parameter display, base station coverage area, load capacity , Communication quality visualization, online adjustment of base station communication parameters, real-time display of environmental variable information, and historical record query.
数据科学、合理、有效的流动是本系统能正常运行的关键，为此将设定如图2所示的系统数据流向图。Scientific, reasonable and effective flow of data is the key to the normal operation of this system. For this reason, the system data flow diagram shown in Figure 2 will be set.
调度管制平台，即控制中心对下位机设备进行命令控制，包括实时飞行参数采集、航径规划、环境变量参数采集、基站覆盖区设定、负载量设定、通信质量可视化与基站通信参数在线调整等，其内部逻辑结构示意图如图3所示。整个调度管制平台分两个界面，主界面和历史记录界面。主界面上集成了GIS专题图展区、基站通信参数调整区、环境参数展示区、飞行参数调整及轨迹规划区；历史记录界面在主界面上通过标签栏切换，其子界面包括环境参数采集历史界面、UAV飞行参数采集历史界面、UAV飞行轨迹规划历史界面、基站覆盖区规划历史界面。整个调度平台数据均从数据库读取或写入，通常的数据库工具均可采用，如mysql、sql server等能有效满足系统数据存储需求。调度管制平台的直接命令施加对象是交换控制中心。Dispatching and control platform, that is, the control center controls the lower computer equipment, including real-time flight parameter collection, path planning, environmental variable parameter collection, base station coverage area setting, load setting, communication quality visualization and online adjustment of base station communication parameters etc., the schematic diagram of its internal logical structure is shown in Figure 3. The entire scheduling control platform is divided into two interfaces, the main interface and the history record interface. The main interface integrates GIS thematic map exhibition area, base station communication parameter adjustment area, environmental parameter display area, flight parameter adjustment and trajectory planning area; the history record interface is switched through the tab bar on the main interface, and its sub-interface includes the environmental parameter collection history interface , UAV flight parameter collection history interface, UAV flight trajectory planning history interface, base station coverage area planning history interface. The data of the entire scheduling platform is read or written from the database, and common database tools can be used, such as mysql, sql server, etc., which can effectively meet the system data storage requirements. The direct command of the dispatch control platform is the exchange control center.
所述交换控制中心网关节点硬件设计上集成了数据存储模块、Wi-Fi通信模块和高速串行接口通信模块，软件策略上采用双堆栈数据暂存模式，并对数据做预处理以符合通信模块的格式要求。交换控制中心作为上位机与下位机设备的一级数据调度中心，其数据调度示意图如图4所示。从图4可知，该系统数据类型多，量大，内容复杂，因此将采用批处理模式下双堆栈结构(包括指令堆栈和数据堆栈)，调度协议采用先进后出的堆栈调度算法，有效解决系统数据调度问题。与交换控制中心产生直接交互的是各个通过无线WI-FI模块与交换控制中心互联的基站。The switch control center gateway node hardware design integrates a data storage module, a Wi-Fi communication module and a high-speed serial interface communication module. The software strategy adopts a dual-stack data temporary storage mode, and pre-processes the data to meet the requirements of the communication module. format requirements. The switch control center is the first-level data dispatching center of the upper computer and the lower computer equipment, and its data dispatching diagram is shown in Figure 4. It can be seen from Figure 4 that the system has many types of data, large volume, and complex content. Therefore, a dual-stack structure (including instruction stack and data stack) will be adopted in batch processing mode. The scheduling protocol uses a first-in, last-out stack scheduling algorithm to effectively solve the Data scheduling problem. The direct interaction with the switching control center is each base station interconnected with the switching control center through the wireless WI-FI module.
系统中包括多个基站，具体可根据实情划设数量，每个基站负责一片区域内传感节点、经过此区域的UAV间的通信。为保证通信质量的可靠性，可接受来自调度管制平台的通信质量参数调整命令，所述基站服务器在功能结构上起到承上启下的中继节点作用，将应用层和服务器层间的数据实现共享。采用接入标识与交换路由标识分离映射的移动管理策略，把传统IP地址的双重属性进行分离,接入标识代表终端的身份，交换路由标识代表终端的位置。该机制使得UAV平台在移动的情况下仅仅进行交换路由标识的切换，而用于建立传输连接的接入标识在这一过程中保持不变，连接不会被中断。The system includes multiple base stations, and the number can be set according to the actual situation. Each base station is responsible for the communication between sensor nodes in an area and UAVs passing through this area. In order to ensure the reliability of the communication quality, it can accept the communication quality parameter adjustment command from the dispatching control platform, and the base station server plays the role of a relay node connecting the preceding and the following in terms of functional structure, sharing the data between the application layer and the server layer. Adopt the mobile management strategy of separating and mapping the access ID and the switching routing ID to separate the dual attributes of the traditional IP address. The access ID represents the identity of the terminal, and the switching routing ID represents the location of the terminal. This mechanism enables the UAV platform to only switch routing identifiers when it is moving, while the access identifiers used to establish transmission connections remain unchanged during this process, and the connections will not be interrupted.
对于传感节点，接收来自调度管制平台的数据采集命令，并按照命令发送采集数据至处理终端处理。例如首先持续采集所处环境空气温湿度、光照、土壤温湿度、二氧化碳、风力、风向等环境参数，得到地面参考点基础数据。其次，利用地面基础数据对机载光谱成像数据与环境参数间的反演模型进行精细化校准。最后通过Vonoroi图法与数据融合手段(如卡尔曼滤波，贝叶斯估计，主成分分析等)，得到作业区域环境要素与光谱特征间的精细化时空分布模型。For the sensor node, it receives the data collection command from the dispatch control platform, and sends the collected data to the processing terminal for processing according to the command. For example, firstly, continuously collect the ambient air temperature and humidity, light, soil temperature and humidity, carbon dioxide, wind force, wind direction and other environmental parameters to obtain the basic data of the ground reference point. Secondly, the inversion model between the airborne spectral imaging data and the environmental parameters is finely calibrated using the basic ground data. Finally, through the Vonoroi diagram method and data fusion methods (such as Kalman filter, Bayesian estimation, principal component analysis, etc.), a refined spatio-temporal distribution model between environmental elements and spectral features in the operating area is obtained.
UAV接收来自调度管制平台的航迹规划命令，并搭载相应机载设备，按命令执行任务。如机载设备采用光谱成像系统，获取作业区域不同波段的光谱图像，结合人工采集区域内具体关键参数，利用数据融合手段(如卡尔曼滤波，贝叶斯推断，主成分分析等)与模式识别(如深度神经网络、支持向量回归等)算法，求得到作业区域关键要素与机载光谱数据间的时空分布关系模型。The UAV receives the trajectory planning command from the dispatch control platform, and carries the corresponding airborne equipment to execute the task according to the command. For example, the airborne equipment uses a spectral imaging system to obtain spectral images of different bands in the operating area, combined with the specific key parameters in the manual collection area, using data fusion methods (such as Kalman filtering, Bayesian inference, principal component analysis, etc.) and pattern recognition (such as deep neural network, support vector regression, etc.) algorithm to obtain the spatial-temporal distribution relationship model between the key elements of the operation area and the airborne spectral data.
所述传感节点由传感单元、数据处理单元、数据传输单元和电源四部分组成。传感单元由各类传感器及数模转换设备组成，传感器的类型是由被监测物理信号的形式决定的；数据处理通常选用低功耗嵌入式微控制器；数据传输单元主要由Wi-Fi通信模块构成。当传感节点接收到来自基站的数据采集指令后立即判断指令类型，并按照指令以设定的格式，将传感器采集到的数据发送至基站。The sensor node is composed of four parts: a sensor unit, a data processing unit, a data transmission unit and a power supply. The sensing unit is composed of various sensors and digital-to-analog conversion equipment. The type of sensor is determined by the form of the monitored physical signal; data processing usually uses a low-power embedded microcontroller; the data transmission unit is mainly composed of Wi-Fi communication modules constitute. When the sensor node receives the data acquisition instruction from the base station, it immediately judges the instruction type, and sends the data collected by the sensor to the base station in the format set according to the instruction.
所述机载通信模块是指移动平台系统上挂载的机载Wi-Fi模块内置TCP/IP协议栈，具有高速串行接口转Wi-Fi功能，用于实现高速串行接口和无线网之间的数据透明转换，移动平台系统在跨空域切换时，采用链路层触发的双链路切换模式，软件上采取负载移动策略，实现一体化网络Wi-Fi终端自动切换机制；所述链路层触发的双链路切换模式是指机载Wi-Fi模块同时与两个基站服务器的无线接入点通信，基站链路层服务器监控链路状态，如果发现新的网络，则决定是否要进行切换；如果决定切换，服务器将把两条链路中的一条连接到新的网络，并发出链路层触发；机载Wi-Fi模块通过新网络进行注册，同时保持另一条链路的数据通信工作；注册成功之后，机载Wi-Fi模块在新的网络进行数据收发，然后把另一条链路也连接到新网络来。The airborne communication module refers to the built-in TCP/IP protocol stack of the airborne Wi-Fi module mounted on the mobile platform system, which has a high-speed serial interface to Wi-Fi function, and is used to realize the connection between the high-speed serial interface and the wireless network. Transparent data conversion between the mobile platform systems, when switching across the airspace, the mobile platform system adopts the dual-link switching mode triggered by the link layer, and adopts the load moving strategy on the software to realize the automatic switching mechanism of the integrated network Wi-Fi terminal; the link Layer-triggered dual-link switching mode means that the onboard Wi-Fi module communicates with the wireless access points of two base station servers at the same time, and the base station link layer server monitors the link status. Handover; if a handover is decided, the server will connect one of the two links to the new network and issue a link layer trigger; the onboard Wi-Fi module registers with the new network while maintaining data communication on the other link Work; after successful registration, the onboard Wi-Fi module will send and receive data in the new network, and then connect another link to the new network.
所述的传感节点通信模块是指各传感节点中的Wi‐Fi模块时刻保持着与基站中的Wi‐Fi模块间的通信，并将传感节点所采集数据上传给基站，传感节点和基站组成的局域通信网络具有自组织的功能，单个节点经过初始的通信和协商，形成一个传输信息的多跳网络，每个传感网络装备设有一个连接到传输网络的网关，传输网络是由一个单跳链接或一系列的无线网络节点组成的。The sensor node communication module refers to that the Wi-Fi module in each sensor node maintains communication with the Wi-Fi module in the base station at all times, and uploads the data collected by the sensor node to the base station, and the sensor node The local area communication network composed of base stations has the function of self-organization. After initial communication and negotiation, a single node forms a multi-hop network for transmitting information. Each sensor network equipment is equipped with a gateway connected to the transmission network. The transmission network It is composed of a single-hop link or a series of wireless network nodes.
所述传感节点中的Wi-Fi模块内置TCP/IP协议栈，具有高速串行接口转Wi-Fi功能，用于实现高速串行接口和无线网之间的数据透明转换，通过Wi-Fi模块相关配置命令设置传感节点为UDP客户端，基站为UDP服务器端；所述UDP客户端的本地端口可以随机，可接收任意基站服务器发给该传感节点客户端的数据，但高速串行接口转发到UDP的目标是确定的某一远程基站服务器，作为客户端的传感节点只向该服务器发送数据，其它服务器只能向传感节点发送数据，接收不到传感节点的数据；所述UDP服务器端本地端口固定，可接收任意传感节点客户端发给该基站服务器的数据，但高速串行接口转发到UDP的目标是最后一次和服务器的通讯的客户端，即基站的高速串行接口数据只转发给最后和基站通讯的传感节点。The Wi-Fi module in the sensor node has a built-in TCP/IP protocol stack, has a high-speed serial interface to Wi-Fi function, and is used to realize data transparent conversion between the high-speed serial interface and the wireless network. Module-related configuration commands set the sensor node as a UDP client, and the base station as a UDP server; the local port of the UDP client can be random, and can receive data sent by any base station server to the sensor node client, but the high-speed serial interface forwards The target to UDP is a certain remote base station server, the sensor node as the client only sends data to the server, other servers can only send data to the sensor node, and cannot receive the data of the sensor node; the UDP server The local port of the terminal is fixed, and can receive data sent by any sensor node client to the base station server, but the target of the high-speed serial interface forwarded to UDP is the client that communicated with the server for the last time, that is, the high-speed serial interface data of the base station It is only forwarded to the sensor node that communicated with the base station last.
所述传感节点、基站上电或重启后默认运行在透转模式下，传感节点中的各类型传感模块采集的数据由主处理器处理分析后，传送至高速串行接口，当高速串行接口接收到最大封包长度的数据就会立即组成一包数据进行透明转发至Wi-Fi射频发射器，而当模块高速串行接口接收到的数据不够最大封包长度时，则在封包间隔时间到后把高速串行接口当前收到的数据组成一包进行转发，转发后的数据经射频模块发送至基站；同理，基站的接收数据的过程与上述过程相反。After the sensor nodes and base stations are powered on or restarted, they run in the transparent mode by default. The data collected by various types of sensor modules in the sensor nodes are processed and analyzed by the main processor, and then transmitted to the high-speed serial interface. When the high-speed When the serial interface receives the data with the maximum packet length, it will immediately form a packet of data and transparently forward it to the Wi-Fi RF transmitter. When the data received by the high-speed serial interface of the module is not After that, the data currently received by the high-speed serial interface is composed into a packet for forwarding, and the forwarded data is sent to the base station through the radio frequency module; similarly, the process of receiving data by the base station is opposite to the above process.
所述的基站服务器在功能结构上起到承上启下的中继节点作用，将应用层和服务器层间的数据实现共享；所述的交换控制中心网关节点负责汇总各个基站上传的采集数据，并将调度管制中心的命令数据发送至基站，交换控制中心的硬件设计上集成了数据存储模块、Wi-Fi模块和高速串行接口通信模块，软件策略上需要对数据做预处理以符合通信模块的格式要求，另外，在数据发送的调度策略中采用堆栈调度策略。The base station server acts as a connecting relay node in terms of functional structure, and realizes sharing of data between the application layer and the server layer; the gateway node of the switching control center is responsible for summarizing the collected data uploaded by each base station, and scheduling The command data of the control center is sent to the base station. The hardware design of the switching control center integrates a data storage module, a Wi-Fi module and a high-speed serial interface communication module. The software strategy needs to preprocess the data to meet the format requirements of the communication module. , in addition, the stack scheduling strategy is adopted in the scheduling strategy of data transmission.
所述的GIS专题图展示是一个以测量测绘为基础，以数据库作为数据存储和使用的数据源，以计算机编程为平台的全球空间分析技术；The GIS thematic map display is a global spatial analysis technology based on surveying and mapping, using a database as a data source for data storage and use, and using computer programming as a platform;
所述的实时飞行参数显示是一个反映区域内被选中UAV的实时飞行姿态的参数显示，其中参数包括UAV的方向、位置、高度、速度、过载、加速度、角位移、角速度、角加速度及电机转速，在此区域中的飞行参数可随意调整以达到控制UAV飞行姿态的目的。The real-time flight parameter display is a parameter display reflecting the real-time flight attitude of the selected UAV in the area, wherein the parameters include the direction, position, height, speed, overload, acceleration, angular displacement, angular velocity, angular acceleration and motor speed of the UAV , the flight parameters in this area can be adjusted at will to achieve the purpose of controlling the flight attitude of the UAV.
所述的通信质量可视化是指当前系统内所有通信链路的通信情况可通过数字模拟实时显示，其中参数包括通信带宽、数传速率及工作频率；The communication quality visualization means that the communication conditions of all communication links in the current system can be displayed in real time through digital simulation, and the parameters include communication bandwidth, data transmission rate and operating frequency;
所述的环境变量实时显示是指调度管制平台首先接收来自传感节点的数据并存入数据库，再从数据库中读取最新的环境变量数据以条幅形式实时显示；The real-time display of the environmental variables means that the dispatch control platform first receives the data from the sensor nodes and stores them in the database, and then reads the latest environmental variable data from the database and displays them in real-time in the form of banners;
所述的历史记录查询功能是指在历史记录界面上可以查询环境变量参数记录、UAV飞行参数记录、UAV飞行轨迹规划记录、基站覆盖区规划记录及基站通信质量在线调整记录。The historical record query function means that the environment variable parameter record, UAV flight parameter record, UAV flight trajectory planning record, base station coverage area planning record and base station communication quality online adjustment record can be queried on the historical record interface.
所述UAV及机载设备是指在挂载了Wi-Fi通信模块的固定翼或旋翼飞行器上搭载机载设备，所述机载设备是根据实际情况能满足需求的设备，如测绘工具光谱成像仪、红外相机及其他传感探测设备，应用工具施肥器、洒药器等。The UAV and airborne equipment refer to the airborne equipment mounted on a fixed-wing or rotary-wing aircraft equipped with a Wi-Fi communication module. The airborne equipment is equipment that can meet the needs according to actual conditions, such as surveying and mapping tools spectral imaging Instruments, infrared cameras and other sensing detection equipment, application tools such as fertilizer applicators, sprayers, etc.
一种兼容UAV(无人飞行器)的地空无线传感网络通信实施方法包括如下步骤：A ground-air wireless sensor network communication implementation method compatible with UAV (unmanned aerial vehicle) comprises the steps:
(1)系统上电前，配置各基站为UDP服务器端，传感节点和UAV移动平台为UDP客户端，并初始化系统内各装置。(1) Before the system is powered on, configure each base station as a UDP server, sensor nodes and UAV mobile platforms as a UDP client, and initialize each device in the system.
(2)系统上电后，通过操作调度管制平台向交换控制中心发送指令。(2) After the system is powered on, an instruction is sent to the exchange control center through the operation dispatching control platform.
(3)交换控制中心收到指令后对数据做预处理，并存入命令堆栈。堆栈调度算法通过读取命令堆栈中的数据将指令发送至目标基站。(3) After the exchange control center receives the command, it preprocesses the data and stores it in the command stack. The stack scheduling algorithm sends commands to the target base station by reading data from the command stack.
(4)目标基站收到交换控制中心的命令数据后向其所处区域散发指令。(4) After receiving the command data from the switching control center, the target base station distributes commands to the area where it is located.
(5)当传感节点接收到来自基站的数据采集指令后判断指令类型，并按照指令以设定的格式(如：“地点+数据类型+数值+$”)将传感器采集到的数据发送至基站。(5) When the sensor node receives the data collection instruction from the base station, it judges the instruction type, and sends the data collected by the sensor to the base station.
(6)UAV接收来自基站的航迹规划指令后搭载相应机载设备，按指令执行任务。(6) After receiving the track planning instructions from the base station, the UAV is equipped with the corresponding airborne equipment and performs tasks according to the instructions.
(7)调度管制平台收到传感节点采集的环境参数和UAV机载数据后，通过反演模型进行精细化校准。最后通过Vonoroi图法、数据融合手段和模式识别算法等，得到作业区域环境要素与光谱特征间的精细化时空分布模型。(7) After the dispatch control platform receives the environmental parameters collected by the sensor nodes and the UAV airborne data, it performs fine calibration through the inversion model. Finally, through the Vonoroi diagram method, data fusion means and pattern recognition algorithm, etc., the refined spatio-temporal distribution model between environmental elements and spectral features in the operation area is obtained.
上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.
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| WO2019018993A1 (en)* | 2017-07-24 | 2019-01-31 | 北京小米移动软件有限公司 | Method and apparatus for paging operable device |
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| CN108848465B (en)* | 2018-08-15 | 2020-10-30 | 中国人民解放军陆军工程大学 | Unmanned aerial vehicle flight trajectory and resource scheduling joint optimization method oriented to data distribution |
| CN108848465A (en)* | 2018-08-15 | 2018-11-20 | 中国人民解放军陆军工程大学 | Unmanned aerial vehicle flight trajectory and resource scheduling joint optimization method oriented to data distribution |
| CN109327873A (en)* | 2018-10-18 | 2019-02-12 | 上海歌尔泰克机器人有限公司 | Device switching method, device and data transmission system |
| CN109451454A (en)* | 2018-10-26 | 2019-03-08 | 华南农业大学 | A kind of vacant lot linkage LoRaWAN communication device and method based on UAV mobile gateway |
| CN109286435B (en)* | 2018-11-01 | 2021-11-23 | 上海歌尔泰克机器人有限公司 | Data transmission method, device and system |
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| CN111435257B (en)* | 2019-01-14 | 2022-04-05 | 华为技术有限公司 | A kind of mobile route determination method and related equipment |
| CN111435257A (en)* | 2019-01-14 | 2020-07-21 | 华为技术有限公司 | A kind of mobile route determination method and related equipment |
| CN110049448A (en)* | 2019-04-22 | 2019-07-23 | 福州大学 | A kind of wireless sense network method of data capture based on unmanned aerial vehicle group |
| CN110418390B (en)* | 2019-06-17 | 2020-12-29 | 华南农业大学 | Data transmission optimization method and system for low-altitude remote sensing and ground sensing |
| CN110418390A (en)* | 2019-06-17 | 2019-11-05 | 华南农业大学 | Data transmission optimization method and system for low-altitude remote sensing and ground sensing |
| CN110445531A (en)* | 2019-08-12 | 2019-11-12 | 北京多尼卡空联技术有限公司 | Airborne communication device and system |
| CN111105611A (en)* | 2019-09-16 | 2020-05-05 | 领亚电子科技股份有限公司 | A laser transmission flight data collector for geographic disaster information |
| CN113329434B (en)* | 2021-06-23 | 2022-12-27 | 西北工业大学 | Wireless sensor network position optimization and resource management method and application |
| CN113329434A (en)* | 2021-06-23 | 2021-08-31 | 西北工业大学 | Wireless sensor network position optimization and resource management method and application |
| CN113721652A (en)* | 2021-08-03 | 2021-11-30 | 承德石油高等专科学校 | Modularized information acquisition and transmission method and equipment for unmanned aerial vehicle |
| CN114460930B (en)* | 2021-12-22 | 2023-12-26 | 深圳市富斯科技有限公司 | Movable terminal and control system |
| CN114460930A (en)* | 2021-12-22 | 2022-05-10 | 深圳市富斯科技有限公司 | Movable end and control system |
| CN114641095A (en)* | 2022-03-10 | 2022-06-17 | 上海旷通科技有限公司 | 5G outdoor terminal capable of autonomously flying |
| CN116471639B (en)* | 2023-06-19 | 2023-08-18 | 四川中普盈通科技有限公司 | Mobile platform multi-network integration network access method and device based on path planning |
| CN116471639A (en)* | 2023-06-19 | 2023-07-21 | 四川中普盈通科技有限公司 | Mobile platform multi-network integration network access method and device based on path planning |
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