Basa rekuwedzera huwandu hwekutaurirana nemotokari isina kurongwa yemuchadenga (UAV) inoramba yakakosha. Ichi chinyorwa chinokurukura nzira dzekuvandudza iyi parameter. Chinyorwa ichi chakanyorerwa vagadziri veUAV nevashandisi uye kuenderera mberi kwenyaya dzezvinyorwa nezve kutaurirana neUAVs (yekutanga kwenhevedzano, ona. .
Chii chinokanganisa hutano hwekukurukurirana
Hunhu hwekutaurirana hunoenderana nemodemu inoshandiswa, antenna, tambo dzeantenna, radio wave kuparadzira mamiriro, kupindira kwekunze uye zvimwe zvikonzero. Kuti uone chiyero chekufurira cheimwe parameter pane yekutaura siyana, funga nezve nhanho equation
(1)
apo
- inodiwa yekukurukurirana siyana [mamita];
— kumhanya kwechiedza muvacuum [m/sec];
- frequency [Hz];
- modem transmitter simba [dBm];
- transmitter antenna kuwana [dBi];
- kurasikirwa mutambo kubva modem kuenda kune transmitter antenna [dB];
- mugamuchiri antenna kuwana [dBi];
- kurasikirwa mutambo kubva modem kusvika kune antenna anogamuchira [dB];
-kunzwa kweiyo modem inogamuchira [dBm];
- attenuation multiplier, tichifunga nezvekumwe kurasikirwa nekuda kwesimba rePasi, zvinomera, mhepo uye zvimwe zvinhu [dB].
Kubva pane equation zvinogona kuoneka kuti huwandu hunotarwa ne:
- modem yakashandiswa;
- frequency yeredhiyo chiteshi;
- antennas anoshandiswa;
- kurasikirwa mutambo;
- pesvedzero pakupararira kwemasaisai eredhiyo kubva pasi pePasi, zvinomera, mhepo, zvivakwa, nezvimwe.
Tevere, iyo parameter inofurira huwandu inotariswa zvakasiyana.
Modem yakashandiswa
Iyo yekutaurirana renji inoenderana chete nemaparamita maviri eiyo modem: transmitter simba uye kugamuchira kunzwa , kana kuti, kubva mukusiyana kwavo - bhajeti resimba re modem
(2)
Kuti uwedzere huwandu hwekukurukurirana, zvinodikanwa kusarudza modem ine kukosha kukuru . Wedzera uyewo, zvinokwanisika nekuwedzera kana nokuderedza . Kufarirwa kunofanirwa kupihwa pakutsvaga mamodemu ane kunzwa kwakanyanya ( zvakaderera sezvinobvira), pane kuwedzera simba rekutumira . Nyaya iyi inokurukurwa zvakadzama munyaya yekutanga. .
Mukuwedzera kune zvinhu Zvakakodzera kuyeuka kuti vamwe vagadziri, akadai Microhard , ratidza mune zvakatemwa zvemimwe michina kwete avhareji, asi simba repamusoro remutakuri, iro rakakura zvakapetwa kakati wandei pane avhareji uye risingagone kushandiswa kuverenga huwandu, sezvo izvi zvichizotungamira kune yakaverengerwa huwandu hunodarika chokwadi. value. Midziyo yakadaro inosanganisira, semuenzaniso, iyo yakakurumbira pDDL2450 module [,]. Ichi chokwadi chinotevera zvakananga kubva pane zvakabuda pakuyedzwa kwemudziyo uyu wakaitwa kuti uwane chitupa cheFCC (Ona peji 58). Miyedzo yeFCC-yakasimbiswa isina waya zvishandiso inogona kutariswa paFCC ID webhusaiti nekupinda iyo yakakodzera FCC ID mubhara yekutsvaga, iyo inofanirwa kunge iri pazita rinoratidza rudzi rwechigadzirwa. Iyo FCC ID yepDDL2450 module ndeye NS916pDDL2450.
Radio chiteshi frequency
Kubva pachiyero equation Zvinonyatsotevera kuti yakaderera iyo frequency yekushandisa , iyo huru yekurukurirano siyana . Asi ngatisamhanyire mhedziso. Icho chokwadi ndechekuti mamwe ma paramita anosanganisirwa muequation anoenderanawo nekuwanda. Semuenzaniso, antenna inowana и zvinoenderana neiyo frequency mune iyo kesi kana iyo yakakura zviyero zveantennas fixed, ndizvo chaizvo zvinoitika mukuita. Antenna kuwana , inoratidzwa muzvikamu zvisina dimensionless (nguva), inogona kuratidzwa maererano nenzvimbo yemuviri yeantenna. nenzira inotevera
(3)
apo - antenna aperture kunyatsoita, kureva chiyero chenzvimbo inoshanda yeantenna kune yemuviri (zvinoenderana neantenna dhizaini) .
Of Zvinobva zvajeka kuti kune yakagadziriswa antenna nzvimbo, iyo pfuma inowedzera mukuenzana neskweya ye frequency. Ngatitsive в , atonyorazve kushandisa dimensionless mauniti kune antenna kuwana , , kurasikirwa kwetambo , uye attenuation factor , uye zvakare kushandisa Watts ye и panzvimbo yedBm. Zvadaro
(4)
ko coefficient iripi inogara iripo kune yakagadziriswa antenna zviyero. Nokudaro, mumamiriro ezvinhu aya, nhepfenyuro yekukurukurirana yakanyatsoenderana nehuwandu, kureva, iyo yakakwirira yakawanda, iyo yakawanda yakawanda. Mhedziso. Nezviyero zvakagadziriswa zveantennas, kuwedzera kuwanda kweiyo redhiyo link kunotungamirira kukuwedzera kwehutano hwekutaurirana nekuvandudza hunhu hwekutungamira hweantennas. Nekudaro, zvinofanirwa kurangarirwa kuti sezvo frequency inowedzera, ndiko kuderera kwemasaisai eredhiyo mumhepo, zvichikonzerwa nemagasi, mvura, chimvuramabwe, sinou, mhute nemakore. . Uyezve, nekuwedzera kwenzira kureba, kunyura mumhepo kunowedzerawo. Nechikonzero ichi, kune imwe neimwe nzira kureba uye avhareji yemamiriro ekunze pairi, pane imwe hupamhi hwepamusoro hweiyo inotakura frequency, inoganhurwa neiyo inobvumidzwa mwero wechiratidzo chekudzikisa mumhepo. Ngatisiyei mhinduro yekupedzisira kumubvunzo wekupesvedzerwa kwemafaro eredhiyo chiteshi panzira yekutaurirana kusvika kuchikamu chinozotariswa pesvedzero yePasi nemhepo pamusoro pekuparadzira masaisai eredhiyo.
Antennas
Iyo yekutaurirana renji inotemerwa neiyo antenna parameter sekuwana (gain in English terminology), inoyerwa nedBi. Kuwana inokosha inoumbwa parameter nekuti inofunga: (1) kugona kweiyo antenna kutarisa simba reiyo transmitter kune anogamuchira kana ichienzaniswa neisotropic radiator (saka iyo index i mu dBi); (2) kurasikirwa mune antenna pachayo [,]. Kuti uwedzere huwandu hwekutaurirana, iwe unofanirwa kusarudza ma antenna ane yakanyanya kunaka kuwana kukosha kubva kune ayo akakodzera maererano nehuremu uye saizi paramita uye kugona kweiyo nhungamiro system. Iko kugona kweantenna kutarisa simba hakupihwe mahara, asi chete nekuwedzera zviyero (aperture) yeantenna. Semuenzaniso, iyo yakakura iyo antenna yekugamuchira, iyo yakakura nzvimbo iyo ichakwanisa kuunganidza simba rekupa kune iyo inogamuchira yekupinda, uye iyo yakawanda simba, iyo yakasimba iyo yakagamuchirwa chiratidzo, i.e. kutaurirana kunowedzera. Nekudaro, iwe unofanirwa kutanga wafunga nezve yakakura antenna zviyero zvakaringana kune dambudziko riri kugadziriswa uye kudzikisira nzvimbo yekutsvaga neiyi parameter, uye wozotsvaga chaiyo antenna modhi, uchitarisa pane yakanyanya kuwana. Yechipiri yakakosha antenna parameter yekudzidzira ndeye beamidth [,], kuyerwa nemadhigirii emakona. Kazhinji, hupamhi hwedanda hunotsanangurwa sekona pakati penzira mbiri dzenzvimbo kubva pakati peantenna apo kuwana kweantenna kunoderedzwa ne3 dB kubva pakukwirira kweiyo antenna. Hupamhi hwepateni mu azimuth uye kukwirira kunogona kusiyana zvakanyanya. Iyi parameter inowirirana zvakanyanya nehukuru hweantenna maererano nemutemo: hukuru hukuru - hukuru hwedanda. Iyi parameter haina kusanganisirwa zvakananga muyerengedzo equation, asi iyi parameter inosarudza zvinodiwa zvechiteshi chepasi (GS) antenna kutungamira sisitimu paUAV, sezvo GS, semutemo, inoshandisa antenna anotungamira, angangoita mu zviitiko apo huwandu hwakawedzerwa kutaurirana neUAV chinhu chakakosha. Zvechokwadi, chero bedzi iyo NS tracking system inovimbisa kukwana kweangular yekunongedza antenna paUAV yakaenzana nehafu yehupamhi hwepateni kana kuti pasi, chiyero chechiratidzo chakagamuchirwa / chakabudiswa hachizodonha pasi pe3 dB kubva pakakwirira. Hapana mamiriro ezvinhu haafanire kunge hafu yehupamhi hwedanda reiyo antenna yakasarudzwa ive shoma pane kukanganisa kweangular yeNS antenna inonongedza system muazimuth kana kukwira.
Makabati
Kuti uwedzere kutaurirana, unofanirwa kushandisa tambo dzine yakaderera inokwanisika mutsara attenuation (tambo attenuation kana tambo kurasikirwa) pa. kushanda frequency yeNS-UAV radio link. Iyo mutsara attenuation mutambo inotsanangurwa sereshiyo yechiratidzo pakubuda kwe1 m tambo chikamu (mu metric system) kune chiratidzo pakuiswa kwechikamu chetambo, chinoratidzwa mu dB. Kurasikirwa netambo inosanganisirwa muhuwandu equation , zvinotemerwa nekuwanza mutsara attenuation nehurefu hwetambo. Nekudaro, kuti uwane iyo inokwanisika yekutaurirana renji, unofanirwa kushandisa tambo dzine yakaderera inogoneka mutsara attenuation uye kuderedza kureba kwetambo idzi. PaNS, mayunitsi emodemu anofanirwa kuisirwa zvakananga pane mast padyo neantennas. Mumuviri weUAV, modem inofanirwa kunge iri padyo sezvinobvira kune antennas. Izvo zvakakodzerawo kutarisa impedance yetambo yakasarudzwa. Iyi parameter inoyerwa muOhms uye inowanzo enzana ne50 kana 75 Ohms. Iyo impedance yetambo, iyo antenna yekubatanidza modem uye chinongedzo pane antenna pachayo chinofanira kuenzana.
Kubata kwePasi
Muchikamu chino tichatarisa kuparadzirwa kwemasaisai eredhiyo pamusoro pebani kana pamusoro pegungwa. Mamiriro ezvinhu aya anowanzoitika mukuita kwekushandisa maUAV. Kutariswa kweUAV kwepombi, tambo dzemagetsi, zvirimwa zvekurima, akawanda emauto uye akakosha mashandiro - zvese izvi zvinotsanangurwa zvakanaka nemuenzaniso uyu. Chiitiko chevanhu chinotipa mufananidzo umo kukurukurirana pakati pezvinhu zvinogoneka kana zviri mumunda wekuona zvakananga kwekuona kweumwe neumwe, kana zvisina kudaro kutaurirana hakugoneki. Nekudaro, masaisai eredhiyo haasi eiyo optical range, saka mamiriro ezvinhu navo akati siyanei. Panyaya iyi, zvinobatsira kuti mugadziri weUAV uye mushandisi ayeuke zvinhu zviviri zvinotevera.
1. Kukurukurirana mumutsara weredhiyo kunokwanisika kunyange pasina kuonekwa kwakananga pakati peNS neUAV.
2. Kufuridzirwa kwepasi pepamusoro pakukurukurirana neUAV kuchanzwika kunyange kana pasina zvinhu paNS-UAV optical line.
Kuti unzwisise zvakatsanangurwa zvekuparadzira radio wave padhuze nePasi, zvinobatsira kuti uzvizive iwe nepfungwa yenzvimbo yakakosha yeradio wave kuparadzira. . Mukushaikwa kwechinhu chero chipi zvacho munzvimbo yakakosha yekuparadzira radio wave, huwandu hwekuverenga hunogona kuitwa uchishandisa mafomula enzvimbo yemahara, i.e. в inogona kutorwa yakaenzana ne 0. Kana pane zvinhu munzvimbo inokosha, saka izvi hazvigone kuitwa. Mumufananidzo. 1 papoint A pane poindi emitter iri pahurefu pamusoro pePasi, iyo inoburitsa simba remagetsi mumativi ese zvine simba rakaenzana. Panzvimbo B pakukwirira kune mugamuchiri wekuyera kusimba kwemunda. Mumuenzaniso uyu, dunhu rakakosha redhiyo wave kuparadzira iellipsoid ine foci pamapoinzi A uye B.
Mupunga. 1. Yakakosha nzvimbo yeradio wave kuparadzira
Radius yeellipsoid muchikamu chayo "chakakora" chinotemerwa nekutaura
(5)
Of zviri pachena kuti zvinoenderana ne frequency zvakapesana nekuenzanisa, zvishoma , iyo "yakakora" ellipsoid ( muFig. 1). Mukuwedzera, "kukora" kweellipsoid kunowedzera nekuwedzera kureba pakati pezvinhu zvekutaurirana. Zvemasaisai eredhiyo inogona kuva neukoshi hunokatyamadza, saka riini 10 km, Isu tinowana 2.45 GHz 50÷60 m.
Ngatitarisei zvino chinhu chisina kujeka chinoratidzwa negrey triangle muFig. 1. Ichapesvedzera kuparadzirwa kwemasaisai eredhiyo ne frequency , nekuti inowanikwa munzvimbo yakakosha yekuparadzira uye haizove nemhedzisiro pakupararira kwemasaisai eredhiyo ine frequency. . Kumasaisai eredhiyo mu optical range (chiedza), kukosha idiki, saka pesvedzero yepasi pePasi pakupararira kwechiedza hainzwiki mukuita. Tichifunga kuti nzvimbo yePasi idenderedzwa, zviri nyore kunzwisisa izvozvo nekuwedzera chinhambwe , nzvimbo yepasi ichawedzera kufamba munzvimbo yakakosha yekuparadzira, nokudaro ichivharira kuyerera kwesimba kubva pane A kusvika kune B - kuguma kwenyaya, kutaurirana neUAV kunokanganiswa. Zvimwe zvinhu zviri munzira, senge nzvimbo isina kuenzana, zvivakwa, masango, nezvimwewo, zvinokanganisa kutaurirana.
Ngatitarisei zvino paFig. 2 umo chinhu chakajeka chinovhara zvizere nzvimbo yakakosha yekuparadzira redhiyo wave ine frequency. , kuita kuti kutaurirana pane iyi frequency kusagoneke. Panguva imwecheteyo, kutaurirana pane frequency zvinogoneka zvakare nekuti chikamu chesimba "chinosvetuka" pamusoro pechinhu chisina kujeka. Iyo yakadzikira frequency, iyo inopfuurira mberi kweiyo optical horizon iyo radio wave inogona kuparadzira, kuchengetedza kugadzikana kutaurirana neUAV.
Mupunga. 2. Kuvhara nzvimbo yakakosha yeradio wave kuparadzira
Huyero hwekupesvedzera kwePasi pane kutaurirana zvakare hunoenderana nehurefu hwema antennas и . Iyo yakakura kureba kweantennas, iyo yakakura chinhambwe chinonongedza A uye B chinogona kutamiswa nepakati pasina kutendera zvinhu kana pasi pepasi kuwira munzvimbo yakakosha.
Sezvo chinhu kana nzvimbo yepasi ichipinda munzvimbo yakakosha, simba remumunda padanho B rinotenderera , i.e. ichave yakakura kana shoma pane avhareji simba remunda. Izvi zvinoitika nekuda kwekuratidzwa kwesimba kubva muchinhu. Simba rinoratidzwa rinogona kuwedzerwa panzvimbo B ine simba guru muchikamu - ipapo kusimuka kunoitika mumunda wesimba, kana mu antiphase - ipapo kuderera (uye kwakadzika) kunoitika mumunda wesimba. Zvakakosha kuyeuka izvi kuti unzwisise zvakananga zvekutaurirana neUAVs. Kurasikirwa kwekutaurirana neUAV pane imwe nhanho kunogona kukonzerwa nekuderera kwenzvimbo kwesimba remunda nekuda kwekutenderera, i.e. kana iwe ukabhururuka imwe chinhambwe, kubatana kunogona kudzoreredzwa. Kurasikirwa kwekupedzisira kwekutaurirana kuchaitika chete mushure mekunge nzvimbo yakakosha yakavharwa zvachose nezvinhu kana pasi pevhu. Tevere, nzira dzichatsanangurwa kurwisa mhedzisiro yekusimba kwemunda oscillations.
Maformula ekuverenga iyo attenuation factor Pakuparadzira masaisai eredhiyo pamusoro pePasi rakatsetseka, iwo akaomarara, kunyanya kumadaro , kudarika huwandu hwenzvimbo yekuona . Naizvozvo, mukuwedzera kufunga nezvedambudziko, isu tichaenda kune masvomhu modhi tichishandisa seti yemunyori yemapurogiramu emakombuta. Ngatitarisei basa rakajairwa rekufambisa vhidhiyo kubva kuUAV kuenda kuNS uchishandisa 3D Link modem. kubva kuGeoscan kambani. Mashoko ekutanga ndeaya anotevera.
1. Kukwirisa kureba kweNS antenna: 5 m.
2. UAV flight altitude: 1000 m.
3. Radio link frequency: 2.45 GHz.
4. NS antenna kuwana: 17 dB.
5. UAV antenna kuwana: 3 dB.
6. Transmitter simba: +25 dBm (300 mW).
7. Vhidhiyo chiteshi kumhanya: 4 Mbit/sec.
8. Receiver senitivity muchiteshi chevhidhiyo: -100.4 dBm (yebhendi yefrequency inobatwa nechiratidzo che12 MHz).
9. Substrate: ivhu rakaoma.
10. Polarization: vertical.
Mutsara-we-kuona kureba kweiyi data yekutanga ichave 128.8 km. Iko kuverenga kunoguma muchimiro chesimba rechiratidzo pakupinza kweiyo modem inogamuchira mudBm inoratidzwa muFig. 3.
Mupunga. 3. Simba rechiratidzo pakupinza kwe3D Link modem receiver
The blue curve muFig. 3 isimba rechiratidzo pakuiswa kweNS inogamuchira, mutsara mutsvuku wakatwasuka unoratidza kunzwisiswa kweiyi anogamuchira. Iyo X axis inoratidza huwandu mu km, uye Y axis inoratidza simba mu dBm. Pane idzo nzvimbo dzemhando apo iyo yebhuruu curve iri pamusoro peiyo tsvuku, yakananga vhidhiyo kugamuchira kubva kuUAV inogoneka, zvikasadaro hapazove nekutaurirana. Girafu inoratidza kuti nekuda kwe oscillations, kurasikirwa kwekukurukurirana kuchaitika munharaunda ye 35.5-35.9 km uye mberi muhuwandu hwe55.3-58.6 km. Muchiitiko ichi, kubviswa kwekupedzisira kuchaitika zvakanyanya - mushure me 110.8 km yekubhururuka.
Sezvambotaurwa pamusoro apa, kunyura musimba remumunda kunomuka nekuda kwekuwedzera mune antiphase panzvimbo yeNS antenna yechiratidzo chakananga uye chiratidzo chinoratidzwa kubva pamusoro pePasi. Iwe unogona kubvisa kurasikirwa kwekutaurirana paNS nekuda kwekutadza nekuzadzisa 2 mamiriro.
1. Shandisa modem paNS ine kanenge kaviri nzira dzekugamuchira (RX kusiyana), semuenzaniso 3D Link .
2. Isa ma antenna ekugamuchira paNS mast pa zvakasiyana urefu.
Kupatsanurwa kwenzvimbo dzakakwirira dzeantenna dzinogamuchira dzinofanirwa kuitwa kuitira kuti kunyura musimba remumunda panzvimbo yeimwe antenna kudzorerwe nemazinga akakwira kupfuura kunzwisiswa kweanogamuchira panzvimbo yeimwe antenna. Mumufananidzo. Mufananidzo 4 unoratidza mhedzisiro yeiyi nzira yenyaya iyo imwe NS antenna iri pahurefu hwe5 m (blue solid curve), uye imwe yacho pahurefu hwe 4 m (blue dotted curve).
Mupunga. 4. Simba rechiratidzo pane zvinopinza zvevaviri 3D Link modem vanogamuchira kubva kune antennas ari panzvimbo dzakasiyana.
Kubva Fig. Mufananidzo 4 unoratidza zvakajeka kubereka kweiyi nzira. Chokwadi, mukati mese kureba kwekufamba kweUAV, kusvika pamakiromita 110.8, chiratidzo pakuiswa kweinenge imwe NS inogamuchira inodarika nhanho yekunzwa, i.e., vhidhiyo kubva kubhodhi haizokanganiswe mukufamba kwese. chinhambwe.
Nzira yakarongwa, zvisinei, inobatsira kuwedzera kuvimbika kweUAV→ NS redhiyo link chete, sezvo kugona kuisa ma antenna pahurefu hwakasiyana kunongowanikwa paNS. Izvo hazvigoneke kuve nechokwadi chekuparadzaniswa kweantenna ye1 m paUAV. Kuwedzera kuvimbika kweNS→UAV radio link, nzira dzinotevera dzinogona kushandiswa.
1. Dyisa chiratidzo cheNS transmitter kune antenna inogamuchira chiratidzo chine simba kubva kuUAV.
2. Shandisa macode enguva-yenguva, senge Alamouti kodhi .
3. Shandisa antenna beamforming tekinoroji nekugona kudzora simba rechiratidzo rinotumirwa kune imwe neimwe antenna.
Nzira yekutanga iri padyo neyakakwana mudambudziko rekutaurirana neUAV. Izvo zviri nyore uye mairi simba rese rekutumira rinotungamirwa munzira kwayo - kune antenna inowanikwa. Semuenzaniso, pakureba kwe50 km (ona Fig. 4), chiratidzo chekutumira chinopihwa kune antenna yakamiswa pamamita mashanu, uye pahupamhi hwemakiromita makumi matanhatu - kune antenna yakamiswa pamamita mana. Iyi ndiyo nzira inoshandiswa mu5D Link modem . Yechipiri nzira haishandisi preori data nezve mamiriro eiyo UAV→ NS yekutaurirana chiteshi (mazinga eakagamuchirwa masaini pane antenna zvinobuda), saka inopatsanura simba rekutumira zvakaenzana pakati pemaantenna maviri, izvo zvinotungamira mukurasikirwa kwesimba, sezvo imwe. yeantenna inogona kunge iri mugomba simba remunda. Nzira yechitatu yakaenzana neyekutanga maererano nehutano hwekutaurirana, asi yakanyanya kuoma kuita.
Ngatitarisei zvakare nyaya yekupesvedzerwa kweredhiyo wave frequency pane yekutaurirana renji neUAV, tichifunga nezve pesvedzero yepasi. Yakaratidzwa pamusoro apa kuti kuwedzera kuwanda kunobatsira, nokuti nehukuru hwakagadziriswa hweantennas, izvi zvinotungamirira kukuwedzera kwekutaurirana. Zvisinei, mubvunzo wekuvimbika frequency haina kutariswa. Kubva zvinotevera kuti reshiyo yekuwana kweantennas yakaenzana munzvimbo uye yakagadzirirwa kushanda pamafrequency и , zvakaenzana
(6)
nokuti 2450 MHz; Isu tinowana 915 MHz 7.2 (8.5 dB). Izvi ndizvo zvinenge zvichiitika mukuita. Ngatienzanise, semuenzaniso, maparamita eanotevera antennas kubva kune Wireless Instruments:
- WiBOX PA 0809-8V [13] (frequency: 0.83–0.96 GHz; beamidth: 70°/70°; kuwana: 8 dBi);
- WiBOX PA 24-15 [14] (frequency: 2.3–2.5 GHz; beamidth: 30°/30°; kuwana: 15 dBi).
Zviri nyore kuenzanisa aya antenna, nekuti anogadzirwa mune imwecheteyo 27x27 cm dzimba, i.e. ane nzvimbo imwechete. Ziva kuti iyo antenna kuwana inosiyana ne15−8=7 dB, iri padyo neyakaverengerwa kukosha kwe8.5 dB. Kubva pane hunhu hweantenna zviri pachena zvakare kuti hupamhi hweiyo antenna pateni yemhando 2.3-2.5 GHz (30 ° / 30 °) inodarika kaviri kutetepa sehupamhi hweiyo antenna patani yemhando 0.83-0.96 GHz (70 °/70 °), i.e. Kuwanikwa kwemaantenna ane hukuru hwakafanana kunowedzera nekuda kwekuvandudzwa kwemaitiro ekutungamira. Tichifunga nezve chokwadi chekuti 2 antennas anoshandiswa mumutsara wekutaurirana, chiyero ichave 2∙8.5=17 dB. Saka, neakaenzana antenna zviyero, bhajeti resimba reredhiyo link ine frequency 2450 MHz ichave 17 dB kupfuura bhajeti remutsetse ne frequency 915 MHz. Muchiverengero, isu zvakare tinofunga nezve chokwadi chekuti maUAV, sekutonga, anoshandisa chikwapuro antennas ayo zviyero zvisiri zvakakosha sekunge zvakaonekwa seNS panel antennas. Naizvozvo, isu tinogashira iyo UAV antenna inowanikwa kune ma frequency и kuenzana. Avo. mutsauko mumagetsi emagetsi emitsara ichave 8.5 dB, kwete 17 dB. Mhedzisiro yekuverenga yakaitirwa aya ekutanga data uye kureba kwe5 m yeNS antenna inoratidzwa muFig. 5.
Mupunga. 5. Simba rechiratidzo pane inogamuchira yekuisa yeredhiyo link inoshanda pamafrequency 915 uye 2450 MHz.
Kubva Fig. 5 inoratidza zvakajeka kuti kutaurirana kwakasiyana nekuwedzera kweiyo frequency yekushanda uye nzvimbo imwechete yeNS antenna inowedzera kubva pa96.3 km yeredhiyo link ine frequency ye915 MHz kusvika 110.8 km yekubatanidza ine frequency ye2450 MHz. . Nekudaro, iyo mutsara pa915 MHz ine yakaderera oscillation frequency. Maoscillations mashoma anoreva kunyura kushoma musimba remumunda, kureva, mikana mishoma yekukanganisa kutaurirana neUAV pamusoro pedaro rese rekubhururuka. Zvichida ndicho chokwadi ichi chinotarisa mukurumbira we sub-gigahertz radio wave range yekuraira uye telemetry mitsara yekukurukurirana neUAVs seyakanyanya kuvimbika. Panguva imwecheteyo, paunenge uchiita seti yezviito zvinotsanangurwa pamusoro kuti udzivirire kubva kusimba remumunda oscillations, redhiyo zvinongedzo mugigahertz renji inopa hukuru hwekutaurirana huwandu nekuvandudza inotungamira maitiro eantenna.
Kubva pakufunga kweFig. 5 tinogonawo kugumisa kuti munharaunda yemumvuri (mushure mechiratidzo che 128.8 km) kuderedza kushandiswa kwemaitiro emutsara wekukurukurirana kunonzwisisika. Chokwadi, pane imwe nzvimbo inosvika -120 dBm simba rema curves ema frequency. и intersect. Avo. Paunenge uchishandisa vanogamuchira nekunzwa zviri nani kupfuura -120 dBm, redhiyo chinongedzo pafrequency ye915 MHz ichapa hurefu hwekutaurirana. Muchiitiko ichi, zvisinei, iyo inodiwa yekubatanidza bandwidth inofanira kuverengerwa, kubvira nokuda kwekunzwa kwakakwirira kwakadaro, kukurumidza kwemashoko kunenge kwakaderera zvikuru. Semuenzaniso, 3D Link modem Kunyangwe ichipa kunzwisiswa kusvika ku -122 dBm, iyo yakaunganidzwa (mumativi ese) chiyero chekufambisa ruzivo chichava 23 kbit/sec, iyo, pamusimboti, inokwana kutaurirana kweKTRL neUAV, asi zvakajeka haina kukwana kufambisa vhidhiyo kubva kumberi. board. Nekudaro, iyo sub-gigahertz renji, zvirokwazvo, ine mukana mudiki pamusoro peiyo gigahertz renji yeKTRL, asi inorasika zvakajeka muhunhu pakuronga mitsara yemavhidhiyo.
Paunenge uchisarudza redhiyo yekubatanidza frequency, iwe unofanirwa zvakare kufunga nezvekuderedzwa kwechiratidzo apo ichipararira nemhepo yePasi. Kune NS-UAV yekukurukurirana zvinongedzo, kudzikira mumhepo kunokonzerwa nemagasi, mvura, chimvuramabwe, chando, mhute nemakore. . Kune ma frequency ekushanda eredhiyo zvinongedzo asingasviki 6 GHz, attenuation mumagasi anogona kuregeredzwa. . Kunyanya kupera simba kunoonekwa mukunaya kwemvura, kunyanya yekupisa kwakanyanya (mashawa). Tafura 1 inoratidza iyo data nekudzikamisa kwemutsara [dB/km] mumvura yekunaya kwakasiyana-siyana kwemafrequency 3–6 GHz.
Tafura 1. Linear attenuation yemasaisai eredhiyo [dB/km] mumvura yekunaya kwakasiyana zvichienderana nekuwanda
Frequency [GHz]
3 mm/awa (pasina simba)
12 mm/awa (pakati nepakati)
30 mm/awa (yakasimba)
70 mm/awa (kunaya)
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
Kubva patafura 1 zvinotevera kuti, semuenzaniso, pane frequency ye3 GHz, iyo attenuation mumvura yekugezera ichave inenge 0.0087 dB/km, iyo munzira ye100 km ichapa 0.87 dB yekuderera kwese. Sezvo kuwanda kwekushanda kweredhiyo link kunowedzera, kunyura mumvura kunowedzera zvakanyanya. Kune frequency ye 4 GHz, kudzoreredza mushawa munzira imwe chete ichave yatova 9.1 dB, uye pama frequency e5 uye 6 GHz - 28 uye 57 dB, zvichiteerana. Muchiitiko ichi, zvisinei, zvinofungidzirwa kuti mvura ine simba rakapiwa inoitika munzira yose, iyo isingawanzoitiki mukuita. Nekudaro, kana uchishandisa maUAV munzvimbo dzinonaya mvura zhinji, zvinokurudzirwa kusarudza frequency yekushandisa yeredhiyo link pazasi 3 GHz.
Literature
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Source: www.habr.com