WO2018191965A1 - 天线对准方法和地面控制端 - Google Patents
天线对准方法和地面控制端 Download PDFInfo
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- WO2018191965A1 WO2018191965A1 PCT/CN2017/081472 CN2017081472W WO2018191965A1 WO 2018191965 A1 WO2018191965 A1 WO 2018191965A1 CN 2017081472 W CN2017081472 W CN 2017081472W WO 2018191965 A1 WO2018191965 A1 WO 2018191965A1
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- antenna
- drone
- directional antenna
- ground control
- control terminal
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 105
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- 238000010586 diagram Methods 0.000 description 7
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- 238000004458 analytical method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Definitions
- the present invention relates to communication technologies, and in particular, to an antenna alignment method and a ground control terminal.
- the remote control of the existing drone generally uses a directional antenna to enhance the signal strength in the target direction, so the remote controller needs to be manually operated to align the directional antenna with the drone.
- the drone exceeds the line of sight, it is difficult to achieve alignment, resulting in poor communication quality.
- the present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an antenna alignment method and a ground control terminal.
- An antenna alignment method is for controlling a ground control terminal having a directional antenna to align the directional antenna with a drone, and the antenna alignment method includes the following steps:
- the ground control end of the embodiment of the present invention includes a directional antenna, the ground control end is configured to control the directional antenna to be aligned with the drone, and the ground control end further includes a first processor, where the first processor is used by :
- the antenna alignment method and the ground control end of the embodiment of the present invention adjust the communication direction of the directional antenna so that the communication direction of the directional antenna is always aligned with the drone, and the ground control end and the drone are always in an optimal receiving and transmitting state. Improve the stability of communication between the ground control terminal and the drone.
- FIG. 1 is a flow chart of an antenna alignment method according to some embodiments of the present invention.
- FIG. 2 is a block diagram of a ground control end of some embodiments of the present invention.
- FIG. 3 is a schematic diagram of a state of an antenna alignment method according to some embodiments of the present invention.
- FIG. 4 is a flow diagram of an antenna alignment method in accordance with some embodiments of the present invention.
- FIG. 5 is a schematic flow chart of an antenna alignment method according to some embodiments of the present invention.
- FIG. 6 is a flow diagram of an antenna alignment method in accordance with some embodiments of the present invention.
- FIG. 7 is a flow chart of an antenna alignment method according to some embodiments of the present invention.
- FIG. 8 is a block diagram of a ground control end of some embodiments of the present invention.
- FIG. 9 is a flow diagram of an antenna alignment method in accordance with some embodiments of the present invention.
- FIG. 10 is a flow diagram of an antenna alignment method in accordance with some embodiments of the present invention.
- an antenna alignment method is for controlling a ground control terminal 100 having a directional antenna 21 to align the directional antenna 21 with the drone 200.
- the antenna alignment method includes the following steps:
- the communication direction of the directional antenna 21 is controlled to be aligned with the drone 200 based on the position information and the position and posture information.
- the antenna alignment method of the embodiment of the present invention can be implemented by the ground control terminal 100 of the embodiment of the present invention.
- the ground control end 100 of an embodiment of the present invention includes a directional antenna 21.
- the ground control terminal 100 is used to control the alignment of the directional antenna 21 with the drone 200.
- the ground control terminal 100 includes a first processor 23. Step S11, step S13, and step S15 may each be implemented by the first processor 23.
- the first processor 23 is used to:
- the communication direction of the directional antenna 21 is controlled to be aligned with the drone 200 based on the position information and the position and posture information.
- the existing ground control terminal 100 communicating with the drone 200 can perform wireless signal reception and transmission using an omnidirectional antenna or a directional antenna.
- the omnidirectional antenna can achieve relatively good The horizontal direction covers, but the antenna gain zero is usually formed directly above the ground control end 100, resulting in the flying height of the drone 200 above the ground control end 100 is not high.
- the use of an omnidirectional antenna may receive interference signals from other directions, resulting in poor communication quality between the drone 200 and the ground control terminal 100.
- the ground control terminal 10 uses the directional antenna, it is necessary to manually align the orientation of the directional antenna with the antenna of the drone 200. When the drone 200 is out of line of sight, precise alignment cannot be achieved.
- the antenna alignment method of the embodiment of the present invention can automatically adjust the communication direction of the alignment antenna 21 by the position information of the drone 200 and the position and attitude information of the ground control terminal 100, thereby ensuring that the ground control terminal 100 is always in the drone 200.
- the optimal receiving and transmitting state improves the stability of communication between the ground control terminal 100 and the drone 200.
- the alignment antenna 21 can employ a high gain directional antenna.
- the high-gain directional antenna has a higher antenna gain, and the wireless signal has a longer transmission distance, which can improve the transmission quality of the wireless signal between the drone 200 and the ground control terminal 100.
- the strong directivity of the high-gain directional antenna causes the directional antenna 21 to form a gain zero in other communication directions, which can effectively reduce interference signals in other directions.
- the high-gain directional antenna according to the embodiment of the present invention can automatically adjust the communication direction according to the position information of the drone 200 and the position and attitude information of the ground control terminal 100, and can realize 360° and height in the horizontal direction by adjusting the communication direction.
- the omnidirectional coverage of the signal in the direction [-25°, 90°] causes the communication direction of the high gain directional antenna to always be aligned with the drone 200.
- the communication direction of the directional antenna 21 refers to the radiation direction of the alignment antenna 21, that is, the wireless signal reception direction and the wireless signal transmission direction.
- the antenna alignment method of the embodiment of the present invention includes the following steps:
- S14 The ground control terminal 100 is controlled to analyze the position information and the position and posture information.
- the ground console 100 also includes a second processor 32.
- Step S14 can be implemented by the second processor 32. That is to say, the second processor 32 is further configured to control the ground control terminal 100 to parse the position information and the position and posture information.
- the drone 200 modulates its own position information and transmits it to the ground control terminal 100 through the antenna of the drone 200 itself in the form of electromagnetic waves, and the alignment antenna 21 of the ground control terminal 100 receives the position information.
- the ground control terminal 100 also has its own position and attitude information.
- the ground control terminal 100 obtains the positional valued position information and the position and posture information by analyzing the position information and the position and posture information, thereby adjusting the communication direction of the directional antenna 100 based on the positional valued position information and the position and posture information.
- the ground control terminal 100 includes a tracking antenna device 20 and a remote controller 30, wherein the tracking antenna device 20 includes a directional antenna 21, a remote controller 30 and a tracking antenna.
- the device 20 communicates, and the step of controlling the ground control terminal 100 to analyze the position information and the position and posture information in step S14 comprises the following steps:
- the control tracking antenna device 20 receives the location information sent by the drone 200;
- S142 Control the tracking antenna device 20 to forward the location information to the remote controller 30;
- the control remote controller 30 analyzes the position information forwarded by the tracking antenna device 20 to obtain the resolved position information
- the control remote controller 30 transmits the resolution position information to the tracking antenna device 20.
- step S141 and step S142 can be implemented by the first processor 23, and step S143 and step S144 can be implemented by the second processor 32.
- the first processor 23 is also used to:
- the second processor 32 is configured to:
- the control remote controller 30 analyzes the position information forwarded by the tracking antenna device 20 to obtain the resolved position information
- the control remote controller 30 transmits the resolution position information to the tracking antenna device 20.
- the first processor 23 is disposed in the tracking antenna device 20, and the second processor 32 is disposed in the remote controller 30.
- the position information of the drone 200 is received by the tracking antenna device 20 and forwarded to the remote controller 30.
- the remote controller 30 analyzes the position information to obtain the analysis position information.
- the position information is analyzed as position information of the figurative numerically-defined drone 200.
- the remote controller 30 transmits the analysis position information to the tracking antenna device 20, and the tracking antenna device 20 performs the communication direction adjustment of the directional antenna 21 based on the analysis position information and the position state information.
- step S14 may also be implemented by the first processor 23 directly in the tracking antenna device 20.
- remote control 30 is coupled to tracking antenna assembly 20 via a radio frequency coaxial.
- the position of the tracking antenna device 20 may be fixed or mobile.
- the tracking antenna device 20 can be placed on a tripod and fixed.
- the RF coaxial line connecting the remote controller 30 and the tracking antenna device 20 has a certain length.
- the length of the radio frequency coaxial line may be 5 meters, 10 meters, 15 meters or even more than 15 meters, and no limitation is imposed here.
- the tracking antenna device 20 can also be placed on the car to accommodate scenarios in which the drone 200 is controlled to fly during vehicle movement.
- the position information of the drone 200 includes the latitude and longitude of the drone 200
- the position and posture information of the ground control end 100 includes the latitude and longitude of the directional antenna 21
- the communication direction of the directional antenna 21 includes a horizontal direction parameter.
- Step S15 The step of controlling the communication direction of the directional antenna 21 to align the drone 200 based on the position information and the position and posture information includes the following steps:
- S1511 Calculate the horizontal direction parameter according to the latitude and longitude of the drone 200 and the latitude and longitude of the directional antenna 21.
- step S1511 can be implemented by the first processor 23.
- the first processor 23 is further configured to calculate the horizontal direction parameter based on the latitude and longitude of the drone 200 and the latitude and longitude of the directional antenna 21.
- the drone 200 is provided with a Global Navigation Satellite System (GNSS) receiver, and the latitude and longitude information of the drone 200 can be acquired by the GNSS receiver.
- the ground control terminal 100 is also provided with a GNSS receiver for acquiring the latitude and longitude of the directional antenna 21.
- the GNSS receiver includes the US Global Positioning System receiver, the China Beidou satellite navigation system receiver, the Russian GLONASS satellite navigation system receiver or the European Galileo satellite navigation system receiver, and is not limited herein.
- the horizontal direction parameter of the communication direction refers to the connection of the origin of the drone 200 to the geodetic coordinate system and the connection of the directional antenna 21 to the origin of the geodetic coordinate system in the horizontal direction or on the longitude-latitude plane of the geodetic coordinate system.
- the horizontal direction parameter can be used to determine the relative position in the horizontal direction between the drone 200 and the directional antenna 21.
- the ground control terminal 100 performs the horizontal direction rotation of the directional antenna 21 in accordance with the relative position in the horizontal direction described above to achieve alignment of the directional antenna 21 with the drone 200.
- the position information of the drone 200 includes the height of the drone 200
- the position and posture information of the ground control end 100 includes the height of the directional antenna 21.
- the communication direction of the directional antenna 21 includes a height direction parameter.
- Step S15 The step of controlling the communication direction of the directional antenna 21 to align the drone 200 based on the position information and the position and posture information includes the following steps:
- S1512 Calculate the height direction parameter according to the height of the drone 200 and the height of the directional antenna 21.
- step S1512 can be implemented by the first processor 23.
- the first processor 23 is further configured to calculate the height direction parameter based on the height of the drone 200 and the height of the directional antenna 21.
- the drone 200 is also provided with a barometer, the height of which can be measured jointly by the GNSS receiver and the barometer.
- the GNSS receiver can perform 3D positioning of the drone to obtain the height of the drone 200
- the barometer can perform height measurement by detecting the air pressure around the drone 200.
- the fusion processing of the heights of the drones 200 measured by the GNSS receiver and the barometer respectively can make the height of the drone 200 more accurate.
- the ground control terminal 100 also has a GNSS receiver and a barometer.
- the height of the directional antenna 21 can be measured jointly by the GNSS and the barometer.
- the height direction parameter refers to the relative position of the drone 200 and the directional antenna 21 in the height direction.
- the rotation of the directional antenna 21 in the height direction or the pitch angle direction can be performed according to the height direction parameter to implement the directional antenna 21 and the drone 200. Alignment.
- the tracking antenna assembly 20 includes a platform 22 for rotating the directional antenna 21, the direction of communication of the directional antenna 21 including the target orientation of the directional antenna 21.
- the angular parameter, the position and attitude information includes the current azimuth parameter of the directional antenna 21.
- Step S15 The step of controlling the communication direction of the directional antenna 21 to align the drone 200 based on the position information and the position and posture information includes the following steps:
- S1513 Control the PTZ 22 so that the difference between the current azimuth parameter and the target azimuth parameter is less than the first predetermined range Wai.
- step S1513 can be implemented by the first processor 23.
- the first processor 23 is further configured to control the pan/tilt head 22 such that the difference between the current azimuth parameter and the target azimuth parameter is less than the first predetermined range.
- the target azimuth parameter refers to the maximum gain direction of the communication direction of the directional antenna 21 and the connection of the drone 200 and the directional antenna 21 on the latitude axis in the horizontal direction or on the longitude-latitude plane.
- the current azimuth refers to the azimuth of the current directional antenna 21.
- the azimuth of the directional antenna 21 can be measured by a compass.
- the azimuth angle of the directional antenna 21 can also be measured by other measurement methods, for example, using the carrier phase difference technology RTK for measurement, etc., and is not limited herein.
- step S1511 the horizontal direction parameter, that is, the relative position in the horizontal direction between the drone 200 and the directional antenna 21 is calculated, and the angle in the horizontal direction is required to be calculated according to the relative position in the horizontal direction, thereby controlling the pan/tilt head 22 to perform the above.
- the rotation of the angle When the pan-tilt 22 is rotated such that the difference between the current azimuth parameter and the target azimuth parameter is less than the first predetermined range, the communication direction of the directional antenna 21 can be aligned with the drone 200.
- the first predetermined range indicates that the maximum gain direction of the communication direction of the directional antenna 21 does not necessarily need to completely coincide with the projection direction of the line connecting the drone 200 and the directional antenna 21 on the latitude axis.
- the electromagnetic wave in the communication direction of the directional antenna 21 has a certain beam width, there is a certain radiation angle. Therefore, even if the maximum gain direction of the communication direction of the directional antenna 21 does not completely coincide with the projection direction of the line connecting the drone 200 and the directional antenna 21 on the latitude axis, as long as the maximum gain direction is secured with the drone 200 and the directional antenna 21 The difference in the angle of the projection direction of the connection on the latitude axis is smaller than the first predetermined range, and the communication transmission between the drone 200 and the ground control terminal 100 can also be ensured.
- the pan/tilt head 22 can also adjust the pitch angle of the directional antenna 21.
- the communication direction of the directional antenna 21 includes a target pitch angle parameter of the directional antenna, and the position and attitude information includes a current pitch angle parameter.
- Step S15 The step of controlling the communication direction of the directional antenna 21 to align the drone 200 based on the position information and the position and posture information includes the following steps:
- step S1514 can be implemented by the first processor 23.
- the first processor 23 is further configured to control the pan/tilt head 22 such that the difference between the current pitch angle parameter and the target pitch angle parameter is less than the second predetermined range.
- the target pitch angle parameter refers to the directional antenna 21 when the maximum gain direction of the communication direction of the directional antenna 21 coincides with the projection direction of the line connecting the drone 200 and the directional antenna 21 on the height axis in the height direction.
- the current pitch angle parameter refers to the pitch angle of the current directional antenna 21.
- the height direction parameter that is, the relative position in the height direction between the drone 200 and the directional antenna 21 is calculated, and the relative position according to the height direction is calculated.
- the angle at which the rotation in the height direction is required is calculated, thereby controlling the rotation of the gimbal 22 according to the angle of the desired rotation in the above-described height direction.
- the communication direction of the directional antenna 21 can be aligned with the drone 200.
- the second predetermined range indicates that the maximum gain direction of the communication direction of the directional antenna 21 does not have to completely coincide with the projection direction of the line connecting the drone 200 and the directional antenna 21 on the height axis.
- the electromagnetic wave in the communication direction of the alignment antenna 21 has a certain beam width, that is, a radiation angle, and therefore, even if the maximum gain direction of the communication direction of the directional antenna 21 is not connected to the line of the drone 200 and the directional antenna 21 on the height axis
- the projection directions are completely coincident, and the drone 200 and the ground control end can be ensured as long as the difference between the angle of the maximum gain direction and the projection direction of the line connecting the drone 200 and the directional antenna 21 on the height axis is smaller than the second predetermined range.
- step S15 may also be implemented by the second processor 32 in the remote controller 30.
- the directional antenna 21 includes a phased array antenna including a plurality of directional radiation units, each of which corresponds to a radiation direction.
- the communication direction of the directional antenna 21 includes the target azimuth parameter of the directional antenna 21 and the target pitch angle parameter of the directional antenna 21.
- Step S15 The step of controlling the communication direction of the directional antenna 21 to align the drone 200 based on the position information and the position and posture information includes the following steps:
- S1521 Control the phased array antenna to selectively activate the radiation unit and make the difference between the radiation direction of the activated radiation unit and the target azimuth parameter less than a third predetermined range.
- S1522 Control the phased array antenna to selectively activate the radiation unit and make the difference between the radiation direction of the activated radiation unit and the target pitch angle parameter smaller than a fourth predetermined range.
- step S1521 and step S1522 can be implemented by the first processor 23.
- the first processor 23 is also used to:
- the phased array antenna is controlled to selectively activate the radiating element and to make the difference between the radiated direction of the activated radiating element and the target azimuth parameter less than a third predetermined range.
- the phased array antenna is controlled to selectively activate the radiating element and to make the difference between the radiated direction of the activated radiating element and the target pitch angle parameter less than a fourth predetermined range.
- the phased array antenna realizes a directional antenna in which the antenna beam is directed to move or scan in space by phase change.
- a plurality of radiating elements are disposed in the phased array antenna.
- the radiating element may be a single waveguide horn antenna, a dipole antenna, a patch antenna, or the like.
- the phased array antenna is shaped as a 180° hemisphere. The radiating elements are evenly distributed on the hemisphere.
- the target azimuth parameter refers to the radiation direction of the phased array antenna when the radiation direction of the radiation unit selectively activated by the phased array antenna coincides with the projection direction of the line connecting the drone 200 and the directional antenna 21 on the latitude axis.
- the target pitch angle refers to the phase control when the radiation direction of the radiation unit selectively activated by the phased array antenna coincides with the projection direction of the line connecting the drone 200 and the directional antenna 21 on the height axis.
- the radiation direction of the array antenna is now at a pitch angle relative to the height axis. At this time, the tracking antenna device 20 does not need to provide the pan/tilt head 22.
- the first processor 23 calculates relative position information of the drone 200 and the phased array antenna 20 based on the latitude and longitude and altitude information of the drone 200, the latitude and longitude and height information of the phased array antenna 21, and selectively activates according to the relative position information.
- the one or more radiating elements are such that the difference between the radiation direction of the radiating element and the target azimuth parameter is less than a third predetermined range, while the degree of difference between the radiating direction of the radiating element and the target pitch angle parameter is less than a fourth predetermined range.
- the first processor 23 can control the phased array antenna to perform the adjustment of the selection of the radiating elements.
- the first processor 23 selects the corresponding activated radiating element when the RSSI maximum value received by the phased array antenna is adjusted as the final communication direction. Similarly, after the phased array antenna selectively activates the radiating element, the radiation direction of the radiating element still has a certain radiation angle, and the difference between the final communication direction and the target azimuth is less than the third predetermined range, and the target pitch angle parameter The degree of difference is less than the fourth predetermined range, and stable communication transmission between the drone 200 and the ground control terminal 100 can be ensured at this time.
- the tracking antenna device 20 may be integrally packaged with the remote controller 30, or may be independently provided.
- the first processor 23 and the second processor 32 may be replaced with one processor in common to perform the functions of the first processor 23 and the second processor 32.
- the tracking antenna device 20 and the remote controller 30 each have their own processor to facilitate data processing.
- the step S15 of controlling the communication direction of the directional antenna 21 according to the position information and the position and posture information to align the drone 200 includes the following steps:
- S1531 determining whether a change value of the communication direction is smaller than a first preset threshold
- S1532 Control the ground control end 100 to change the azimuth angle of the directional antenna 21 to a plurality of scanning azimuths when the change value is less than the first preset threshold;
- S1533 Acquire a communication strength between the drone 200 and the directional antenna 21 when the directional antenna 21 is located at a plurality of scanning azimuths;
- the target azimuth of the directional antenna 21 is re-determined according to the communication strength, and the target azimuth is the scanning azimuth with the largest communication strength.
- step S1531, step S1532, step S1533, and step S1534 can be implemented by the first processor 23.
- the first processor 23 is further used to:
- the target azimuth of the directional antenna 21 is re-determined according to the communication strength, and the target azimuth is the scanning azimuth with the largest communication strength.
- the position information of the drone 200 and the position and posture information of the directional antenna 21 calculate the relative position information of the drone 200 and the directional antenna 21, and the relative position information indicates the azimuth of the current direction of the unmanned aerial vehicle 200 and the timing antenna 21. Difference. Then, the ground control terminal 100 does not need to acquire its own azimuth, only needs to change the azimuth according to the relative position information, and compare and judge the received signal strength RSSI received by the directional antenna 21 after each azimuth change, thereby determining the RSSI.
- the maximum azimuth corresponding to the maximum communication strength is the target azimuth.
- the remote controller 30 includes an omnidirectional antenna 31.
- the antenna alignment method of the embodiment of the present invention further includes the following steps:
- S162 Control the omnidirectional antenna 31 to communicate with the drone 200 when the communication strength is less than the second preset threshold.
- step S161 can be implemented by first processor 23, which can be implemented by second processor 32.
- the first processor 23 is also used to:
- the second processor 32 is also used to:
- the omnidirectional antenna 31 is controlled to communicate with the drone 200 when the communication strength is less than the second predetermined threshold.
- the directional antenna 21 of the embodiment of the present invention can align the drone 200 by adjusting the communication direction, in some special cases, for example, when the flying hand controls the drone 200 to fly to the back of the giant building. At this time, even if the directional antenna 21 is aligned with the drone 200, the occlusion of the mega-building may cause the drone 200 to lose contact with the ground control terminal 100.
- the unconnected time of the drone 200 and the ground control terminal 100 exceeds a predetermined time, for example, 10 seconds, the unmanned aircraft automatically returns, and the position of the drone 200 may fall at the gain zero point of the directional antenna 21 during the return flight.
- the position of the drone 200 can be scanned by the omnidirectional antenna 31 provided on the remote controller 30 to implement the drone 200.
- a communication connection with the ground control terminal 100 In this way, the drone 200 can continue to communicate with the ground control terminal 100 for a certain period of time even after the disconnection, thereby ensuring the safety of the drone 200.
- the antenna alignment method and the ground control terminal 100 of the embodiment of the present invention adjust the communication direction of the directional antenna 21 so that the communication direction of the directional antenna 21 is always aligned with the drone 200, and the ground control terminal 100 is guaranteed.
- the man machine 200 is always in an optimal receiving and transmitting state, improving the stability of communication between the ground control terminal 100 and the drone 200.
- a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
- computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
- the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
- portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
- multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system.
- a suitable instruction execution system For example, if executed in hardware, as in another embodiment, it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
- each functional unit in each embodiment of the present invention may be integrated into one processing module, or may be each Units exist physically separately, or two or more units can be integrated into one module.
- the above integrated modules can be executed in the form of hardware or in the form of software functional modules.
- the integrated modules, if executed in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.
- the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.
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Abstract
本发明公开了一种天线对准方法，用于控制具有定向天线的地面控制端以使定向天线与无人机对准。天线对准方法包括：获取无人机的位置信息；获取地面控制端的位置姿态信息；根据位置信息和位置姿态信息控制定向天线的通信方向对准无人机。本发明还公开了一种地面控制端。本发明实施方式的天线对准方法和地面控制端通过调整定向天线的通信方向以使定向天线的通信方向始终对准无人机，保证地面控制端与无人机始终处于最优接收发射状态，提升地面控制端与无人机之间通信的稳定性。
Description
本发明涉及通信技术，特别涉及一种天线对准方法和地面控制端。
现有的无人机的遥控器一般采用定向天线以增强目标方向的信号强度，因此需手动操作遥控器以使定向天线与无人机对准。然而当无人机超出视距后就很难实现对准，导致通信质量变差。
发明内容
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提供一种天线对准方法和地面控制端。
本发明实施方式的天线对准方法，用于控制具有定向天线的地面控制端以使所述定向天线与无人机对准，所述天线对准方法包括以下步骤：
获取所述无人机的位置信息；
获取所述地面控制端的位置姿态信息；和
根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机。
本发明实施方式的地面控制端包括定向天线，所述地面控制端用于控制所述定向天线与无人机对准，所述地面控制端还包括第一处理器，所述第一处理器用于：
获取所述无人机的位置信息；
获取所述地面控制端的位置姿态信息；和
根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机。
本发明实施方式的天线对准方法和地面控制端通过调整定向天线的通信方向以使定向天线的通信方向始终对准无人机，保证地面控制端与无人机始终处于最优接收发射状态，提升地面控制端与无人机之间通信的稳定性。
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明某些实施方式的天线对准方法的流程示意图。
图2是本发明某些实施方式的地面控制端的模块示意图。
图3是本发明某些实施方式的天线对准方法的状态示意图。
图4是本发明某些实施方式的天线对准方法的流程示意图。
图5是本发明某些实施方式的天线对准方法的流程示意图。
图6是本发明某些实施方式的天线对准方法的流程示意图。
图7是本发明某些实施方式的天线对准方法的流程示意图。
图8是本发明某些实施方式的地面控制端的模块示意图。
图9是本发明某些实施方式的天线对准方法的流程示意图。
图10是本发明某些实施方式的天线对准方法的流程示意图。
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
请一并参阅图1至3，本发明实施方式的天线对准方法，用于控制具有定向天线21的地面控制端100以使定向天线21与无人机200对准。天线对准方法包括以下步骤：
S11：获取无人机200的位置信息；
S13：获取地面控制端100的位置姿态信息；和
S15：根据位置信息和位置姿态信息控制定向天线21的通信方向对准无人机200。
本发明实施方式的天线对准方法可以由本发明实施方式的地面控制端100实现。本发明实施方式的地面控制端100包括定向天线21。地面控制端100用于控制定向天线21与无人机200对准。地面控制端100包括第一处理器23。步骤S11、步骤S13和步骤S15均可由第一处理器23实现。
也即是说，第一处理器23用于：
获取无人机200的位置信息；
获取地面控制端100的位置姿态信息；和
根据位置信息和位置姿态信息控制定向天线21的通信方向对准无人机200。
可以理解，现有的与无人机200通信的地面控制端100可采用全向天线或定向天线进行无线信号接收和发送。地面控制端100采用全向天线时，全向天线可以达到比较良好的
水平方向覆盖，但是在地面控制端100的正上方通常会形成天线增益零点，从而导致无人机200在地面控制端100上方的飞行高度不高。此外，采用全向天线可能接收到来自其他方向的干扰信号，导致无人机200与地面控制端100之间的通信质量变差。而地面控制端10采用定向天线时需要手工进行定向天线与无人机200的天线的方向的对准。当无人机200超出视距后，无法实现精确对准。
本发明实施方式的天线对准方法可以通过无人机200的位置信息及地面控制端100的位置姿态信息自动调整定线天线21的通信方向，从而保证地面控制端100余无人机200始终处于最优的接收及发射状态，提升地面控制端100与无人机200之间通信的稳定性。
在本发明的具体实施例中，定线天线21可采用高增益定向天线。高增益定向天线具有更高的天线增益，无线信号的传输距离更远，可以提升无人机200与地面控制端100之间的无线信号的传输质量。同时，高增益定向天线的强定向性使得定向天线21在其他通信方向上形成增益零点，可以有效降低其他方向上的干扰信号。另外，本发明实施方式的高增益定向天线可根据无人机200的位置信息和地面控制端100的位置姿态信息进行通信方向的自动调整，通过通信方向的调整可以实现水平方向上360°及高度方向上[-25°,90°]的信号的全向覆盖，使得高增益定向天线的通信方向始终与无人机200对准。其中，定向天线21的通信方向指的是定线天线21的辐射方向，意即无线信号接收方向和无线信号发射方向。
请一并参阅图2至图4，在某些实施方式中，本发明实施方式的天线对准方法包括以下步骤：
S14：控制地面控制端100解析位置信息和位置姿态信息。
在某些实施方式中，地面控制端100还包括第二处理器32。步骤S14可以由第二处理器32实现。也即是说，第二处理器32还用于控制地面控制端100解析位置信息和位置姿态信息。
可以理解，无人机200将自身的位置信息进行调制后以电磁波形式通过无人机200自身的天线发送至地面控制端100，地面控制端100的定线天线21接收该位置信息。地面控制端100也有自身的位置姿态信息。地面控制端100通过对位置信息和位置姿态信息的解析以获得具象数值化的位置信息和位置姿态信息，从而根据具象数值化的位置信息和位置姿态信息进行定向天线100的通信方向的调整。
请一并参阅图2、图3和图5，在某些实施方式中，地面控制端100包括跟踪天线装置20和遥控器30，其中跟踪天线装置20包括定向天线21，遥控器30与跟踪天线装置20通信，步骤S14控制地面控制端100解析位置信息和位置姿态信息的步骤包括以下步骤：
S141：控制跟踪天线装置20接收无人机200发送的位置信息；
S142：控制跟踪天线装置20转发位置信息至遥控器30；
S143：控制遥控器30解析跟踪天线装置20转发的位置信息以得到解析位置信息；和
S144：控制遥控器30发送解析位置信息至跟踪天线装置20。
在某些实施方式中，步骤S141和步骤S142可以由第一处理器23实现，步骤S143和步骤S144可以由第二处理器32实现。
也即是说，第一处理器23还用于：
控制跟踪天线装置20接收无人机200发送的位置信息；和
控制跟踪天线装置20转发位置信息至遥控器30；
第二处理器32用于：
控制遥控器30解析跟踪天线装置20转发的位置信息以得到解析位置信息；和
控制遥控器30发送解析位置信息至跟踪天线装置20。
具体地，第一处理器23设置在跟踪天线装置20中，第二处理器32设置在遥控器30中。无人机200的位置信息由跟踪天线装置20进行接收并转发给遥控器30。遥控器30将位置信息进行解析后得到解析位置信息。解析位置信息为具象数值化的无人机200的位置信息。遥控器30将解析位置信息发送至跟踪天线装置20，跟踪天线装置20根据解析位置信息和位置状态信息进行定向天线21的通信方向调整。如此，由遥控器30进行位置信息的解析，可以减轻跟踪天线装置20的数据处理负担。需要说明的是，在其他实施方式中，步骤S14也可以直接在跟踪天线装置20中通过第一处理器23实现。
在本发明的具体实施例中，遥控器30与跟踪天线装置20通过射频同轴线连接。在控制无人机200飞行的过程中，跟踪天线装置20的位置可以是固定或者移动的。例如，跟踪天线装置20可以设置在三脚架上已进行固定。连接遥控器30与跟踪天线装置20的射频同轴线具有一定的长度，飞手操控无人机200飞行时可以手持遥控器30进行走动以方便观察无人机200的飞行状况。其中，射频同轴线的长度可为5米、10米、15米甚至大于15米，在此不做限制。跟踪天线装置20也可以设置在汽车上，以适应车载移动过程中控制无人机200飞行的场景。
请一并参阅图2、图3和6，在某些实施方式中，无人机200的位置信息包括无人机200的经纬度，地面控制端100的位置姿态信息包括定向天线21的经纬度。定向天线21的通信方向包括水平方向参数。步骤S15根据位置信息和位置姿态信息控制定向天线21的通信方向对准无人机200的步骤包括以下步骤：
S1511：根据无人机200的经纬度和定向天线21的经纬度计算水平方向参数。
在某些实施方式中，步骤S1511可以由第一处理器23实现。
也即是说，第一处理器23进一步用于根据无人机200的经纬度和定向天线21的经纬度计算水平方向参数。
在本发明的具体实施例中，无人机200设置有全球卫星导航系统(GNSS，Global Navigation Satellite System)接收机，无人机200的经纬度信息可以由GNSS接收机进行获取。地面控制端100同样设置有GNSS接收机以用于获取定向天线21的经纬度。其中，GNSS接收机包括美国全球定位系统接收机、中国北斗卫星导航系统接收机、俄罗斯格洛纳斯卫星导航系统接收机或欧洲伽利略卫星导航系统接收机，在此不做限制。通信方向的水平方向参数指代的是无人机200与大地坐标系的原点连线和定向天线21与大地坐标系的原点连线在水平方向上或者说在大地坐标系的经度-纬度面上的夹角。水平方向参数可以用于确定无人机200与定向天线21之间的水平方向上的相对位置。地面控制端100根据上述水平方向上的相对位置进行定向天线21水平方向的旋转以实现定向天线21与无人机200的对准。
请再一并参阅图2、图3和6，在某些实施方式中，无人机200的位置信息包括无人机200的高度，地面控制端100的位置姿态信息包括定向天线21的高度，定向天线21的通信方向包括高度方向参数。步骤S15根据位置信息和位置姿态信息控制定向天线21的通信方向对准无人机200的步骤包括以下步骤：
S1512：根据无人机200的高度和定向天线21的高度计算高度方向参数。
在某些实施方式中，步骤S1512可以由第一处理器23实现。
也即是说，第一处理器23进一步用于根据无人机200的高度和定向天线21的高度计算高度方向参数。
在本发明的具体实施例中，无人机200还设置有气压计，无人机200的高度可以通过GNSS接收机和气压计共同测得。具体地，GNSS接收机可以对无人机进行3D定位从而获取到无人机200的高度，气压计可以通过检测无人机200周围的气压以进行高度测量。对GNSS接收机和气压计分别测得的无人机200的高度进行融合处理可以使得无人机200的高度更加精确。同样地，地面控制端100也同时设置了GNSS接收机和气压计。定向天线21的高度可以由GNSS和气压计共同测得。高度方向参数指代的是无人机200与定向天线21在高度方向上的相对位置。通过无人机200的高度和定向天线21的高度计算得到高度方向参数后，即可根据高度方向参数进行定向天线21高度方向或者说俯仰角度方向上的旋转以实现定向天线21与无人机200的对准。
请再一并参阅图2、图3和图6，在某些实施方式中，跟踪天线装置20包括用于旋转定向天线21的云台22，定向天线21的通信方向包括定向天线21的目标方位角参数，位置姿态信息包括定向天线21的当前方位角参数。步骤S15根据位置信息和位置姿态信息控制定向天线21的通信方向对准无人机200的步骤包括以下步骤：
S1513：控制云台22以使当前方位角参数与目标方位角参数的差异度小于第一预定范
围。
在某些实施方式中，步骤S1513可以由第一处理器23实现。
也即是说，第一处理器23还用于控制云台22以使当前方位角参数与目标方位角参数的差异度小于第一预定范围。
具体地，目标方位角参数指的是在水平方向上或者说在经度-纬度面上，定向天线21的通信方向的最大增益方向与无人机200和定向天线21的连线在纬度轴上的投影方向重合时定向天线21此时的方位角。当前方位角指的是当前定向天线21的方位角。在本发明的具体实施例中，定向天线21的方位角可以由指南针进行测量。在其他实施例中，定向天线21的方位角也可以采用其他测量方式进行测量，例如，采用载波相位差分技术RTK进行测量等，在此不做限制。步骤S1511中计算出水平方向参数即无人机200与定向天线21之间的水平方向上的相对位置，根据上述水平方向的相对位置计算水平方向上需要旋转的角度，从而控制云台22进行上述角度的旋转。云台22旋转使得当前方位角参数与目标方位角参数的差异度小于第一预定范围时定向天线21的通信方向即可对准无人机200。其中，第一预定范围表示定向天线21的通信方向的最大增益方向不一定需要与无人机200和定向天线21的连线在纬度轴上的投影方向完全重合。因为定向天线21的通信方向上的电磁波具有一定的波束宽度，即有一定的辐射角度。因此，即使定向天线21的通信方向的最大增益方向没有与无人机200和定向天线21的连线在纬度轴上的投影方向完全重合，只要保证最大增益方向与无人机200和定向天线21的连线在纬度轴上的投影方向的角度之差小于第一预定范围，也能确保无人机200与地面控制端100之间的通信传输。
请再一并参阅图2、图3和图6，在某些实施方式中，云台22还可调整定向天线21的俯仰角。定向天线21的通信方向包括定向天线的目标俯仰角参数，位置姿态信息包括当前俯仰角参数。步骤S15根据位置信息和位置姿态信息控制定向天线21的通信方向对准无人机200的步骤包括以下步骤：
S1514：控制云台22以使当前俯仰角参数与目标俯仰角参数的差异度小于第二预定范围。
在某些实施方式中，步骤S1514可以由第一处理器23实现。
也即是说，第一处理器23进一步用于控制云台22以使当前俯仰角参数与目标俯仰角参数的差异度小于第二预定范围。
具体地，目标俯仰角参数指的是在高度方向上，定向天线21的通信方向的最大增益方向与无人机200和定向天线21的连线在高度轴上的投影方向重合时定向天线21此时的俯仰角。当前俯仰角参数指的是当前定向天线21的俯仰角。步骤S1512中计算出高度方向参数即无人机200与定向天线21之间的高度方向上的相对位置，根据上述高度方向的相对位
置计算高度方向上需要旋转的角度，从而控制云台22根据上述高度方向上所需旋转的角度的旋转。云台22旋转使得当前俯仰角参数与目标俯仰角参数的差异度小于第二预定范围时定向天线21的通信方向即可对准无人机200。其中，第二预定范围表示定向天线21的通信方向的最大增益方向不一定要与无人机200和定向天线21的连线在高度轴上的投影方向完全重合。定线天线21的通信方向上的电磁波具有一定的波束宽度即辐射角度，因此，即使定向天线21的通信方向的最大增益方向没有与无人机200和定向天线21的连线在高度轴上的投影方向完全重合，只要保证最大增益方向与无人机200和定向天线21的连线在高度轴上的投影方向的角度之差小于第二预定范围，也能确保无人机200和地面控制端100之间稳定的通信传输。需要说明的是，在其他实施方式中，步骤S15也可以在遥控器30中通过第二处理器32实现。
请一并参阅图7至图8，在某些实施方式中，定向天线21包括相控阵天线，相控阵天线包括多个定向辐射单元，每个辐射单元对应一个辐射方向。定向天线21的通信方向包括定向天线21的目标方位角参数和定向天线21的目标俯仰角参数。步骤S15根据位置信息和位置姿态信息控制定向天线21的通信方向对准无人机200的步骤包括以下步骤：
S1521：控制相控阵天线以选择性启动辐射单元并使启动的辐射单元的辐射方向与目标方位角参数的差异度小于第三预定范围。
S1522：控制相控阵天线以选择性启动辐射单元并使启动的辐射单元的辐射方向与目标俯仰角参数的差异度小于第四预定范围。
在某些实施方式中，步骤S1521和步骤S1522可以由第一处理器23实现。
也即是说，第一处理器23还用于：
控制相控阵天线以选择性启动辐射单元并使启动的辐射单元的辐射方向与目标方位角参数的差异度小于第三预定范围。
控制相控阵天线以选择性启动辐射单元并使启动的辐射单元的辐射方向与目标俯仰角参数的差异度小于第四预定范围。
具体地，相控阵天线时靠相位变化实现天线波束指向在空间的移动或扫描的一种定向天线。相控阵天线中设置有多个辐射单元。其中，辐射单元可以是单个的波导喇叭天线、偶极子天线、贴片天线等。相控阵天线工作时可以控制多个辐射单元中的一个或几个进行无线信号定向发射和接收。在本发明的具体实施例中，相控阵天线的形状为一个180°的半球面。辐射单元均匀地分布在半球面上。目标方位角参数指的是相控阵天线选择性启动的辐射单元的辐射方向与无人机200和定向天线21的连线在纬度轴上的投影方向重合时相控阵天线的辐射方向此时相对纬度轴的方位角。目标俯仰角指的是相控阵天线选择性启动的辐射单元的辐射方向与无人机200和定向天线21的连线在高度轴上的投影方向重合时相控
阵天线的辐射方向此时相对高度轴的俯仰角度。此时，跟踪天线装置20无需设置云台22。第一处理器23根据无人机200的经纬度和高度信息、相控阵天线21的经纬度和高度信息计算无人机200与相控阵天线20的相对位置信息，并根据相对位置信息选择性启动一个或多个辐射单元以使辐射单元的辐射方向与目标方位角参数的差异度小于第三预定范围，同时，使得辐射单元的辐射方向与目标俯仰角参数的差异度小于第四预定范围。其中，在启动一个或多个辐射单元的过程中，第一处理器23可以控制相控阵天线进行辐射单元的选择的调整。第一处理器23选择调整后相控阵天线接收到的RSSI最大值时对应的启动的辐射单元作为最终的通信方向。同样地，相控阵天线选择性启动辐射单元后，辐射单元的辐射方向仍然是具有一定的辐射角度的，最终通信方向与目标方位角的差异度小于第三预定范围，且与目标俯仰角参数的差异度小于第四预定范围，此时即可保证无人机200与地面控制端100的稳定的通信传输。
需要说明的是，采用相控阵天线时，跟踪天线装置20可以与遥控器30一体封装，也可以各自独立设置。在跟踪天线装置20与遥控器30一体封装时，第一处理器23和第二处理器32可以统一用一个处理器代替以执行第一处理器23和第二处理器32的功能。在跟踪天线装置与遥控器30独立设置时，跟踪天线装置20和遥控器30各自具有自己的处理器以方便进行数据处理。
请一并参阅图2、图3和图9，在某些实施方式中，步骤S15根据位置信息和位置姿态信息控制定向天线21的通信方向对准无人机200的步骤包括以下步骤：
S1531：判断通信方向的变化值是否小于第一预设阈值；
S1532：在变化值小于第一预设阈值时控制地面控制端100改变定向天线21的方位角为多个扫描方位角；
S1533：获取定向天线21位于多个扫描方位角时无人机200与定向天线21之间的通信强度；和
S1534：根据通信强度重新确定所述定向天线21的目标方位角，目标方位角为通信强度最大的扫描方位角。
在某些实施方式中，步骤S1531、步骤S1532、步骤S1533和步骤S1534可以由第一处理器23实现。
也即是说，第一处理器23进一步用于：
判断通信方向的变化值是否小于第一预设阈值；
在变化值小于第一预设阈值时控制地面控制端100改变定向天线21的方位角为多个扫描方位角；
获取定向天线21位于多个扫描方位角时无人机200与定向天线21之间的通信强度；
和
根据通信强度重新确定所述定向天线21的目标方位角，目标方位角为通信强度最大的扫描方位角。
具体地，当无人机200与定向天线21之前的通信强度的变化值小于第一预设阈值时，也即是说，无人机200与定向天线21的相对位置变化不大时，首先根据此时无人机200的位置信息和定向天线21的位置姿态信息计算无人机200与定向天线21的相对位置信息，相对位置信息指示当前无人机200与定时天线21水平方向的方位角的差量。随后，地面控制端100无需获取自身的方位角，仅需根据相对位置信息进行方位角的改变，并对每次方位角改变后定向天线21接收到的接收信号强度RSSI进行比较判断，从而确定RSSI最大即通信强度最大时对应的方位角为目标方位角。
请一并参阅图2、图3和图10，在某些实施方式中，遥控器30包括全向天线31，本发明实施方式的天线对准方法还包括以下步骤：
S161：判断定向天线21与无人机200之间的通信强度是否小于第二预设阈值；和
S162：在通信强度小于第二预设阈值时控制全向天线31与所述无人机200通信。
在某些实施方式中，步骤S161可以由第一处理器23实现，步骤S162可以由第二处理器32实现。
也即是说，第一处理器23还用于：
判断定向天线21与无人机200之间的通信强度是否小于第二预设阈值；
第二处理器32还用于：
在通信强度小于第二预设阈值时控制全向天线31与所述无人机200通信。
可以理解，虽然本发明实施方式的定向天线21可以通过调整通信方向从而对准无人机200，但在某些特殊情况下，例如，当飞手操控无人机200飞到巨型建筑物的背面时，此时即使定向天线21对准了无人机200，但由于巨型建筑物的遮挡也可能使得无人机200与地面控制端100失去联系。而在无人机200与地面控制端100的失联时间超过预定时间，如10秒时，无人机会自动返航，返航过程中无人机200的位置可能落在定向天线21的增益零点处。因此，在判断定向天线21与无人机200之间的通信强度小于第二预设阈值时，可以通过遥控器30上设置的全向天线31扫描无人机200的位置从而实现无人机200与地面控制端100的通信连接。如此，无人机200即使失联后也能在一定时间内继续与地面控制端100通信，保证无人机200的安全性。
综上所述，本发明实施方式的天线对准方法和地面控制端100通过调整定向天线21的通信方向以使定向天线21的通信方向始终对准无人机200，保证地面控制端100与无人机200始终处于最优接收发射状态，提升地面控制端100与无人机200之间通信的稳定性。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于执行特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施方式的范围包括另外的执行，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于执行逻辑功能的可执行指令的定序列表，可以具体执行在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来执行。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来执行。例如，如果用硬件来执行，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来执行：具有用于对数据信号执行逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解执行上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各
个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式执行，也可以采用软件功能模块的形式执行。所述集成的模块如果以软件功能模块的形式执行并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。
Claims (22)
- 一种天线对准方法，用于控制具有定向天线的地面控制端以使所述定向天线与无人机对准，其特征在于，所述天线对准方法包括以下步骤：获取所述无人机的位置信息；获取所述地面控制端的位置姿态信息；和根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机。
- 根据权利要求1所述的天线对准方法，其特征在于，所述位置信息包括所述无人机的经纬度，所述位置姿态信息包括所述定向天线的经纬度，所述通信方向包括水平方向参数；所述根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机的步骤包括以下步骤：根据所述无人机的经纬度和所述定向天线的经纬度计算所述水平方向参数。
- 根据权利要求1所述的天线对准方法，其特征在于，所述位置信息包括所述无人机的高度，所述位置姿态信息包括所述定向天线的高度，所述通信方向包括高度方向参数；所述根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机的步骤包括以下步骤：根据所述无人机的高度和所述定向天线的高度计算所述高度方向参数。
- 根据权利要求1所述的天线对准方法，其特征在于，所述地面控制端包括跟踪天线装置，所述跟踪天线装置包括用于水平转动所述定向天线的云台，所述通信方向包括所述定向天线的目标方位角参数，所述位置姿态信息包括所述定向天线的当前方位角参数；所述根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机的步骤包括：控制所述云台水平转动以使所述当前方位角参数与所述目标方位角参数的差异度小于第一预定范围。
- 根据权利要求1所述的天线对准方法，其特征在于，所述地面控制端包括跟踪天线装置，所述跟踪天线装置包括用于调整所述定向天线俯仰的云台，所述通信方向包括所述定向天线的目标俯仰角参数，所述位置姿态信息包括当前俯仰角参数；所述根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机的步骤包括以下步 骤：控制所述云台以使所述当前俯仰角参数与所述目标俯仰角参数的差异度小于第二预定范围。
- 根据权利要求1所述的天线对准方法，其特征在于，所述定向天线包括相控阵天线，所述相控阵天线包括多个定向辐射单元，每个所述辐射单元对应一个辐射方向，所述通信方向包括所述定向天线的目标方位角参数；所述根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机的步骤包括以下步骤：控制所述相控阵天线以选择性启动所述辐射单元并使启动的所述辐射单元的所述辐射方向与所述目标方位角参数的差异度小于第三预定范围。
- 根据权利要求1所述的天线对准方法，其特征在于，所述定向天线包括相控阵天线，所述相控阵天线包括多个定向辐射单元，每个所述辐射单元对应一个辐射方向，所述通信方向包括所述定向天线的目标俯仰角参数；所述根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机的步骤包括以下步骤：控制所述相控阵天线以选择性启动所述辐射单元并使启动的所述辐射单元的所述辐射方向与所述目标俯仰角参数的差异度小于第四预定范围。
- 根据权利要求1所述的天线对准方法，其特征在于，所述根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机的步骤包括以下步骤：判断所述通信方向的变化值是否小于第一预设阈值；在所述变化值小于所述第一预设阈值时控制所述地面控制端改变所述定向天线的方位角为多个扫描方位角；获取所述定向天线位于所述多个扫描方位角时所述无人机与所述定向天线之间的通信强度；和根据所述通信强度重新确定所述定向天线的目标方位角，所述目标方位角为所述通信强度最大的所述扫描方位角。
- 根据权利要求1所述的天线对准方法，其特征在于，所述天线对准方法包括以下步骤：控制所述地面控制端解析所述位置信息和所述位置姿态信息。
- 根据权利要求9所述的天线对准方法，其特征在于，所述地面控制端包括跟踪天线装置和与所述跟踪天线装置通信的遥控器，所述控制所述地面控制端解析所述位置信息和所述位置姿态信息的步骤包括以下步骤：控制所述跟踪天线装置接收所述无人机发送的所述位置信息；控制所述跟踪天线装置转发所述位置信息至所述遥控器；控制所述遥控器解析所述位置信息以得到解析位置信息；和控制所述遥控器发送所述解析位置信息至所述跟踪天线装置。
- 根据权利要求1所述的天线对准方法，其特征在于，所述地面控制端包括遥控器，所述遥控器包括全向天线，所述天线对准方法还包括以下步骤：判断所述定向天线与所述无人机之间的通信强度是否小于第二预设阈值；和在所述通信强度小于所述第二预设阈值时控制所述全向天线与所述无人机通信。
- 一种地面控制端，所述地面控制端包括定向天线，所述地面控制端用于控制所述定线天线与无人机对准，其特征在于，所述地面控制端还包括第一处理器，所述第一处理器用于：获取所述无人机的位置信息；获取所述地面控制端的位置姿态信息；和根据所述位置信息和所述位置姿态信息控制所述定向天线的通信方向对准所述无人机。
- 根据权利要求12所述的地面控制端，其特征在于，所述位置信息包括所述无人机的经纬度，所述位置姿态信息包括所述定向天线的经纬度，所述通信方向包括水平方向参数；所述第一处理器进一步用于：根据所述无人机的经纬度和所述定向天线的经纬度计算所述水平方向参数。
- 根据权利要求12所述的地面控制端，其特征在于，所述位置信息包括所述无人机的高度，所述位置姿态信息包括所述定向天线的高度，所述通信方向包括高度方向参数；所述第一处理器进一步用于：根据所述无人机的高度和所述定向天线的高度计算所述高度方向参数。
- 根据权利要求12所述的地面控制端，其特征在于，所述地面控制端包括跟踪天线 装置，所述跟踪天线装置包括用于水平转动所述定向天线的云台，所述通信方向包括所述定向天线的目标方位角参数，所述位置姿态信息包括所述定向天线的当前方位角参数；所述第一处理器进一步用于：控制所述云台以使所述当前方位角参数与所述目标方位角参数的差异度小于第一预定范围。
- 根据权利要求12所述的地面控制端，其特征在于，所述地面控制端包括跟踪天线装置，所述跟踪天线装置包括用于调整所述定向天线俯仰的云台，所述通信方向包括所述定向天线的目标俯仰角参数，所述位置姿态信息包括当前俯仰角参数；所述第一处理器进一步用于：控制所述云台以使所述当前俯仰角参数与所述目标俯仰角参数的差异度小于第二预定范围。
- 根据权利要求12所述的地面控制端，其特征在于，所述定向天线包括相控阵天线，所述相控阵天线包括多个定向辐射单元，每个所述辐射单元对应一个辐射方向，所述通信方向包括所述定向天线的目标方位角参数；所述第一处理器还用于：控制所述相控阵天线以选择性启动所述辐射单元并时启动的所述辐射单元的所述辐射方向与所述目标方位角参数的差异度小于第三预定范围。
- 根据权利要求12所述的地面控制端，其特征在于，所述定向天线包括相控阵天线，所述相控阵天线包括多个定向辐射单元，每个所述辐射单元对应一个辐射方向，所述通信方向包括所述定向天线的目标俯仰角参数；所述通信方向包括所述定向天线的目标俯仰角参数，所述第一处理器还用于：控制所述相控阵天线以选择性启动所述辐射单元并使启动的所述辐射单元的所述辐射方向与所述目标俯仰角参数的差异度小于第四预定范围。
- 根据权利要求12所述的地面控制端，其特征在于，所述第一处理器还用于：判断所述通信方向的变化值是否小于预设阈值；在所述变化值小于所述预设阈值时控制所述地面控制端改变所述定向天线的方位角为多个扫描方位角；获取所述定向天线位于所述多个扫描方位角时所述无人机与所述定向天线之间的通信强度；和根据所述通信强度重新确定所述向天线的目标方位角，所述目标方位角为所述通信强度最大的所述扫描方位角。
- 根据权利要求12所述的地面控制端，其特征在于，所述地面控制端还包括第二处理器，所述第二处理器用于：控制所述地面控制端解析所述位置信息和所述位置姿态信息。
- 根据权利要求20所述的地面控制端，其特征在于，所述地面控制端包括跟踪天线装置和与所述跟踪天线装置通信的遥控器，所述第一处理器还用于：控制所述跟踪天线装置接收所述无人机发送的所述位置信息；和控制所述跟踪天线装置转发所述位置信息至所述遥控器；所述第二处理器还用于：控制所述遥控器解析所述位置信息以得到解析位置信息；和控制所述遥控器发送所述解析位置信息至所述跟踪天线装置。
- 根据权利要求12所述的地面控制端，其特征在于，所述地面控制端包括遥控器，所述遥控器包括全向天线和第二处理器，所述第一处理器还用于：判断所述定向天线与所述无人机之间的通信强度是否小于第二预设阈值；和所述第二处理器还用于：在所述通信强度小于所述第二预设阈值时控制所述全向天线与所述无人机通信。
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| CN109890037A (zh) * | 2019-02-14 | 2019-06-14 | 飞牛智能科技（南京）有限公司 | 波达方向的调整方法及系统 |
| CN109991993A (zh) * | 2019-04-19 | 2019-07-09 | 江苏荣耀天翃航空科技有限公司 | 基于rtk差分定位的天地双飞控系统及飞控 |
| CN111912404B (zh) * | 2019-05-09 | 2024-04-05 | 西安京东天鸿科技有限公司 | 飞行设备输出姿态修正系统及方法 |
| CN110336626B (zh) * | 2019-07-08 | 2022-01-14 | 中国人民解放军陆军装备部驻北京地区军事代表局驻石家庄地区第一军事代表室 | 一种定向天线的对准方法、对准装置及终端 |
| CN110365386B (zh) * | 2019-07-10 | 2022-06-17 | 中国水利水电第四工程局有限公司 | 无人机的通信增强方法和无人机 |
| CN112350753A (zh) * | 2019-08-07 | 2021-02-09 | 索尼公司 | 无线通信系统中的电子设备和方法 |
| CN112204492A (zh) * | 2019-08-30 | 2021-01-08 | 深圳市大疆创新科技有限公司 | 天线方向的调节方法、设备及系统 |
| CN112563750A (zh) * | 2019-09-25 | 2021-03-26 | 比亚迪股份有限公司 | 天线姿态调整方法和系统 |
| CN112909547B (zh) * | 2019-12-04 | 2022-12-02 | 中国移动通信集团上海有限公司 | 无人机定向天线的调整系统和方法 |
| CN111294772B (zh) * | 2020-02-24 | 2022-12-16 | 无锡职业技术学院 | 一种基于智能天线调节的车载点对点通信系统及其方法 |
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| CN111565319A (zh) * | 2020-03-31 | 2020-08-21 | 广州中科云图智能科技有限公司 | 一种无人机视频的直播方法、装置及无人机巢 |
| CN111504231B (zh) * | 2020-05-06 | 2021-09-21 | 深圳小鱼儿科技有限公司 | 一种光线模拟定向天线覆盖区域的方法和系统 |
| CN111669208B (zh) * | 2020-05-29 | 2023-04-07 | 北京小米移动软件有限公司 | 天线选择方法及第一电子设备、存储介质 |
| CN111930151A (zh) * | 2020-07-14 | 2020-11-13 | 西安爱生无人机技术有限公司 | 一种用于工业级无人机的地面测控系统 |
| CN112073111A (zh) * | 2020-07-31 | 2020-12-11 | 深圳市贝贝特科技实业有限公司 | 车载无人机自组网增强方法 |
| WO2022032498A1 (zh) * | 2020-08-11 | 2022-02-17 | 深圳市大疆创新科技有限公司 | 可移动平台控制方法、控制终端及计算机可读存储介质 |
| WO2022061886A1 (zh) * | 2020-09-28 | 2022-03-31 | 深圳市大疆创新科技有限公司 | 无人机的控制方法、装置、无人机、控制终端及系统 |
| CN112433237B (zh) * | 2020-11-10 | 2023-04-07 | 广州肯赛特通信科技有限公司 | 一种自动卫星跟踪方法、装置、设备及存储介质 |
| WO2022252066A1 (zh) * | 2021-05-31 | 2022-12-08 | 深圳市大疆创新科技有限公司 | 一种可移动平台的天线选择方法及可移动平台 |
| CN114649667A (zh) * | 2021-12-29 | 2022-06-21 | 常熟市泓博通讯技术股份有限公司 | 自适应位姿变化的天线定向通信方法和通信装置 |
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