Momwe mungakulitsire njira yolumikizirana ndi galimoto yopanda ndege (UAV)

Ntchito yokulitsa njira yolumikizirana ndi ndege yosayendetsedwa ndi ndege (UAV) idakali yofunika. Nkhaniyi ikufotokoza njira zokongoletsera parameter iyi. Nkhaniyi inalembedwa kwa opanga ma UAV ndi ogwira ntchito ndipo ndikupitiriza mndandanda wa nkhani zokhudzana ndi kuyankhulana ndi ma UAV (koyambirira kwa mndandanda, onani [1].

Zomwe zimakhudza kuchuluka kwa kulumikizana

Mitundu yolumikizirana imadalira modemu yogwiritsidwa ntchito, tinyanga, zingwe za mlongoti, mikhalidwe yofalitsa mafunde a wailesi, kusokoneza kwakunja ndi zifukwa zina. Kuti mudziwe kuchuluka kwa chikoka cha gawo linalake la kulumikizana, lingalirani zamitundu yosiyanasiyana [2]
(1)

kumene
- zosiyanasiyana zoyankhulirana [mamita];
- liwiro la kuwala mu vacuum [m/sec];
- pafupipafupi [Hz];
- mphamvu yotumizira modemu [dBm];
- kuchulukitsa kwa antenna [dBi];
- zotayika mu chingwe kuchokera ku modemu kupita ku transmitter mlongoti [dB];
- kupindula kwa mlongoti wolandila [dBi];
- zotayika mu chingwe kuchokera ku modemu kupita ku mlongoti wolandila [dB];
- kukhudzika kwa wolandila modem [dBm];
- attenuation multiplier, poganizira zotayika zina chifukwa cha chikoka cha padziko lapansi, zomera, mlengalenga ndi zinthu zina [dB].

Kuchokera ku equation zitha kuwoneka kuti mtunduwo umatsimikiziridwa ndi:

• modem yogwiritsidwa ntchito;
• pafupipafupi njira ya wailesi;
• tinyanga ntchito;
• kutayika mu zingwe;
• kukhudza kufalikira kwa mafunde a wailesi kuchokera padziko lapansi, zomera, mlengalenga, nyumba, ndi zina zotero.

Pambuyo pake, magawo omwe amathandizira mtunduwu amaganiziridwa mosiyana.

Modem yogwiritsidwa ntchito

Kulumikizana kosiyanasiyana kumadalira magawo awiri okha a modemu: mphamvu yotumizira ndi wolandila sensitivity , kapena kani, kuchokera ku kusiyana kwawo - bajeti ya mphamvu ya modem
(2)

Kuti muwonjezere kulumikizana kwamtundu, ndikofunikira kusankha modemu yokhala ndi mtengo waukulu . Wonjezani nayenso, zimatheka ndi kuwonjezeka kapena pochepetsa . Zokonda ziyenera kuperekedwa pakufufuza ma modemu okhala ndi chidwi kwambiri ( otsika momwe ndingathere), m'malo mowonjezera mphamvu ya transmitter . Nkhaniyi yafotokozedwa mwatsatanetsatane m'nkhani yoyamba. [1].

Kuwonjezera zipangizo [1] Ndikoyenera kukumbukira kuti opanga ena, monga Microhard [3], sonyezani mwatsatanetsatane wa zida zina osati avareji, koma mphamvu yapamwamba ya chowulutsira, chomwe chimakhala chokulirapo kangapo kuposa avareji ndipo sichingagwiritsidwe ntchito kuwerengera kuchuluka kwake, popeza izi zitha kupangitsa kuti kuchuluka kwa mawerengedwe kupitilira zenizeni. mtengo. Zida zotere zikuphatikiza, mwachitsanzo, gawo lodziwika bwino la pDDL2450 [4,5]. Izi zimatsatana mwachindunji ndi zotsatira za kuyezetsa kwa chipangizochi komwe kunachitika kuti tipeze satifiketi ya FCC [6] (Onani tsamba 58). Zotsatira zoyesa pazida zopanda zingwe zotsimikiziridwa ndi FCC zitha kuwonedwa patsamba la FCC ID [7]polowetsa ID yoyenerera ya FCC mu bar yofufuzira, yomwe iyenera kukhala pa chizindikiro chosonyeza mtundu wa chipangizocho. ID ya FCC ya gawo la pDDL2450 ndi NS916pDDL2450.

Mafupipafupi a wailesi

Kuchokera ku ma equation osiyanasiyana (1) Izo momveka bwino kuti m'munsi ntchito pafupipafupi , ndipamene amalankhulirana kwambiri . Koma tisathamangire kuganiza. Chowonadi ndi chakuti magawo ena omwe akuphatikizidwa mu equation amadaliranso pafupipafupi. Mwachitsanzo, antenna amapindula и zidzadalira pafupipafupi mu nkhani pamene miyeso pazipita tinyanga okhazikika, zomwe ndizomwe zimachitika pochita. Kupeza kwa antenna , yofotokozedwa m'mayunitsi opanda miyeso (nthawi), imatha kuwonetsedwa motengera gawo la thupi la mlongoti. motere [8]
(3)

kumene - kabowo kakang'ono ka mlongoti, mwachitsanzo, chiŵerengero cha dera logwira ntchito la mlongoti ndi thupi (kutengera kapangidwe ka mlongoti) [8].

Kuchokera (3) Zikuwonekeratu kuti pamalo okhazikika a antenna, phindu limawonjezeka molingana ndi masikweya afupipafupi. Tiyeni tilowe mmalo (3) в (1), atalembanso kale (1) kugwiritsa ntchito mayunitsi opanda miyeso kuti apeze phindu , , kutayika kwa chingwe , ndi attenuation factor , komanso kugwiritsa ntchito Watts kwa и m'malo mwa dBm. Ndiye
(4)

kuti coefficient ndi yokhazikika ya milingo yokhazikika ya mlongoti. Choncho, muzochitika izi, njira yolankhulirana imagwirizana mwachindunji ndi mafupipafupi, mwachitsanzo, maulendo apamwamba kwambiri, ochuluka kwambiri. Kutsiliza. Ndi miyeso yosasunthika ya tinyanga, kuwonjezereka kwafupipafupi kwa ulalo wa wailesi kumabweretsa kuchulukira kwa njira yolumikizirana powongolera mawonekedwe a tinyanga. Komabe, ziyenera kukumbukiridwa kuti pamene mafupipafupi akuwonjezeka, momwemonso kuchepetsedwa kwa mafunde a wailesi mumlengalenga, chifukwa cha mpweya, mvula, matalala, matalala, chifunga ndi mitambo. [2]. Komanso, pakuwonjezeka kwa njira, kuchepetsedwa kwa mpweya kumawonjezekanso. Pazifukwa izi, panjira iliyonse kutalika komanso pafupifupi nyengo yanyengo, pali mtengo wina wapamwamba wa ma frequency onyamulira, ocheperako ndi mulingo wovomerezeka wazizindikiro zakuthambo mumlengalenga. Tiyeni tisiye yankho lomaliza la funso la chikoka cha mafupipafupi a njira ya wailesi pamtundu woyankhulirana ku gawo lomwe chikoka cha dziko lapansi ndi mlengalenga pa kufalitsa mafunde a wailesi chidzaganiziridwa.

Antennas

Mitundu yolumikizirana imatsimikiziridwa ndi gawo la antenna monga phindu (gain in English terminology), kuyezedwa mu dBi. Kupindula ndi gawo lofunikira lophatikizika chifukwa limaganizira: (1) kuthekera kwa mlongoti kuyang'ana mphamvu ya transmitter kwa wolandila poyerekeza ndi isotropic emitter (isotropic, motero index i mu dBi); (2) kutayika mu mlongoti wokha [8,9]. Kuti muwonjezere njira yolankhulirana, muyenera kusankha tinyanga zokhala ndi phindu lalikulu kwambiri kuchokera kwa omwe ali oyenera kulemera kwake ndi kukula kwake komanso kuthekera kwa njira yowongolera. Kuthekera kwa mlongoti kuyang'ana mphamvu sikuperekedwa kwaulere, koma powonjezera miyeso (bowo) la mlongoti. Mwachitsanzo, kukula kwa mlongoti wolandira, malo akuluakulu omwe adzatha kusonkhanitsa mphamvu kuti apereke kwa wolandirayo, ndipo mphamvu zambiri, mphamvu yolandirira, i.e. kuyankhulana kumawonjezeka. Chifukwa chake, muyenera kusankha kaye kuchuluka kwa tinyanga tating'ono komwe kuli kokwanira pavuto lomwe likuthetsedwa ndikuchepetsa malo osakira ndi chizindikiro ichi, kenako fufuzani mtundu wina wa mlongoti, ndikuwunika kupindula kwakukulu. Gawo lachiwiri lofunikira la mlongoti poyeserera ndi kuwala kowala [8,10], kuyezedwa m’madigiri aang’ono. Nthawi zambiri, kutalika kwa mlongoti kumatanthauzidwa ngati ngodya pakati pa mayendedwe awiri apakati kuchokera pakatikati pa mlongoti pomwe phindu la mlongoti limachepetsedwa ndi 3 dB kuchokera pamlingo waukulu wa mlongotiwo. M'lifupi mwa chitsanzo mu azimuth ndi kukwera akhoza kusiyana kwambiri. Parameter iyi ikugwirizana kwambiri ndi kukula kwa mlongoti molingana ndi lamulo: miyeso yayikulu - yaying'ono yamtengo wapatali. Izi sizikuphatikizidwa mwachindunji mumtundu wa equation, koma ndi chizindikiro ichi chomwe chimatsimikizira zofunikira pamayendedwe apansi (GS) antenna guide system pa UAV, popeza GS, monga lamulo, imagwiritsa ntchito tinyanga zolunjika kwambiri, osachepera nthawi zomwe kulumikizana kumakulitsa kulumikizana ndi UAV ndikofunikira. Zoonadi, bola ngati njira yotsatirira ya NS imatsimikizira kulondola kwa angular kwa kuloza mlongoti pa UAV wofanana ndi theka la m'lifupi mwa chitsanzo kapena zochepa, mlingo wa chizindikiro cholandirira / chotulutsidwa sichidzagwera pansi pa 3 dB kuchokera pazipita. Mulimonsemo palibe theka la mtengo m'lifupi mwa mlongoti osankhidwa kukhala zosakwana zolakwa angular a NS mlongoti kuloza dongosolo mu azimuth kapena kukwera.

Makabati

Kuti muchulukitse njira yolumikizirana, muyenera kugwiritsa ntchito zingwe zotsika kwambiri (zochepetsa chingwe kapena kutayika kwa chingwe) pa. ntchito pafupipafupi ulalo wa wailesi ya NS-UAV. Kuwongolera kwa mzere mu chingwe kumatanthauzidwa ngati chiŵerengero cha chizindikiro pa kutuluka kwa gawo la chingwe cha 1 m (mu dongosolo la metric) ndi chizindikiro pakulowetsa gawo la chingwe, chofotokozedwa mu dB. Kutayika kwa chingwe kuphatikizidwa mu equation yamitundu (1), amatsimikiziridwa ndi kuchulukitsa kuchepetsedwa kwa mzere ndi kutalika kwa chingwe. Chifukwa chake, kuti mupeze njira yolumikizirana yopitilira muyeso, muyenera kugwiritsa ntchito zingwe zochepetsetsa zotsika kwambiri ndikuchepetsa kutalika kwa zingwezi. Pa NS, mayunitsi a modemu ayenera kukhazikitsidwa mwachindunji pamtengo pafupi ndi tinyanga. Mu thupi la UAV, modem iyenera kukhala pafupi kwambiri ndi tinyanga. Ndikoyeneranso kuyang'ana kusokoneza kwa chingwe chosankhidwa. Izi zimayesedwa mu Ohms ndipo nthawi zambiri zimakhala zofanana ndi 50 kapena 75 Ohms. Kulepheretsa kwa chingwe, cholumikizira cha antenna cha modem ndi cholumikizira pa mlongoti wokha chiyenera kukhala chofanana.

Zotsatira za Padziko Lapansi

Mu gawoli tiwona momwe mafunde a wailesi amafalikira pamtunda kapena panyanja. Izi zimachitika nthawi zambiri pogwiritsa ntchito ma UAV. Kuwunika kwa UAV kwa mapaipi, mizere yamagetsi, mbewu zaulimi, ntchito zambiri zankhondo ndi zapadera - zonsezi zikufotokozedwa bwino ndi chitsanzo ichi. Zochitika zaumunthu zimatipatsa chithunzi chomwe kuyankhulana pakati pa zinthu ndi kotheka ngati zili m'munda wa maonekedwe owoneka bwino a wina ndi mzake, mwinamwake kulankhulana sikutheka. Komabe, mafunde a wailesi sakhala amtundu wa kuwala, kotero kuti zinthu zili nawo ndi zosiyana. Pachifukwa ichi, ndizothandiza kwa wopanga UAV ndi wogwiritsa ntchito kukumbukira mfundo ziwiri zotsatirazi.

1. Kulankhulana mumayendedwe a wailesi ndikotheka ngakhale ngati palibe kuwonekera mwachindunji pakati pa NS ndi UAV.
2. Chikoka chapansi pa kuyankhulana ndi UAV chidzamveka ngakhale palibe zinthu pa mzere wa kuwala wa NS-UAV.

Kuti mumvetsetse zenizeni za kufalikira kwa mafunde a wailesi pafupi ndi dziko lapansi, ndikofunikira kuti mudziwe bwino lomwe lingaliro la gawo lalikulu la kufalikira kwa wailesi. [2]. Popanda zinthu zilizonse zomwe zili m'dera lalikulu la kufalikira kwa mawayilesi, kuwerengera kwamitundu kumatha kuchitidwa pogwiritsa ntchito ma formula a malo aulere, i.e. в (1) ikhoza kutengedwa mofanana ndi 0. Ngati pali zinthu zomwe zili m'dera lofunikira, ndiye kuti izi sizingatheke. Mku. 1 pa point A pali point emitter yomwe ili pamtunda pamwamba pa Dziko Lapansi, lomwe limatulutsa mphamvu yamagetsi yamagetsi mbali zonse ndi mphamvu yofanana. Pamalo B pamalo okwera pali wolandila woyezera kukula kwamunda. Muchitsanzo ichi, gawo lofunikira pakufalitsa mafunde a wailesi ndi ellipsoid yokhala ndi ma point A ndi B.

Mpunga. 1. Malo ofunikira pakufalitsa mafunde a wailesi

Utali wa ellipsoid mu gawo lake "lokhuthala" limatsimikiziridwa ndi mawuwo [2]
(5)

Kuchokera (5) zikuwonekeratu kuti zimatengera pafupipafupi mosiyana, mocheperako , "wokhuthala" wa ellipsoid ( mu Fig. 1). Kuonjezera apo, "kukula" kwa ellipsoid kumawonjezeka ndi mtunda wochuluka pakati pa zinthu zoyankhulirana. Kwa mafunde a wailesi akhoza kukhala ndi mtengo wochititsa chidwi, kotero pamene 10 Km, Timapeza 2.45 GHz 50'60 m.

Tiyeni tsopano tiganizire za chinthu chosawoneka bwino chowonetsedwa ndi katatu kotuwa mumkuyu. 1. Idzakhudza kufalikira kwa mafunde a wailesi pafupipafupi , chifukwa ili m'dera lalikulu lofalitsidwa ndipo sichidzakhudza kufalikira kwa mafunde a wailesi ndi pafupipafupi. . Kwa mafunde a wailesi mumtundu wa kuwala (kuwala), mtengo ndi yaying'ono, kotero chikoka cha padziko lapansi pa kufalitsa kwa kuwala sikumveka muzochita. Poganizira kuti dziko lapansi ndi lozungulira, n'zosavuta kumvetsa kuti ndi mtunda wowonjezereka , malo omwe ali pansi adzasunthira mowonjezereka kumalo ofunika kwambiri ofalitsa, motero kulepheretsa kuyenda kwa mphamvu kuchokera ku mfundo A kupita kumalo B - kumapeto kwa nkhani, kulankhulana ndi UAV kumasokonekera. Zinthu zina panjira, monga malo osagwirizana, nyumba, nkhalango, ndi zina zotero, zidzakhudzanso mauthenga.

Tiyeni tsopano tione mkuyu. 2 momwe chinthu chosawoneka bwino chimakwirira gawo lalikulu la kufalikira kwa mafunde a wailesi ndi ma frequency , kupangitsa kuti kulankhulana pazifukwa izi kukhala kosatheka. Pa nthawi yomweyo, kulankhulana pafupipafupi zimathekanso chifukwa mbali ina ya mphamvu "idumpha" pamwamba pa chinthu chosawoneka bwino. Kutsika kwafupipafupi, kupitirira kupitirira kuwala kwa kuwala kwa wailesi kumatha kufalikira, kusunga kulankhulana kokhazikika ndi UAV.

Mpunga. 2. Kuphimba gawo lalikulu la kufalikira kwa mawayilesi

Kuchuluka kwa chikoka cha padziko lapansi pazidziwitso kumatengeranso kutalika kwa tinyanga и . Kukula kwa tinyanga, ndipamenenso mtunda woloza A ndi B ukhoza kusunthidwa popanda kulola kuti zinthu kapena pansi kugwere pamalo ofunikira.

Pamene chinthu kapena pansi chikupita kumalo ofunikira, mphamvu yamunda pa mfundo B idzazungulira [2], i.e. idzakhala yayikulu kapena yocheperapo kuposa mphamvu yakumunda. Izi zimachitika chifukwa chowonetsera mphamvu kuchokera ku chinthucho. Mphamvu yowonetsera ikhoza kuwonjezeredwa pamfundo B ndi mphamvu yayikulu mu gawo - ndiye kuwuka kumachitika mu mphamvu yamunda, kapena mu antiphase - ndiye kuchepa (ndikuya kwambiri) kumachitika mu mphamvu yamunda. Ndikofunikira kukumbukira izi kuti mumvetsetse zenizeni za kulumikizana ndi ma UAV. Kutayika kwa kuyankhulana ndi UAV pamtundu wina kungayambitsidwe ndi kuchepa kwapafupi kwa mphamvu zamunda chifukwa cha oscillations, i.e. ngati mutawuluka mtunda wina, kugwirizanako kungabwezeretsedwe. Kutayika komaliza kwa kulankhulana kudzachitika pokhapokha malo ofunika atatsekedwa kwathunthu ndi zinthu kapena pansi. Kenaka, njira zidzaperekedwa kuti zithetse zotsatira za kugwedezeka kwa mphamvu za m'munda.

Ma formula owerengera attenuation factor Pofalitsa mafunde a wailesi pamtunda wosalala wa Dziko Lapansi, amakhala ovuta kwambiri, makamaka patali , kupyola mulingo wa mawonekedwe a kuwala [2]. Choncho, poganizira mozama za vutoli, tidzagwiritsa ntchito masamu a masamu pogwiritsa ntchito mapulogalamu apakompyuta a wolemba. Tiyeni tilingalire ntchito yanthawi zonse yotumiza kanema kuchokera ku UAV kupita ku NS pogwiritsa ntchito modemu ya 3D Link. [11] kuchokera ku kampani ya Geosca. Deta yoyamba ndi iyi.

1. Kukwera kwa mlongoti wa NS: 5 m.
2. Kutalika kwa ndege ya UAV: ​​1000 m.
3. Mafupipafupi a wailesi: 2.45 GHz.
4. Kupindula kwa mlongoti wa NS: 17 dB.
5. Kupindula kwa mlongoti wa UAV: ​​3 dB.
6. Mphamvu yotumizira: +25 dBm (300 mW).
7. Kuthamanga kwa kanema wa kanema: 4 Mbit / sec.
8. Chidziwitso cha Receiver mu kanema wa kanema: -100.4 dBm (kwa bandi yafupipafupi yomwe imakhala ndi chizindikiro cha 12 MHz).
9. Gawo lapansi: nthaka youma.
10. Polarization: ofukula.

Mtunda wa mzere wowonekera kwa deta yoyambayi udzakhala 128.8 km. Kuwerengera kumabweretsa mawonekedwe amphamvu ya siginecha pakulowetsa kwa wolandila modem mu dBm akuwonetsedwa mkuyu. 3.

Mpunga. 3. Mphamvu ya siginecha pakulowetsa kwa 3D Link modem receiver [11]

Mzere wa buluu mumkuyu. 3 ndi mphamvu ya siginecha pakulowetsa kwa wolandila NS, mzere wofiyira wowongoka ukuwonetsa kukhudzika kwa wolandila uyu. X axis ikuwonetsa kutalika kwa km, ndipo Y axis ikuwonetsa mphamvu mu dBm. Pamalo osiyanasiyana pomwe phiri la buluu lili pamwamba pa lofiira, kulandira mavidiyo mwachindunji kuchokera ku UAV ndikotheka, apo ayi sipadzakhala kulankhulana. Grafu ikuwonetsa kuti chifukwa cha kugwedezeka, kutayika kwa kuyankhulana kudzachitika pamtunda wa 35.5-35.9 km ndi kupitirira kwa 55.3-58.6 km. Pankhaniyi, kulumikizidwa komaliza kudzachitika motalikirapo - pambuyo pa 110.8 Km.

Monga tafotokozera pamwambapa, kuviika mu mphamvu yam'munda kumayamba chifukwa cha kuwonjezereka kwa antiphase pamalo a NS mlongoti wa chizindikiro cholunjika ndi chizindikiro chowonekera kuchokera padziko lapansi. Mutha kuchotsa kutayika kwa kulumikizana pa NS chifukwa cha zolephera pokwaniritsa zinthu ziwiri.

1. Gwiritsani ntchito modemu pa NS yokhala ndi njira zosachepera ziwiri zolandirira (RX zosiyanasiyana), mwachitsanzo 3D Link [11].
2. Ikani tinyanga zolandira pa NS mast zosiyana kutalika.

Kutalikirana kwa utali wa tinyanga zolandirira kuyenera kupangidwa kuti kuviika mu mphamvu yakumunda komwe kuli mlongoti umodzi kulipiridwa ndi milingo yayikulu kuposa kukhudzika kwa wolandila pomwe pali mlongoti wina. Mku. Chithunzi 4 chikuwonetsa zotsatira za njira iyi pomwe mlongoti wina wa NS uli pamtunda wa 5 m (mapindikira olimba a buluu), ndi winayo kutalika kwa 4 m (mapindikira abuluu).

Mpunga. 4. Mphamvu ya siginecha pa zolowetsa za zolandila ziwiri za 3D Link modemu kuchokera ku tinyanga topezeka mosiyanasiyana.

Kuchokera mku. Chithunzi 4 chikuwonetsa bwino phindu la njirayi. Zowonadi, pamtunda wonse wa UAV, mpaka mtunda wa 110.8 km, chizindikiro pakulowetsa kwa wolandila osachepera m'modzi wa NS amapitilira mulingo wakumva, i.e., kanema kuchokera pa bolodi sidzasokonezedwa paulendo wonsewo. mtunda.

Njira yomwe ikuperekedwayi, komabe, imathandizira kukulitsa kudalirika kwa ulalo wawayilesi wa UAV→ NS kokha, popeza kuthekera koyika tinyanga pamtunda wosiyanasiyana kumangopezeka pa NS. Sizingatheke kutsimikizira kutalika kwa tinyanga ta 1 m pa UAV. Kuti muwonjezere kudalirika kwa NS→UAV ulalo wa wailesi, njira zotsatirazi zitha kugwiritsidwa ntchito.

1. Dyetsani chizindikiro cha NS transmitter ku mlongoti umene umalandira chizindikiro champhamvu kwambiri kuchokera ku UAV.
2. Gwiritsani ntchito ma code a nthawi ya danga, monga ma code a Alamouti [12].
3. Gwiritsani ntchito luso la mlongoti lokhala ndi luso lotha kuwongolera mphamvu ya siginecha yomwe imatumizidwa ku mlongoti uliwonse.

Njira yoyamba ili pafupi kwambiri ndi vuto la kulumikizana ndi UAV. Ndiosavuta ndipo momwemo mphamvu zonse zotumizira zimawongoleredwa kunjira yoyenera - kupita ku mlongoti womwe uli bwino. Mwachitsanzo, pamtunda wa makilomita 50 (onani mkuyu 4), chizindikiro cha transmitter chimadyetsedwa ku mlongoti woimitsidwa pa mamita 5, ndi pamtunda wa makilomita 60 - ku mlongoti woimitsidwa pa mamita 4. Iyi ndi njira yomwe imagwiritsidwa ntchito mu modemu ya 3D Link [11]. Njira yachiwiri sigwiritsa ntchito data ya priori yokhudzana ndi momwe UAV→ njira yolumikizirana ya NS (milingo yazizindikiro zolandilidwa pazotulutsa za mlongoti), chifukwa chake imagawa mphamvu ya transmitter mofanana pakati pa tinyanga ziwiri, zomwe zimabweretsa kutayika kwa mphamvu, chifukwa chimodzi. wa tinyanga akhoza kukhala mu dzenje kumunda mphamvu. Njira yachitatu ndi yofanana ndi yoyamba pokhudzana ndi khalidwe la kulankhulana, koma ndizovuta kwambiri kukhazikitsa.

Tiyeni tionenso nkhani ya chikoka cha ma frequency a radio wave pamtundu wolumikizana ndi UAV, poganizira mphamvu ya pansi. Zinawonetsedwa pamwambapa kuti kuwonjezeka kwafupipafupi kumakhala kopindulitsa, chifukwa ndi miyeso yokhazikika ya tinyanga, izi zimabweretsa kuwonjezeka kwa kuyankhulana. Komabe, funso la kudalira pafupipafupi sanaganizidwe. Kuchokera (3) izi zikutsatira kuti chiŵerengero cha zopindula za tinyanga zofanana m'dera ndipo zimapangidwira kuti zizigwira ntchito pafupipafupi и , zofanana
(6)

chifukwa 2450 MHz; Timapeza 915 MHz 7.2 (8.5 dB). Izi ndi pafupifupi zomwe zimachitika muzochita. Tiyerekeze, mwachitsanzo, magawo a tinyanga zotsatirazi kuchokera ku Zida Zopanda Zingwe:

• WiBOX PA 0809-8V [13] (mafupipafupi: 0.83–0.96 GHz; beamidth: 70°/70°; phindu: 8 dBi);
• WiBOX PA 24-15 [14] (mafupipafupi: 2.3–2.5 GHz; beamidth: 30°/30°; phindu: 15 dBi).

Ndikosavuta kufanizitsa tinyangazi, chifukwa amapangidwa mofanana 27x27 cm housings, i.e. ali ndi dera lomwelo. Dziwani kuti kupindula kwa mlongoti kumasiyana ndi 15−8=7 dB, yomwe ili pafupi ndi mtengo wowerengedwa wa 8.5 dB. Kuchokera ku mawonekedwe a tinyanga zikuwonekeranso kuti m'lifupi mwa mlongoti wamtundu wa 2.3-2.5 GHz (30 ° / 30 °) ndi wocheperapo kuwirikiza kawiri kuposa m'lifupi mwa mlongoti wamtundu wa 0.83-0.96 GHz (70 °/70 °), mwachitsanzo, kupindula kwa tinyanga tokhala ndi miyeso yofanana kumawonjezeka chifukwa cha kuwongolera kwamayendedwe. Poganizira kuti 2 antennas amagwiritsidwa ntchito pamzere wolumikizirana, chiŵerengero adzakhala 2∙8.5=17 dB. Choncho, ndi miyeso yofanana ya antenna, bajeti ya mphamvu ya wailesi yolumikizana ndi ma frequency 2450 MHz idzakhala 17 dB kuposa bajeti ya mzere ndi pafupipafupi 915 MHz. Powerengera, timaganiziranso kuti ma UAV, monga lamulo, amagwiritsa ntchito tinyanga ta zikwapu zomwe miyeso yake siili yovuta kwambiri ngati tinyanga ta NS panel. Chifukwa chake, timavomereza kupindula kwa mlongoti wa UAV pama frequency и ofanana. Iwo. kusiyana kwa bajeti ya mphamvu ya mizere kudzakhala 8.5 dB, osati 17 dB. Zotsatira za kuwerengetsa zomwe zidachitika pazida zoyambira izi komanso kutalika kwa 5 m kwa mlongoti wa NS zikuwonetsedwa mkuyu. 5.

Mpunga. 5. Mphamvu ya siginecha pa cholowetsa cholandirira cha maulalo a wailesi omwe akugwira ntchito pama frequency 915 ndi 2450 MHz

Kuchokera mku. 5 ikuwonetsa momveka bwino kuti mayendedwe olankhulirana ndi kuchuluka kwa ma frequency ogwiritsira ntchito komanso dera lomwelo la mlongoti wa NS ukuwonjezeka kuchokera pa 96.3 km pa ulalo wa wailesi wokhala ndi ma frequency a 915 MHz mpaka 110.8 km pa ulalo wokhala ndi pafupipafupi 2450 MHz. . Komabe, mzere wa 915 MHz uli ndi ma frequency oscillation otsika. Kutsika kochepa kumatanthawuza kutsika kochepa mu mphamvu zamunda, mwachitsanzo, kuchepa kwa kusokoneza kulankhulana ndi UAV pamtunda wonse wa ndege. Mwina ndi mfundo iyi yomwe imatsimikizira kutchuka kwa sub-gigahertz radio wave range for command and telemetry communication line with UAVs as the most odalirika. Nthawi yomweyo, pochita zomwe tafotokozazi kuti muteteze ku mphamvu yakumunda, maulalo a wailesi mumtundu wa gigahertz amapereka njira yolumikizirana yokulirapo mwa kukonza zowongolera za tinyanga.

Kuchokera pakuganizira mkuyu. 5 tinganenenso kuti mu zone mthunzi (pambuyo 128.8 km chizindikiro) kutsitsa pafupipafupi ntchito ya mzere kulankhulana n'zomveka. Zowonadi, pamtunda wa pafupifupi −120 dBm ma curve amagetsi pama frequency и kudutsa. Iwo. Mukamagwiritsa ntchito zolandila ndi zomverera bwino kuposa −120 dBm, ulalo wa wailesi pafupipafupi 915 MHz upereka njira yayitali yolumikizirana. Pankhaniyi, komabe, bandwidth yofunikira yolumikizira iyenera kuganiziridwa, popeza chifukwa cha kukhudzidwa kwakukulu koteroko, liwiro la chidziwitso lidzakhala lotsika kwambiri. Mwachitsanzo, 3D Link modem [11] Ngakhale imapereka chidziwitso mpaka −122 dBm, kuphatikizika (mbali zonse ziwiri) kufalikira kwa zidziwitso kudzakhala 23 kbit/sec, zomwe, kwenikweni, ndizokwanira kulumikizana kwa KTRL ndi UAV, koma momveka bwino sizokwanira kutumiza kanema kuchokera mtsogolo. bolodi. Chifukwa chake, mtundu wa sub-gigahertz, uli ndi mwayi pang'ono pamtundu wa gigahertz wa KTRL, koma umataya mawonekedwe pokonza mizere yamavidiyo.

Posankha maulendo a wailesi, muyenera kuganiziranso kuchepetsedwa kwa chizindikiro pamene chikufalikira mumlengalenga wa Dziko lapansi. Kwa maulalo olankhulirana a NS-UAV, kuchepetsedwa mumlengalenga kumachitika chifukwa cha mpweya, mvula, matalala, matalala, chifunga ndi mitambo. [2]. Pamaulendo ogwiritsira ntchito maulalo a wailesi osakwana 6 GHz, kuchepa kwa mpweya kumatha kunyalanyazidwa. [2]. Kufowoka kwakukulu kumawonedwa mumvula, makamaka yamphamvu kwambiri (mvumbi). Table 1 ikuwonetsa deta [2] ndi kuchepetsedwa kwa mzere [dB/km] mumvula yamphamvu mosiyanasiyana 3–6 GHz.

Tebulo 1. Kuchepetsedwa kwa liniya kwa mafunde a wailesi [dB/km] mumvula yamphamvu mosiyanasiyana kutengera ma frequency.

pafupipafupi [GHz] 3 mm/ola (zofooka)
12 mm/ola (zapakati)
30 mm/ola (yamphamvu)
70 mm/ola (mvula)

3.00
0.3∙10−3
1.4∙10−3
3.6∙10−3
8.7∙10−3

4.00
0.3∙10−2
1.4∙10−2
3.7∙10−2
9.1∙10−2

5.00
0.8∙10−2
3.7∙10−2
10.6∙10−2
28∙10−2

6.00
1.4∙10−2
7.1∙10−2
21∙10−2
57∙10−2

Kuchokera patebulo 1 zimatsatira kuti, mwachitsanzo, pafupipafupi 3 GHz, kuchepetsedwa mu shawa kudzakhala pafupifupi 0.0087 dB/km, yomwe panjira ya 100 km idzapereka 0.87 dB yathunthu. Pamene mafupipafupi ogwiritsira ntchito ulalo wa wailesi ukuwonjezeka, kuchepa kwa mvula kumawonjezeka kwambiri. Kwa mafupipafupi a 4 GHz, kutsekemera mu shawa panjira yomweyi kudzakhala kale 9.1 dB, ndi maulendo a 5 ndi 6 GHz - 28 ndi 57 dB, motero. Komabe, pamenepa, zimaganiziridwa kuti mvula yokhala ndi mphamvu yopatsidwa imapezeka panjira yonse, zomwe sizimachitika kawirikawiri. Komabe, mukamagwiritsa ntchito ma UAV m'malo omwe mvula imagwa pafupipafupi, tikulimbikitsidwa kusankha ma frequency ogwiritsira ntchito ulalo wa wailesi pansi pa 3 GHz.

Mabuku

1. Smorodinov A.A. Momwe mungasankhire modemu ya burodi bandi yagalimoto yopanda munthu (UAV). Habr. 2019.
2. Kalinin A.I., Cherenkova E.L. Kufalitsa mafunde a wailesi ndi kagwiritsidwe ntchito ka maulalo a wailesi. Kulumikizana. Moscow. 1971.
3. Microhard.
4. Pico Digital Data Link pDDL2450.
5. Picoradio OEM specifications.
6. Lipoti la Mayeso a Engineering. Pico 2.4GHz 1W Digital Data Link Module.
7. FCC ID.
8. C.A. Balanis. Chiphunzitso cha antenna. Kusanthula ndi kupanga. Kusindikiza kwachinayi. John Wiley & Ana. 2016.
9. Kupeza kwa antenna. Nkhani ya Wikipedia.
10. kuwala. Nkhani ya Wikipedia.
11. Digital duplex radio modemu 3D Link.
12. S.M. Alamouti. "Njira yosavuta yotumizira kusiyanasiyana yolumikizirana opanda zingwe." IEEE Journal pa Madera Osankhidwa mu Communications. 16(8):1451–1458.
13. PTP Client Antenna WiBOX PA 0809-8V.
14. PTP Client Antenna WiBOX PA 24-15.

Source: www.habr.com