Vuto la kutumiza deta yochuluka kuchokera ku galimoto yosayendetsedwa ndi ndege (UAV) kapena ma robotics pansi si zachilendo muzogwiritsira ntchito zamakono. Nkhaniyi ikufotokoza njira zosankhidwa za ma modemu a burodibandi ndi mavuto okhudzana nawo. Nkhaniyi idalembedwera UAV ndi opanga ma robotics.
Zosankha Zosankha
Njira zazikulu zosankhira modemu ya burodibandi ya ma UAV kapena ma robotic ndi:
- Kulumikizana osiyanasiyana.
- Chiwongola dzanja chachikulu chotumizira deta.
- Kuchedwa kufalitsa deta.
- Kulemera ndi miyeso magawo.
- Zothandizira zambiri zolumikizira.
- Zofunikira pazakudya.
- Patulani control/telemetry channel.
Kulumikizana osiyanasiyana
Kulumikizana kosiyanasiyana sikutengera modemu yokha, komanso ma antennas, zingwe za mlongoti, mikhalidwe yofalitsa mafunde a wailesi, kusokoneza kwakunja ndi zifukwa zina. Kuti mulekanitse magawo a modemu palokha ku magawo ena omwe amakhudza kulumikizana kwamitundu, lingalirani zamitundu yosiyanasiyana [Kalinin A.I., Cherenkova E.L. Kufalitsa mafunde a wailesi ndi kagwiritsidwe ntchito ka maulalo a wailesi. Kulumikizana. Moscow. 1971]
$$display$$ R=frac{3 cdot 10^8}{4 pi F}10^{frac{P_{TXdBm}+G_{TXdB}+L_{TXdB}+G_{RXdB}+L_{RXdB}+ |V|_{dB}-P_{RXdBm}}{20}},$$display$$
kumene
$inline$R$inline$ - kufunika kolankhulirana kwamamita;
$inline$F$inline$ - pafupipafupi mu Hz;
$inline$P_{TXdBm}$inline$ - mphamvu yotumizira modemu mu dBm;
$inline$G_{TXdB}$inline$ - kupindula kwa mlongoti wa transmitter mu dB;
$inline$L_{TXdB}$inline$ - kutayika mu chingwe kuchokera ku modem kupita ku transmitter antenna mu dB;
$inline$G_{RXdB}$inline$ - kupindula kwa mlongoti wolandila mu dB;
$inline$L_{RXdB}$inline$ - kutayika mu chingwe kuchokera ku modemu kupita ku mlongoti wolandila mu dB;
$inline$P_{RXdBm}$inline$ - kukhudzika kwa wolandila modemu mu dBm;
$inline$|V|_{dB}$inline$ ndi chinthu chochepetsetsa chomwe chimaganizira zotayika zina chifukwa cha mphamvu ya dziko lapansi, zomera, mpweya ndi zinthu zina mu dB.
Kuchokera pamtundu wa equation zikuwonekeratu kuti kusiyanasiyana kumadalira magawo awiri okha a modemu: mphamvu yotumizira $inline$P_{TXdBm}$inline$$ ndi chidziwitso cholandira $inline$P_{RXdBm}$inline$, kapena m'malo mwake kusiyana kwawo. - bajeti yamphamvu ya modem
$$kuwonetsa$$B_m=P_{TXdBm}-P_{RXdBm}.$$kuwonetsa$$
Zotsalira zotsalira mu equation yamtunduwu zimalongosola momwe kufalikira kwa zizindikiro ndi magawo a zipangizo zoperekera mlongoti, i.e. alibe chochita ndi modemu.
Kotero, kuti muwonjezeke njira yolankhulirana, muyenera kusankha modemu yokhala ndi mtengo waukulu wa $ B_m $ inline $. Nayenso $inline$B_m$inline$ akhoza kuonjezedwa poonjezera $inline$P_{TXdBm}$inline$ kapena kuchepetsa $inline$P_{RXdBm}$inline$. Nthawi zambiri, opanga ma UAV amayang'ana modemu yokhala ndi ma transmitter apamwamba kwambiri ndipo salabadira pang'ono kukhudzika kwa wolandila, ngakhale akuyenera kuchita mosiyana. Ma transmitter amphamvu amodemu ya Broadband ali ndi mavuto awa:
- kugwiritsa ntchito mphamvu zambiri;
- kufunika kozizira;
- kuwonongeka kwa ma electromagnetic compatibility (EMC) ndi zida zina zapa board za UAV;
- chinsinsi chochepa cha mphamvu.
Mavuto awiri oyambirira ndi okhudzana ndi mfundo yakuti njira zamakono zotumizira mauthenga ambiri pawailesi, mwachitsanzo OFDM, zimafuna. mzere chopatsira. Kuthekera kwa ma transmitter amakono apawailesi ndikotsika: 10-30%. Choncho, 70-90% ya mphamvu yamtengo wapatali ya mphamvu ya UAV imasandulika kutentha, yomwe iyenera kuchotsedwa bwino pa modem, mwinamwake idzalephera kapena mphamvu yake yotulutsa idzatsika chifukwa cha kutentha kwambiri panthawi yosayenera. Mwachitsanzo, 2 W transmitter idzakoka 6-20 W kuchokera pamagetsi, pomwe 4-18 W idzasinthidwa kukhala kutentha.
Mphamvu zobisika za ulalo wa wayilesi ndizofunikira pazapadera komanso zankhondo. Kutsika pang'ono kumatanthauza kuti chizindikiro cha modemu chimazindikiridwa ndi mwayi wochuluka ndi wolandira chidziwitso cha siteshoni ya jamming. Chifukwa chake, mwayi woletsa ulalo wawayilesi wokhala ndi mphamvu zochepa ndizokweranso.
Kukhudzika kwa wolandila modemu kumadziwika kuti amatha kuchotsa zidziwitso kuchokera kuzizindikiro zolandilidwa ndi mulingo woperekedwa. Zosankha zabwino zimatha kusiyana. Pamakina olumikizirana pa digito, kuthekera kwa cholakwika pang'ono (chiwerengero cha zolakwika pang'ono - BER) kapena kuthekera kwa cholakwika mu paketi yazidziwitso (chiwerengero cha zolakwika za chimango - FER) chimagwiritsidwa ntchito nthawi zambiri. Kwenikweni, sensitivity ndi mulingo wa chizindikiro chomwe chikuyenera kuchotsedwamo. Mwachitsanzo, kumva kwa −98 dBm ndi BER = 10−6 kumasonyeza kuti chidziwitso chokhala ndi BER yoteroyo chikhoza kuchotsedwa pa chizindikiro chokhala ndi -98 dBm kapena kupitirira apo, koma chidziwitso chokhala ndi mulingo wa, kunena, -99 dBm sichidzachotsedwanso pa siginecha yokhala ndi mulingo wa, kunena, -1 dBm. Zoonadi, kuchepa kwa khalidwe pamene mlingo wa chizindikiro ukuchepa kumachitika pang'onopang'ono, koma ndi bwino kukumbukira kuti ma modemu ambiri amakono ali ndi zomwe zimatchedwa. pachimake zotsatira zimene kuchepa khalidwe pamene mlingo chizindikiro amachepetsa pansi tilinazo zimachitika mofulumira kwambiri. Ndikokwanira kuchepetsa chizindikiro ndi 2-10 dB pansi pa kukhudzika kwa BER kuti iwonjezere ku 1-XNUMX, zomwe zikutanthauza kuti simudzawonanso kanema kuchokera ku UAV. Zotsatira zake ndizotsatira zachindunji za malingaliro a Shannon panjira yaphokoso; sizingathetsedwe. Kuwonongeka kwa chidziwitso pamene mlingo wa chizindikiro umachepa pansi pa kukhudzidwa kumachitika chifukwa cha chikoka cha phokoso chomwe chimapangidwa mkati mwa wolandirayo. Phokoso lamkati la wolandila silingathetsedwe kwathunthu, koma ndizotheka kuchepetsa mulingo wake kapena kuphunzira kutulutsa bwino chidziwitso kuchokera pachizindikiro chaphokoso. Opanga ma modemu akugwiritsa ntchito njira zonse ziwirizi, kukonza midadada ya RF ya wolandila ndikuwongolera ma aligorivimu opangira ma siginecha. Kupititsa patsogolo kukhudzika kwa wolandila modem sikupangitsa kuti pakhale kuwonjezeka kwakukulu kwa mphamvu yogwiritsira ntchito mphamvu komanso kutentha kwa kutentha monga kuonjezera mphamvu ya transmitter. Pali, ndithudi, kuwonjezeka kwa mphamvu yogwiritsira ntchito mphamvu ndi kutulutsa kutentha, koma ndizochepa kwambiri.
Njira yosankha modemu yotsatirayi ikulimbikitsidwa kuchokera pakuwona kuti mukwaniritse kulumikizana kofunikira.
- Sankhani kuchuluka kwa kusamutsa deta.
- Sankhani modemu yokhala ndi chidziwitso chabwino kwambiri pa liwiro lofunikira.
- Dziwani kuchuluka kwa kulumikizana powerengera kapena kuyesa.
- Ngati njira yolumikizirana ikukhala yocheperako, yesani kugwiritsa ntchito njira zotsatirazi (zokonzedwa kuti zichepetse kufunikira):
- kuchepetsa kutayika kwa zingwe za antenna $inline$L_{TXdB}$inline$, $inline$L_{RXdB}$inline$ pogwiritsa ntchito chingwe chokhala ndi kutsika kwa mzere wochepetsetsa pafupipafupi ndi / kapena kuchepetsa kutalika kwa zingwe;
- onjezerani phindu la mlongoti $G_{TXdB}$inline$, $inline$G_{RXdB}$inline$;
- onjezerani mphamvu yotumizira modemu.
Makhalidwe okhudzidwa amatengera kuchuluka kwa kusamutsa deta malinga ndi lamulo: kuthamanga kwambiri - kukhudzika koyipa. Mwachitsanzo, kukhudzika kwa −98 dBm kwa 8 Mbps kuli bwino kuposa −95 dBm sensitivity kwa 12 Mbps. Mutha kufananiza ma modemu mwa kukhudzika kokha pa liwiro lomwelo kutengerapo deta.
Deta pamagetsi otumizirana ma transmitter nthawi zambiri imapezeka mumatchulidwe a modemu, koma zokhuza zolandila sizipezeka nthawi zonse kapena ndizosakwanira. Osachepera, ichi ndi chifukwa chokhalira osamala, popeza manambala okongola samveka kubisala. Kuonjezera apo, posasindikiza deta yokhudzidwa, wopanga amalepheretsa ogula mwayi wowerengera kuchuluka kwa kulankhulana mwa kuwerengera. mpaka kugula modemu.
Chiwongola dzanja chosinthira deta
Kusankha modemu yochokera pazigawozi ndikosavuta ngati zofunikira za liwiro zimafotokozedwa momveka bwino. Koma pali ma nuances ena.
Ngati vuto kuthetsedwa kumafuna kuonetsetsa pazipita zotheka kulankhulana osiyanasiyana ndipo nthawi yomweyo n'zotheka kugawa mokwanira lonse pafupipafupi bandeji kwa wailesi ulalo, ndiye ndi bwino kusankha modemu kuti amathandiza lonse pafupipafupi gulu (bandwidth). Chowonadi ndichakuti liwiro lazidziwitso lofunikira limatha kupezeka mu bandi yopapatiza pafupipafupi pogwiritsa ntchito mitundu yolimba yosinthira (16QAM, 64QAM, 256QAM, ndi zina), kapena mu bandi yayikulu pogwiritsa ntchito kusinthasintha kwapang'onopang'ono (BPSK, QPSK). ). Kugwiritsa ntchito kusinthasintha kwapang'onopang'ono kwa ntchito zotere ndikwabwino chifukwa chachitetezo chake chaphokoso. Chifukwa chake, kukhudzika kwa wolandila ndikwabwinoko, chifukwa chake, bajeti yamagetsi ya modem imawonjezeka ndipo, chifukwa chake, kuchuluka kwa kulumikizana.
Nthawi zina opanga ma UAV amayika liwiro la chidziwitso cha ulalo wawayilesi wapamwamba kwambiri kuposa liwiro la gwero, kwenikweni 2 kapena kupitilira apo, akutsutsa kuti magwero monga ma codec amakanema amakhala ndi bitrate yosinthika ndipo liwiro la modemu liyenera kusankhidwa poganizira zamtengo wapatali. kutulutsa kwa bitrate. Pankhaniyi, zosiyanasiyana kulankhulana mwachibadwa amachepetsa. Musagwiritse ntchito njirayi pokhapokha ngati kuli kofunikira. Ma modemu amakono ambiri ali ndi chotchinga chachikulu mu chotumizira chomwe chimatha kusalaza ma spikes a bitrate popanda kutayika kwa paketi. Chifukwa chake, kusungitsa liwiro lopitilira 25% sikufunika. Ngati pali chifukwa chokhulupirira kuti buffer ya modemu yomwe ikugulidwa sikwanira ndipo kuwonjezereka kwakukulu kumafunika, ndiye kuti ndibwino kukana kugula modemu yotere.
Kuchedwa kutumiza deta
Powunika gawoli, ndikofunikira kuti tisiyanitse kuchedwa komwe kumakhudzana ndi kutumiza kwa data pa ulalo wawayilesi ndi kuchedwa komwe kudapangidwa ndi makina ojambulira/kukodi a komwe kumachokera chidziwitso, monga vidiyo ya codec. Kuchedwa kwa ulalo wa wailesi kumakhala ndi zinthu zitatu.
- Kuchedwa chifukwa cha kusinthidwa kwa siginecha mu chopatsira ndi cholandila.
- Kuchedwa chifukwa cha kufalikira kwa siginecha kuchokera ku transmitter kupita ku wolandila.
- Kuchedwa chifukwa cha kusungidwa kwa data mu transmitter mu time division duplex (TDD) modemu.
Type 1 latency, muzochitikira wolemba, kuyambira makumi a microseconds mpaka millisecond imodzi. Kuchedwa kwa mtundu wa 2 kumadalira mtundu wa kulumikizana, mwachitsanzo, ulalo wa 100 km ndi 333 μs. Kuchedwa kwa mtundu wa 3 kumadalira kutalika kwa chimango cha TDD komanso kuchuluka kwa nthawi yotumizira mpaka nthawi yonse ya chimango ndipo kumatha kusiyanasiyana kuchokera pa 0 mpaka nthawi ya chimango, i.e. ndikusintha mwachisawawa. Ngati phukusi lachidziwitso chotumizidwa liri pamakina a transmitter pamene modem ili mumayendedwe opatsirana, ndiye kuti paketiyo idzaperekedwa pamlengalenga ndi zero zochedwa mtundu 3. idzachedwetsedwa mu buffer ya transmitter kwa nthawi yonse yolandila. Kutalika kwa chimango cha TDD kumachokera ku 2 mpaka 20 ms, kotero kuchedwa kwambiri kwa Type 3 sikudutsa 20 ms. Chifukwa chake, kuchedwa kwathunthu kwa ulalo wawayilesi kudzakhala mumtundu wa 3−21 ms.
Njira yabwino yodziwira kuchedwa kwa ulalo wa wayilesi ndikuyesa kwathunthu pogwiritsa ntchito zida zowunikira mawonekedwe a netiweki. Sizovomerezeka kuyeza kuchedwa pogwiritsa ntchito njira yoyankhira pempho, chifukwa kuchedwa kwa mayendedwe akutsogolo ndi m'mbuyo sikungakhale kofanana ndi ma modemu a TDD.
Kulemera ndi miyeso magawo
Kusankha gawo la modem pa bolodi molingana ndi muyesowu sikutanthauza ndemanga zapadera: zazing'ono ndi zopepuka ndizabwinoko. Musaiwale za kufunika koziziritsa pa bolodi unit; ma radiator owonjezera angafunikire, ndipo molingana ndi kulemera ndi miyeso imatha kuwonjezeka. Zokonda apa ziyenera kuperekedwa kwa kuwala, mayunitsi ang'onoang'ono okhala ndi mphamvu zochepa.
Kwa gawo lokhazikitsidwa pansi, magawo amtundu wa misa siwovuta kwambiri. Kusavuta kugwiritsa ntchito ndi kukhazikitsa kumawonekera. Chigawo chapansi chikuyenera kukhala chida chotetezedwa kuzinthu zakunja chokhala ndi makina okwera osavuta kupita ku mast kapena katatu. Njira yabwino ndi pamene gawo la pansi likuphatikizidwa mu nyumba imodzi ndi antenna. Momwemo, gawo lapansi liyenera kulumikizidwa ku dongosolo lowongolera kudzera pa cholumikizira chimodzi chosavuta. Izi zidzakupulumutsani ku mawu amphamvu mukafunika kugwira ntchito yotumizira kutentha kwa -20 degrees.
Zofunikira pazakudya
Mayunitsi apamtunda, monga lamulo, amapangidwa mothandizidwa ndi mitundu yosiyanasiyana yamagetsi, mwachitsanzo 7-30 V, yomwe imakhudza njira zambiri zamagetsi pamagetsi a UAV. Ngati muli ndi mwayi wosankha ma voltages angapo, ndiye perekani m'malo mwa mtengo wotsika kwambiri wamagetsi. Monga lamulo, ma modemu amayendetsedwa mkati kuchokera kumagetsi a 3.3 ndi 5.0 V kupyolera mumagetsi achiwiri. Kuchita bwino kwa magetsi achiwiriwa ndi apamwamba, kusiyana kochepa pakati pa kulowetsa ndi mkati mwa modemu. Kuchulukitsa kwachangu kumatanthauza kuchepetsa kugwiritsa ntchito mphamvu komanso kupanga kutentha.
Magawo apansi, kumbali ina, ayenera kuthandizira mphamvu kuchokera ku gwero lamphamvu kwambiri. Izi zimalola kugwiritsa ntchito chingwe chamagetsi chokhala ndi gawo laling'ono, lomwe limachepetsa kulemera kwake komanso kuphweka. Zinthu zina zonse kukhala zofanana, perekani zokonda mayunitsi oyambira pansi omwe ali ndi chithandizo cha PoE (Power over Ethernet). Pankhaniyi, chingwe chimodzi chokha cha Ethernet chimafunika kuti mulumikizane ndi gawo lapansi ku station station.
Njira yosiyana yowongolera/telemetry
Chofunika kwambiri pazochitika zomwe palibe malo otsala pa UAV kuti muyike modemu yosiyana ya command-telemetry. Ngati pali danga, ndiye kuti njira yosiyana yolamulira/telemetry ya modemu ya burodibandi ingagwiritsidwe ntchito ngati zosunga zobwezeretsera. Posankha modemu ndi njira iyi, tcherani khutu kuti modemu imathandizira ndondomeko yofunikila yolankhulirana ndi UAV (MAVLink kapena mwiniwake) komanso kuthekera kochulukirachulukira deta / telemetry data mu mawonekedwe osavuta pa siteshoni yapansi (GS). ). Mwachitsanzo, gawo la pa bolodi la modemu ya burodibandi limalumikizidwa ndi autopilot kudzera pa mawonekedwe monga RS232, UART kapena CAN, ndipo gawo lapansi limalumikizidwa ndi kompyuta yolamulira kudzera pa mawonekedwe a Efaneti momwe ndikofunikira kusinthanitsa lamulo. , telemetry ndi mavidiyo zambiri. Pachifukwa ichi, modemu iyenera kuchulukitsa lamulo ndi telemetry mtsinje pakati pa RS232, UART kapena CAN yolumikizana ndi gulu la pa bolodi ndi mawonekedwe a Ethernet a gawo lapansi.
Zina magawo kulabadira
Kupezeka kwa duplex mode. Ma modemu a Broadband a UAV amathandizira mitundu yogwiritsira ntchito simplex kapena duplex. Munjira yosavuta, kufalitsa kwa data kumaloledwa kokha kuchokera ku UAV kupita ku NS, komanso mumayendedwe apawiri - mbali zonse ziwiri. Monga lamulo, ma modemu a simplex ali ndi codec yokhazikika ndipo amapangidwa kuti azigwira ntchito ndi makamera a kanema omwe alibe codec ya kanema. Modemu ya simplex siyoyenera kulumikizidwa ku kamera ya IP kapena zida zilizonse zomwe zimafuna kulumikizidwa kwa IP. M'malo mwake, modemu ya duplex, monga lamulo, idapangidwa kuti ilumikizane ndi intaneti ya IP ya UAV ndi netiweki ya IP ya NS, i.e. imathandizira makamera a IP ndi zida zina za IP, koma sangakhale mu kanema codec, popeza IP kanema makamera zambiri wanu kanema codec. Thandizo la mawonekedwe a Efaneti ndizotheka kokha mu ma modemu aduplex athunthu.
Kulandila kwamitundumitundu (kusiyanasiyana kwa RX). Kukhalapo kwa kuthekera kumeneku ndikofunikira kuti mutsimikizire kulumikizana mosalekeza mumtunda wonse waulendo. Pamene akufalikira padziko lapansi, mafunde a wailesi amafika kumalo olandirirako muzitsulo ziwiri: m'njira yolunjika komanso yowunikira kuchokera pamwamba. Ngati kuwonjezera kwa mafunde a matabwa awiri kumachitika mu gawo, ndiye kuti munda pa malo olandirira umalimbikitsidwa, ndipo ngati mu antiphase, umafooka. Kufooka kungakhale kofunika kwambiri - mpaka kutayika kwathunthu kwa kulumikizana. Kukhalapo kwa tinyanga ziwiri pa NS, yomwe ili pamtunda wosiyana, kumathandiza kuthetsa vutoli, chifukwa ngati pamalo a mlongoti wina matabwa amawonjezedwa mu antiphase, ndiye pamalo a winayo satero. Zotsatira zake, mutha kukwaniritsa kulumikizana kokhazikika pamtunda wonse.
Zothandizira pamaneti topology. Ndikoyenera kusankha modemu yomwe imapereka chithandizo osati pa topology ya point-to-point (PTP), komanso ma point-to-multipoint (PMP) ndi relay (repeater) topology. Kugwiritsiridwa ntchito kwa relay kudzera mu UAV yowonjezera kumakupatsani mwayi wokulitsa kwambiri gawo la UAV lalikulu. Thandizo la PMP likulolani kuti mulandire zambiri nthawi imodzi kuchokera ku ma UAV angapo pa NS imodzi. Chonde dziwani kuti kuthandizira PMP ndi relay kudzafuna kuwonjezeka kwa bandwidth ya modem poyerekeza ndi nkhani yolumikizana ndi UAV imodzi. Choncho, pa modes izi tikulimbikitsidwa kusankha modemu kuti amathandiza pafupipafupi gulu lonse (osachepera 15-20 MHz).
Kupezeka kwa njira zowonjezera phokoso chitetezo. Njira yothandiza, chifukwa cha kusokoneza kwakukulu m'malo omwe ma UAV amagwiritsidwa ntchito. Kutetezedwa kwa phokoso kumamveka ngati kuthekera kwa njira yolumikizirana kuti igwire ntchito yake pamaso pa kusokonezedwa kwa zoyambira kapena zachilengedwe munjira yolumikizirana. Pali njira ziwiri zothanirana ndi kusokoneza. Yandikirani 1: pangani cholandirira modem kuti athe kulandira chidziwitso modalirika ngakhale pakakhala kusokonezedwa ndi gulu lolumikizirana, pamtengo wochepetsera liwiro lotumizira zidziwitso. Njira 2: Kuletsa kapena kuchepetsa kusokoneza kwa wolandila. Zitsanzo za kukhazikitsidwa kwa njira yoyamba ndi ma spectrum spread systems, omwe ndi: frequency hopping (FH), pseudo-random sequence sequence spread spectrum (DSSS) kapena wosakanizidwa wa onse awiri. Ukadaulo wa FH wafalikira mumayendedwe owongolera a UAV chifukwa cha kutsika kofunikira kosinthira deta munjira yotereyi. Mwachitsanzo, pa liwiro la 16 kbit / s mu gulu la 20 MHz, malo pafupifupi 500 amatha kukonzedwa, omwe amalola chitetezo chodalirika ku kusokoneza kwa bandi yopapatiza. Kugwiritsa ntchito FH panjira yolumikizirana ndi burodibandi ndizovuta chifukwa ma frequency band ndi akulu kwambiri. Mwachitsanzo, kuti mupeze ma frequency 500 pogwira ntchito ndi siginecha yokhala ndi 4 MHz bandwidth, mudzafunika 2 GHz ya bandwidth yaulere! Zochuluka kukhala zenizeni. Kugwiritsa ntchito DSSS panjira yolumikizirana ndi Broadband ndi ma UAV ndikofunikira kwambiri. Muukadaulo uwu, chidziwitso chilichonse chimapangidwa nthawi imodzi pamafuriji angapo (kapena onse) mu bandi yama sigino ndipo, pamaso pa kusokoneza kwa bandi yopapatiza, imatha kulekanitsidwa ndi magawo a sipekitiramu omwe sakhudzidwa ndi kusokonezedwa. Kugwiritsiridwa ntchito kwa DSSS, komanso FH, kumatanthauza kuti pamene kusokoneza kukuwonekera mu njira, kuchepetsa chiwerengero cha kutumiza deta kudzafunika. Komabe, ndizodziwikiratu kuti ndikwabwino kulandira kanema kuchokera ku UAV m'njira yotsika kuposa chilichonse. Njira ya 2 imagwiritsa ntchito mfundo yakuti kusokoneza, mosiyana ndi phokoso lamkati la wolandira, limalowa mu ulalo wa wailesi kuchokera kunja ndipo, ngati njira zina zilipo mu modem, zikhoza kuponderezedwa. Kuponderezedwa kwa kusokoneza kumatheka ngati kumapezeka m'madera a spectral, temporal kapena spatial. Mwachitsanzo, kusokoneza kwa narrowband kumapezeka m'dera la spectral ndipo kungathe "kudulidwa" kuchokera pamasewero pogwiritsa ntchito fyuluta yapadera. Mofananamo, phokoso la pulsed limapezeka mu nthawi ya nthawi; kuti athetse, malo omwe akhudzidwawo amachotsedwa pa chizindikiro cholowera cha wolandira. Ngati kusokoneza sikuli kocheperako kapena kuponderezedwa, ndiye kuti kupondereza kwapakati kumatha kugwiritsidwa ntchito kupondereza, popeza Kusokoneza kumalowa mu mlongoti wolandira kuchokera ku gwero kuchokera kumbali ina. Ngati zero ya ma radiation a antenna omwe akulandira ayikidwa kumbali ya gwero losokoneza, kusokonezako kudzaponderezedwa. Machitidwe otere amatchedwa adaptive beamforming & beam nulling system.
Radio protocol yogwiritsidwa ntchito. Opanga ma modemu amatha kugwiritsa ntchito muyezo (WiFi, DVB-T) kapena protocol ya wayilesi. Izi parameter sizimawonetsedwa kawirikawiri. Kugwiritsiridwa ntchito kwa DVB-T kumasonyezedwa m'njira zina ndi magulu omwe amathandizidwa pafupipafupi 2/4/6/7/8, nthawi zina 10 MHz komanso kutchulidwa m'mawu aukadaulo wa COFDM (coded OFDM) momwe OFDM imagwiritsidwa ntchito molumikizana. yokhala ndi zolemba zosamva phokoso. M'kupita kwanthawi, tikuwona kuti COFDM imangokhala mawu otsatsa ndipo ilibe maubwino aliwonse kuposa OFDM, popeza OFDM yopanda ma code osamva phokoso sagwiritsidwa ntchito konse. Fananizani COFDM ndi OFDM mukawona mawu achidule awa pamawonekedwe a modemu wawayilesi.
Ma modemu ogwiritsira ntchito ndondomeko yokhazikika nthawi zambiri amamangidwa pamaziko a chipangizo chapadera (WiFi, DVB-T) chomwe chimagwira ntchito limodzi ndi microprocessor. Kugwiritsa ntchito chipangizochi kumathandizira wopanga modem kumutu kwamutu wokhudzana ndi kupanga, kupanga, kukhazikitsa, ndikuyesa ma protocol awo a wailesi. Microprocessor imagwiritsidwa ntchito kupatsa modemu ntchito yofunikira. Ma modemu oterewa ali ndi ubwino wotsatira.
- Mtengo wotsika.
- Kulemera kwabwino ndi kukula kwa magawo.
- Kugwiritsa ntchito mphamvu zochepa.
Palinso kuipa.
- Kulephera kusintha mawonekedwe a mawonekedwe a wailesi posintha firmware.
- Kukhazikika kochepa kwa zinthu m'nthawi yayitali.
- Kuthekera kocheperako popereka chithandizo choyenerera chaukadaulo pothana ndi mavuto omwe si amtundu uliwonse.
Kukhazikika kochepa kwa zinthu ndi chifukwa chakuti opanga ma chip amayang'ana kwambiri misika yayikulu (ma TV, makompyuta, ndi zina). Opanga ma modemu a ma UAV sakhala patsogolo kwa iwo ndipo sangakhudze lingaliro la wopanga ma chip kuti asiye kupanga popanda kusintha kokwanira ndi chinthu china. Izi zimalimbikitsidwa ndi kachitidwe kakuyika mawayilesi kukhala ma microcircuits apadera monga "system on chip" (System on Chip - SoC), chifukwa chake tchipisi tawayilesi pawokha amatsukidwa pang'onopang'ono pamsika wa semiconductor.
Kuthekera kochepa popereka chithandizo chaumisiri ndi chifukwa chakuti magulu otukuka a ma modemu otengera ma protocol a wailesi amakhala ndi akatswiri, makamaka paukadaulo wamagetsi ndi ma microwave. Sipangakhale akatswiri olankhulana pawailesi kumeneko nkomwe, chifukwa palibe mavuto omwe angawathetse. Chifukwa chake, opanga ma UAV omwe amafunafuna njira zothetsera mavuto osagwirizana ndi mawayilesi ang'onoang'ono atha kukhala okhumudwitsidwa pakukambirana ndi chithandizo chaukadaulo.
Ma modemu ogwiritsira ntchito protocol yawayilesi amamangidwa pamaziko a tchipisi tapadziko lonse lapansi ta analogi ndi digito. Kukhazikika kwa tchipisi zotere ndikokwera kwambiri. Zowona, mtengo umakhalanso wokwera. Ma modemu oterewa ali ndi ubwino wotsatira.
- Kuthekera kwakukulu kosinthira modemu ku zosowa za kasitomala, kuphatikiza kusintha mawonekedwe a wailesi posintha firmware.
- Kuthekera kowonjezera kwawayilesi komwe kuli kosangalatsa kugwiritsidwa ntchito mu ma UAV ndipo kulibe mumamodemu omangidwa pamaziko a ma protocol wamba.
- Kukhazikika kwakukulu kwazinthu, kuphatikiza. m'nthawi yayitali.
- Mulingo wapamwamba wa chithandizo chaukadaulo, kuphatikiza kuthetsa mavuto omwe si amtundu uliwonse.
Zolakwa.
- Mtengo wokwera.
- Kulemera ndi kukula kwake kumatha kukhala koyipa kuposa ma modemu omwe amagwiritsa ntchito ma protocol wamba.
- Kuchulukitsa kwamagetsi amagetsi a digito.
Zaukadaulo zama modemu ena a ma UAV
Tebulo likuwonetsa magawo aumisiri a ma modemu ena a ma UAV omwe amapezeka pamsika.
Dziwani kuti ngakhale modem ya 3D Link ili ndi mphamvu yotsika kwambiri yotumizira poyerekeza ndi Picoradio OEM ndi ma modemu a J11 (25 dBm vs. 27-30 dBm), bajeti ya mphamvu ya 3D Link ndi yapamwamba kuposa ma modemu amenewo chifukwa cha kumvera kwakukulu (ndi liwiro lomwelo kutengerapo deta kwa ma modemu akufananizidwa). Chifukwa chake, kulumikizana kosiyanasiyana mukamagwiritsa ntchito 3D Link kudzakhala kokulirapo ndi kubera kwamphamvu kwamphamvu.
Table. Zambiri zaukadaulo zamamodemu ena owulutsa ma UAV ndi ma robotic
chizindikiro
(zochitika pa module kuchokera ku Microhard)
(onaninso )
Wopanga, dziko
Geoscan, RF
Mobilicom, Israel
Airborne Innovations, Canada
DTC, UK
Redess, China
Kulankhulana [km] 20−60
5
n / A*
n / A*
10-20
Liwiro [Mbit/s] 0.023−64.9
1.6-6
0.78-28
0.144-31.668
1.5-6
Kuchedwa kutumiza deta [ms] 1−20
25
n / A*
15-100
15-30
Makulidwe a gulu lomwe lili LxWxH [mm] 77x45x25
74x54x26
40x40x10 (popanda nyumba)
67x68x22
76x48x20
Kulemera kwa unit [gilamu] 89
105
17.6 (popanda nyumba)
135
88
Zolumikizira zambiri
Efaneti, RS232, CAN, USB
Efaneti, RS232, USB (ngati mukufuna)
Efaneti, RS232/UART
HDMI, AV, RS232, USB
HDMI, Efaneti, UART
Mphamvu yamagetsi yapabodi [Volt/Watt] 7−30/6.7
7−26/n/a*
5−58/4.8
5.9−17.8/4.5−7
7−18/8
Magetsi apansi panthaka [Volt/Watt] 18−75 kapena PoE/7
7−26/n/a*
5−58/4.8
6−16/8
7−18/5
Mphamvu ya transmitter [dBm] 25
n / A*
27-30
20
30
Kuzindikira kwa wolandila [dBm] (kwa liwiro [Mbit/s])
−122(0.023) −101(4.06) −95.1(12.18) −78.6(64.96)
−101(n/a*)
−101(0.78) −96(3.00) −76(28.0)
−95(n/a*) −104(n/a*)
−97(1.5) −94(3.0) −90(6.0)
Bajeti ya mphamvu ya modemu [dB] (ya liwiro [Mbit/sec])
147(0.023) 126(4.06) 120.1(12.18) 103.6(64.96)
n / A*
131(0.78) 126(3.00) 103(28.0)
n / A*
127 (1.5) 124 (3.0) 120 (6.0) (XNUMX)
Magulu afupipafupi omwe amathandizidwa [MHz] 4−20
4.5; 8.5
2; 4; Xnumx
0.625; 1.25; 2.5; 6; 7; 8
2; 4; Xnumx
Simplex/duplex
Duplex
Duplex
Duplex
Simplex
Duplex
Thandizo losiyanasiyana
inde
inde
inde
inde
inde
Olekanitsa njira yowongolera/telemetry
inde
inde
inde
palibe
inde
Zothandizira zowongolera za UAV mu njira yowongolera/telemetry
MAVLink, mwini
MAVLink, mwini
palibe
palibe
Chithunzi cha MAV
Thandizo lochulukitsa mu control/telemetry channel
inde
inde
palibe
palibe
n / A*
Network topology
PTP, PMP, kutumiza
PTP, PMP, kutumiza
PTP, PMP, kutumiza
PTP
PTP, PMP, kutumiza
Njira zowonjezerera chitetezo chokwanira cha phokoso
DSSS, narrowband ndi pulse suppressors
n / A*
n / A*
n / A*
n / A*
Radio protocol
mwini
n / A*
n / A*
DVB-T
n / A*
* n/a - palibe deta.
Za wolemba
Alexander Smorodinov [[imelo ndiotetezedwa]] ndi katswiri wotsogola ku Geoscan LLC pankhani yolumikizirana opanda zingwe. Kuchokera mu 2011 mpaka pano, wakhala akupanga ma protocol a wailesi ndi ma aligorivimu opangira ma radio modemu pazifukwa zosiyanasiyana, komanso kukhazikitsa ma algorithms opangidwa pogwiritsa ntchito tchipisi tating'onoting'ono. Malo omwe amawakonda akuphatikiza kupanga ma aligorivimu olumikizana, kuyerekezera katundu wa tchanelo, kusinthasintha/kuchepetsa, kukopera kosamva phokoso, komanso ma algorithms ena ofikira pa media (MAC). Asanalowe Geoscan, wolembayo adagwira ntchito m'mabungwe osiyanasiyana, ndikupanga zida zoyankhulirana zopanda zingwe. Kuyambira 2002 mpaka 2007, adagwira ntchito ku Proteus LLC ngati katswiri wotsogola pakupanga njira zolumikizirana potengera mulingo wa IEEE802.16 (WiMAX). Kuyambira 1999 mpaka 2002, wolemba adatenga nawo gawo pakupanga ma aligorivimu osamva phokoso komanso kutengera njira zolumikizira wailesi ku Federal State Unitary Enterprise Central Research Institute "Granit". Wolembayo adalandira digiri ya Candidate of Technical Sciences kuchokera ku St. Petersburg University of Aerospace Instrumentation mu 1998 ndi digiri ya Radio Engineering kuchokera ku yunivesite yomweyo mu 1995. Alexander ndi membala wapano wa IEEE ndi IEEE Communications Society.
Source: www.habr.com