Ulwandisa njani uluhlu lonxibelelwano ngenqwelo moya engaphathwanga (UAV)

Umsebenzi wokwandisa uluhlu lonxibelelwano kunye nenqwelo-moya engabonakaliyo (UAV) uhlala ufanelekile. Eli nqaku lixoxa ngeendlela zokuphucula le parameter. Eli nqaku libhalelwe abaphuhlisi be-UAV kunye nabaqhubi kwaye kukuqhubeka koluhlu lwamanqaku malunga nokunxibelelana nee-UAVs (ukuqala kochungechunge, bona [1].

Yintoni echaphazela uluhlu lonxibelelwano

Uluhlu lonxibelelwano luxhomekeke kwimodem esetyenzisiweyo, i-eriyali, iintambo ze-eriyali, iimeko zokusasaza amaza erediyo, uphazamiseko lwangaphandle kunye nezinye izizathu. Ukuze umisele iqondo lempembelelo yepharamitha ethile kuluhlu lonxibelelwano, qwalasela uluhlu lweequation [2]
(1)

apho
— uluhlu lonxibelelwano olufunekayo [imitha];
- isantya sokukhanya kwi-vacuum [m/sec];
— amaxesha amaninzi [Hz];
— amandla okuhambisa imodem [dBm];
— ingeniso ye-eriyali yokudlulisela [dBi];
- ilahleko kwikhebula ukusuka kwimodem ukuya kwi-antenna yokuhambisa [dB];
— ingeniso ye-eriyali yomamkeli [dBi];
- ilahleko kwikhebula ukusuka kwimodem ukuya kwi-eriyali yomamkeli [dB];
— ubuntununtunu bomamkeli wemodem [dBm];
- i-attenuation multiplier, ethathela ingqalelo ilahleko eyongezelelweyo ngenxa yempembelelo yomhlaba, izityalo, umoya kunye nezinye izinto [dB].

Ukusuka kwi-equation kunokubonwa ukuba uluhlu lumiselwa ngu:

• imodem esetyenzisiweyo;
• Ubuninzi bejelo lerediyo;
• ii-eriyali ezisetyenzisiweyo;
• ilahleko kwiintambo;
• impembelelo ekusasazeni amaza erediyo ukusuka kumphezulu woMhlaba, izityalo, umoya, izakhiwo, njl.

Emva koko, iiparameters ezichaphazela uluhlu ziqwalaselwa ngokwahlukileyo.

Imodem isetyenzisiwe

Uluhlu lonxibelelwano luxhomekeke kuphela kwiiparameters ezimbini zemodem: amandla okuhambisa kunye nobuntununtunu bomamkeli , okanye kunoko, ukusuka ekuhlukeni kwabo - uhlahlo lwabiwo-mali lwamandla emodem
(2)

Ukuze ukwandise uluhlu lonxibelelwano, kuyimfuneko ukukhetha imodem enexabiso elikhulu . Nyusa ngokulandelayo, kunokwenzeka ngokwandisa okanye ngokunciphisa . Ukhetho kufuneka lunikwe ekukhangeleni iimodem ezinovakalelo oluphezulu ( ephantsi kangangoko), kunokunyusa amandla okuhambisa . Lo mbandela uxutyushwa ngokweenkcukacha kwinqaku lokuqala. [1].

Ukongeza kwizinto eziphathekayo [1] Kufanelekile ukukhumbula ukuba abanye abavelisi, umzekelo Microhard [3], bonisa kwiinkcukacha zezinye izixhobo ezingeyiyo i-avareji, kodwa amandla encopho yesidluliseli, ephindwe kaninzi kunomndilili kwaye engenakusetyenziswa ukubala uluhlu, kuba oku kuya kukhokelela kuluhlu olubaliweyo olugqithise kakhulu kunolo lokwenyani. ixabiso. Ezo zixhobo ziquka, umzekelo, imodyuli eyaziwayo ye-pDDL2450 [4,5]. Le nyaniso ilandela ngokuthe ngqo kwiziphumo zovavanyo lwesi sixhobo olwenziwayo ukufumana isatifikethi seFCC [6] (jonga kwiphepha 58). Iziphumo zovavanyo lwezixhobo ezingenazingcingo eziqinisekiswe yiFCC zinokujongwa kwiwebhusayithi ye-ID yeFCC [7]ngokufaka i-ID yeFCC efanelekileyo kwibar yokukhangela, ekufuneka ibe kwileyibhile ebonisa uhlobo lwesixhobo. I-ID yeFCC yemodyuli ye-pDDL2450 yi-NS916pDDL2450.

Ifrikhwensi yesitishi sikanomathotholo

Ukusuka kuluhlu lweequation (1) Ilandela ngokucacileyo ukuba isezantsi i-frequency yokusebenza , kokukhona uluhlu lonxibelelwano . Kodwa masingangxameli ukufikelela kwizigqibo. Inyaniso kukuba ezinye iiparameters ezibandakanyiweyo kwi-equation nazo zixhomekeke kwi-frequency. Ngokomzekelo, i-eriyali iyazuza и iya kuxhomekeka kwi-frequency kwimeko xa ubukhulu bemilinganiselo yee-eriyali ilungisiwe, nto leyo kanye eyenzekayo ekusebenzeni. Ukuzuza kwe-antenna , ebonakaliswa ngeeyunithi ezingenamda (amaxesha), inokubonakaliswa ngokwendawo ebonakalayo ye-eriyali. ngale ndlela ilandelayo [8]
(3)

apho - ukusebenza kakuhle kokuvula i-eriyali, oko kukuthi umlinganiselo wendawo esebenzayo ye-eriyali ukuya kweyomzimba (kuxhomekeke kuyilo lwe-eriyali) [8].

Из (3) Ngokukhawuleza kucacile ukuba indawo ye-antenna esisigxina, inzuzo iyanda ngokulinganayo kwisikwere sokuphindaphinda. Masitshintshe (3) в (1), sele ndibhale ngokutsha (1) usebenzisa iiyunithi ezingenamda kwinzuzo ye-eriyali , , ilahleko yentambo , kunye nemeko yokuthomalalisa , kunye nokusebenzisa iiWatts ze и endaweni ye-dBm. Emva koko
(4)

iphi i-coefficient yinto engatshintshiyo yemilinganiselo ye-eriyali esisigxina. Ngaloo ndlela, kule meko, uluhlu lonxibelelwano luhambelana ngokuthe ngqo kwi-frequency, oko kukuthi, i-frequency ephezulu, uluhlu olukhulu. Isiphelo. Ngemilinganiselo emiselweyo yee-antenna, ukwandisa ukuphindaphinda kwekhonkco yerediyo kukhokelela ekwandeni koluhlu lonxibelelwano ngokuphucula iimpawu zolwalathiso lwee-antenna. Nangona kunjalo, kufuneka kukhunjulwe ukuba njengoko kunyuka amaza, kukwanjalo nokuthotywa kwamaza kanomathotholo emoyeni, okubangelwa ziigesi, imvula, isichotho, ikhephu, inkungu namafu. [2]. Ngaphezu koko, ngokunyuka kobude bendlela, ukuthomalalisa emoyeni nako kuyanda. Ngenxa yesi sizathu, kubude bendlela nganye kunye neemeko zemozulu eziqhelekileyo kuyo, kukho ixabiso elithile eliphezulu le-frequency carrier carrier, elilinganiselwe kwinqanaba elivumelekileyo lokunciphisa umqondiso kwi-atmosfera. Masishiye isisombululo sokugqibela kumbuzo wempembelelo yokuphindaphinda kwejelo likanomathotholo kuluhlu lonxibelelwano ukuya kwicandelo apho impembelelo yomphezulu woMhlaba kunye nomoya ekusasazeni kwamaza erediyo iya kuqwalaselwa.

U-Antennas

Uluhlu lonxibelelwano luchongwa yipharamitha ye-antenna njengenzuzo (inzuzo kwisigama sesiNgesi), ilinganiswa nge-dBi. Inzuzo yiparameter edibeneyo edibeneyo kuba ithathela ingqalelo: (1) ukukwazi kwe-eriyali ukugxininisa amandla othungelwano ukuya kumamkeli xa kuthelekiswa neradiyetha ye-isotropic (kungoko isalathisi i kwi-dBi); (2) iilahleko kwi-eriyali ngokwayo [8,9]. Ukwandisa uluhlu lonxibelelwano, kufuneka ukhethe ii-eriyali ezinexabiso eliphezulu kakhulu lokuzuza ukusuka kwezo zifanelekileyo ngokwemiqathango yobunzima kunye nobukhulu beeparitha kunye nobuchule benkqubo yesikhokelo. Ikhono le-antenna lokugxila kumandla alinikezelwanga simahla, kodwa kuphela ngokunyusa imilinganiselo (i-aperture) ye-antenna. Ngokomzekelo, i-antenna enkulu yokufumana, indawo enkulu iya kukwazi ukuqokelela amandla ukubonelela kwigalelo lommkeli, kwaye amandla angaphezulu, unamandla umqondiso ofunyenweyo, oko kukuthi uluhlu lonxibelelwano luyanda. Ngaloo ndlela, kufuneka uqale uthathe isigqibo malunga nobukhulu be-eriyali yemilinganiselo eyaneleyo kwingxaki esonjululwe kwaye unciphise indawo yokukhangela ngale parameter, kwaye emva koko ukhangele imodeli ethile ye-eriyali, ugxininise kwinzuzo ephezulu. Eyesibini iparameter ebalulekileyo ye-eriyali yokuziqhelanisa yibeamwidth [8,10], ilinganiswe ngeedigri ze-angular. Ngokuqhelekileyo, ububanzi be-eriyali buchazwa njenge-engile phakathi kwezalathiso zesithuba ezimbini ukusuka kumbindi we-eriyali apho ukuzuzwa kwe-eriyali kuncitshiswa nge-3 dB ukusuka kubuninzi baloo eriyali. Ububanzi bepateni kwi-azimuth kunye nokuphakama kunokuhluka kakhulu. Le parameter inxulumene ngokusondeleyo nemilinganiselo ye-antenna ngokomgaqo: imilinganiselo emikhulu - ububanzi obuncinane be-antenna. Le parameter ayiqukwanga ngokuthe ngqo kwi-equation yoluhlu, kodwa yile parameter emisela iimfuno zesikhululo somhlaba (GS) inkqubo ye-eriyali ye-antenna kwi-UAV, ekubeni i-GS, njengomthetho, isebenzisa i-eriyali ezikhokelayo kakhulu, ubuncinane iimeko apho uluhlu lwenziwe lwandisiweyo unxibelelwano kunye ne-UAV yinto ephambili. Enyanisweni, ngokude nje inkqubo yokulandelela i-NS iqinisekisa ukuchaneka kwe-angular yokukhomba i-antenna kwi-UAV elingana nesiqingatha sobubanzi bepateni okanye ngaphantsi, inqanaba lophawu olufunyenweyo / olukhutshiweyo aluyi kuwela ngaphantsi kwe-3 dB ukusuka phezulu. Naphantsi kwazo naziphi na iimeko kufuneka isiqingatha sobubanzi be-eriyali ekhethiweyo sibe ngaphantsi kwempazamo ye-eriyali ye-NS yokwalatha kwi-azimuth okanye ukuphakama.

Iintambo

Ukwandisa uluhlu lonxibelelwano, kufuneka usebenzise iintambo ezinolona nciphiso lusezantsi lunokwenzeka (ukunciphisa intambo okanye ilahleko yentambo) ukusebenza Ukuphindaphinda kwekhonkco lerediyo ye-NS-UAV. Ukunciphisa umgca kwintambo kuchazwa njengomlinganiselo wesiginali ekuphumeni kwecandelo le-cable ye-1 m (kwinkqubo ye-metric) kwi-signal kwigalelo lecandelo lekhebula, elichazwe kwi-dB. Ilahleko yentambo ibandakanyiwe kuluhlu lwenxaki (1), zichongwa ngokuphindaphinda ukunyanzeliswa komgca ngobude bekhebula. Ngaloo ndlela, ukufumana uluhlu oluphezulu lonxibelelwano olunokwenzeka, kufuneka usebenzise iintambo ezinomlinganiselo ophantsi wokunciphisa umgca kunye nokunciphisa ubude bezi ntambo. Kwi-NS, iiyunithi zemodem kufuneka zifakwe ngokuthe ngqo kwi-mast ecaleni kwee-antenna. Kumzimba we-UAV, imodem kufuneka ibekwe ngokusondeleyo kangangoko kunokwenzeka kwii-antenna. Kukwafanelekile ukujonga i-impedance yekhebula elikhethiweyo. Le parameter ilinganiswa kwi-Ohms kwaye idla ngokulingana nama-50 okanye ama-75 Ohms. I-impedance yekhebula, i-antenna connector yemodem kunye nekhonkco kwi-antenna ngokwayo kufuneka ilingane.

Impembelelo yomphezulu woMhlaba

Kweli candelo siza kujonga ukusasazwa kwamaza erediyo phezu kwethafa okanye umphezulu wolwandle. Le meko ihlala isenzeka kwindlela yokusebenzisa ii-UAVs. Ukubeka iliso kwe-UAV kwimibhobho, imigca yombane, izityalo zezolimo, imisebenzi emininzi yemikhosi kunye neyodwa - konke oku kuchazwe kakuhle kulo mzekelo. Amava omntu asidwebela umfanekiso apho unxibelelwano phakathi kwezinto lunokwenzeka ukuba zikwintsimi yokubonakala ngokuthe ngqo komnye nomnye, ngaphandle koko unxibelelwano alunakwenzeka. Nangona kunjalo, amaza erediyo awayonxalenye yoluhlu lwe-optical, ngoko ke imeko kubo yahlukile. Kule nkalo, kuluncedo kumphuhlisi we-UAV kunye nomsebenzisi ukuba akhumbule ezi nyaniso zimbini zilandelayo.

1. Unxibelelwano kuluhlu lwerediyo lunokwenzeka nangona kungabikho ukubonakala ngokuthe ngqo phakathi kwe-NS kunye ne-UAV.
2. Impembelelo yendawo engaphantsi konxibelelwano kunye ne-UAV iya kuvakala nangona kungekho zinto kumgca we-NS-UAV optical line.

Ukuqonda iinkcukacha zokusasazwa kwamaza kanomathotholo kufutshane nomhlaba, kuyanceda ukuba uziqhelanise nombono wendawo ebalulekileyo yokusasazwa kwamaza erediyo. [2]. Ukungabikho kwazo naziphi na izinto kwindawo ebalulekileyo yokusasazwa kwamaza omsakazo, izibalo zoluhlu zingenziwa ngokusebenzisa iifomyula zendawo yamahhala, okt. в (1) inokuthathwa ilingane no-0. Ukuba kukho izinto kwindawo eyimfuneko, ke oku akunakwenziwa. KwiFig. I-1 kwindawo A kukho indawo emitter ebekwe kumphakamo ngaphezulu komphezulu woMhlaba, okhupha amandla e-electromagnetic macala onke ngokuqina okulinganayo. Kwinqanaba B ekuphakameni kukho umamkeli wokulinganisa ubunzulu bentsimi. Kule modeli, ummandla obalulekileyo wokusasazwa kwamaza erediyo yi-ellipsoid enefoci kumanqaku A kunye no-B.

Irayisi. 1. Indawo ebalulekileyo yokusasazwa kwamaza erediyo

I-radius ye-ellipsoid kwinxalenye yayo "engqindilili" igqitywe libinzana [2]
(5)

Из (5) kucacile ukuba kuxhomekeke kumaza ngokuphambeneyo, kancinci , eyona “ngqindilili” i-ellipsoid ( kwiFig. 1). Ukongezelela, "ubukhulu" be-ellipsoid buyanda ngokunyuka komgama phakathi kwezinto zokunxibelelana. Ngamaza erediyo inokuba nexabiso elinomtsalane, ngoko xa Iikhilomitha ezili-10, Sifumana i-2.45 GHz 50÷60 m.

Ngoku makhe siqwalasele into efipheleyo eboniswe ngunxantathu ongwevu kuMfanekiso. 1. Iya kuchaphazela ukusasazwa kwamaza erediyo kunye nefrikhwensi , njengoko ibekwe kwindawo ebalulekileyo yosasazo, kwaye ngokuqinisekileyo ayiyi kuba nefuthe ekusasazeni amaza kanomathotholo ngokuphindaphindiweyo. . Kumaza erediyo kuluhlu lwe-optical (ukukhanya), ixabiso incinci, ngoko ke impembelelo yoMmandla woMhlaba ekusasazeni ukukhanya ayivakali ekusebenzeni. Ukuqwalasela ukuba umphezulu woMhlaba yingqukuva, kulula ukuyiqonda loo nto ngokunyuka komgama , indawo engaphantsi iya kunyuka ihambela kwindawo ebalulekileyo yokusabalalisa, ngaloo ndlela ivimbela ukuhamba kwamandla ukusuka kwindawo A ukuya kwindawo B - ekupheleni kwebali, unxibelelwano kunye ne-UAV luphazamisekile. Ezinye izinto ezisendleleni, ezifana nomhlaba ongalinganiyo, izakhiwo, amahlathi, njl., ziya kuchaphazela ngokufanayo unxibelelwano.

Ngoku masijonge kwiFig. 2 apho into e-opaque igubungela ngokupheleleyo indawo ebalulekileyo yokusasazwa kwamaza kanomathotholo , ukwenza unxibelelwano kule frequency akunakwenzeka. Ngelo xesha, unxibelelwano kwi-frequency kwakhona kunokwenzeka ngenxa yokuba inxalenye yamandla "itsiba" phezu kwento e-opaque. Isezantsi i-frequency, ngakumbi ngaphaya kwe-horizon ye-optical i-radio wave inokusasaza, igcina unxibelelwano oluzinzileyo kunye ne-UAV.

Irayisi. 2. Ukugubungela indawo ebalulekileyo yokusasazwa kwamaza kanomathotholo

Iqondo lefuthe lomphezulu woMhlaba kunxibelelwano likwaxhomekeke kubude bee-eriyali и . Ukuba mkhulu umphakamo wee-eriyali, kokukhona umgama okhomba u-A no-B unokushenxiswa ngaphandle kokuvumela izinto okanye umphezulu ongaphantsi ukuba uwe kwindawo ebalulekileyo.

Njengoko into okanye umphezulu ongaphantsi uhamba kwindawo ebalulekileyo, amandla entsimi kwindawo B aya kujikeleza [2], o.k.t. iyakuba nkulu okanye ibengaphantsi komlinganiselo wamandla entsimi. Oku kwenzeka ngenxa yokubonakaliswa kwamandla avela kwinto. Amandla abonakalisiweyo anokongezwa kwinqanaba B kunye namandla aphambili kwisigaba - emva koko ukunyuka kwenzeka kumandla entsimi, okanye kwi-antiphase - emva koko ukuhla (kwaye kunzulu kakhulu) kwenzeka kumandla entsimi. Kubalulekile ukukhumbula le mpembelelo ukuqonda iinkcukacha zonxibelelwano kunye nee-UAVs. Ukulahleka konxibelelwano kunye ne-UAV kuluhlu oluthile kunokubangelwa ukuncipha kwendawo kumandla entsimi ngenxa ye-oscillations, oko kukuthi ukuba ubhabha umgama omde, uxhulumaniso lunokubuyiselwa. Ukulahlekelwa kokugqibela konxibelelwano kuya kwenzeka kuphela emva kokuba indawo ebalulekileyo ivalwe ngokupheleleyo zizinto okanye umgangatho ophantsi. Okulandelayo, kuya kucetywa iindlela zokulwa neziphumo zokushukuma kwamandla entsimi.

Iifomula zokubala i-attenuation factor Xa usasaza amaza erediyo phezu komhlaba ogudileyo, antsokothile, ngakumbi imigama , igqithise uluhlu lwe-horizon ye-optical [2]. Ke ngoko, ekuqwalaseleni ngakumbi le ngxaki, siya kubhenela kwimodeli yezibalo sisebenzisa iseti yombhali yeenkqubo zekhompyuter. Makhe siqwalasele umsebenzi oqhelekileyo wokusasaza ividiyo ukusuka kwi-UAV ukuya kwi-NS usebenzisa imodem ye-3D Link. [11] ukusuka kwinkampani yeGeosca. Idatha yokuqala yile ilandelayo.

1. Ukunyuka ukuphakama kwe-eriyali ye-NS: 5 m.
2. Umphakamo wenqwelomoya ye-UAV: 1000 m.
3. I-Radio link frequency: 2.45 GHz.
4. Inzuzo ye-eriyali ye-NS: 17 dB.
5. Inzuzo ye-eriyali ye-UAV: 3 dB.
6. Amandla okuhambisa: +25 dBm (300 mW).
7. Isantya setshaneli yevidiyo: 4 Mbit/sec.
8. Uvakalelo lomamkeli kwitshaneli yevidiyo: −100.4 dBm (kwibhendi yefrikhwensi ethathwe ngumqondiso we-12 MHz).
9. I-Substrate: umhlaba owomileyo.
10. Polarization: nkqo.

Umgama wokubonwa komgca kwezi datha zokuqala uya kuba yi-128.8 km. Iziphumo zokubala kuhlobo lwamandla omqondiso kwigalelo lomamkeli wemodem kwidBm zithiwe thaca kwiFig. 3.

Irayisi. 3. Amandla omqondiso kwigalelo lomamkeli wemodem ye-3D Link [11]

Ijika eliluhlaza kwiFig. I-3 ingamandla omqondiso kwigalelo lomamkeli we-NS, umgca obomvu othe ngqo ubonisa uvakalelo lwalo mamkeli. Umgca we-X ubonisa uluhlu lwe-km, kunye ne-Y axis ibonisa amandla kwi-dBm. Kuloo manqaku oluhlu apho ijika elihlaza okwesibhakabhaka lilele ngaphezu kobomvu, ukwamkelwa kwevidiyo ngokuthe ngqo kwi-UAV kunokwenzeka, ngaphandle koko akuyi kubakho unxibelelwano. Igrafu ibonisa ukuba ngenxa ye-oscillations, ukulahleka konxibelelwano kuya kwenzeka kwi-35.5-35.9 km kunye nokuhamba phambili kwi-55.3-58.6 km. Kule meko, ukuqhawulwa kokugqibela kuya kwenzeka ngakumbi - emva kwe-110.8 km yendiza.

Njengoko kukhankanyiwe ngasentla, ukuntywila kumandla entsimi kuvela ngenxa yokongezwa kwi-antiphase kwindawo ye-antenna ye-NS yesignali echanekileyo kunye nomqondiso obonakaliswe kumhlaba womhlaba. Unako ukulahla ilahleko yonxibelelwano kwi-NS ngenxa yokungaphumeleli ngokuzalisekisa iimeko ezi-2.

1. Sebenzisa imodem kwi-NS eneendlela ezimbini zolwamkelo ubuncinane (RX diversity), umzekelo 3D Link [11].
2. Beka i-eriyali yokufumana imasti kwi-NS ezahlukeneyo ukuphakama.

Isithuba somphakamo wee-eriyali ezifumanayo kufuneka senziwe ukuze ukuntywila kumandla entsimi kwindawo ye-eriyali enye kubuyekezwe ngamanqanaba aphezulu kunovakalelo lomamkeli kwindawo yenye i-eriyali. KwiFig. Umzobo 4 ubonisa isiphumo sale ndlela kwimeko apho i-eriyali ye-NS ibekwe kumphakamo we-5 m (igophe elibhlowu eliqinileyo), kunye nelinye kumphakamo we-4 m (igophe elinamachaphaza abhlowu).

Irayisi. 4. Amandla omqondiso kumagalelo abamkeli ababini bemodem ye-3D Link ukusuka kwii-eriyali ezikumphakamo ohlukeneyo.

Ukusuka kwiFig. Umzobo 4 ubonisa ngokucacileyo isiqhamo sale ndlela. Enyanisweni, kuwo wonke umgama wendiza ye-UAV, ukuya kuthi ga kwi-110.8 km, isignali kwigalelo lomnye ummkeli we-NS idlula inqanaba lovakalelo, oko kukuthi, ividiyo esuka ebhodini ayiyi kuphazamiseka kuwo wonke umgama wendiza. .

Indlela ecetywayo, nangona kunjalo, inceda ukunyusa ukuthembeka kwe-UAV→NS ikhonkco yerediyo kuphela, ekubeni ukukwazi ukufaka ii-antenna kwiindawo eziphakamileyo kufumaneka kuphela kwi-NS. Akunakwenzeka ukuqinisekisa ukuhlukana kokuphakama kwee-antenna ze-1 m kwi-UAV. Ukwandisa ukuthembeka kwe-NS→UAV ikhonkco yerediyo, ezi ndlela zilandelayo zingasetyenziswa.

1. Yondla isignali yokudlulisa i-NS kwi-eriyali efumana umqondiso onamandla ngakumbi kwi-UAV.
2. Sebenzisa iikhowudi zexesha lasesithuba, njengekhowudi ye-Alamouti [12].
3. Sebenzisa itekhnoloji yokukhanyisa i-eriyali ekwaziyo ukulawula amandla omqondiso athunyelwa kwi-eriyali nganye.

Indlela yokuqala isondele kakhulu kwingxaki yonxibelelwano kunye ne-UAV. Ilula kwaye kuyo yonke i-transmitter amandla iqondiswe kwicala elifanelekileyo - kwi-eriyali ebekwe ngokufanelekileyo. Ngokomzekelo, kwinqanaba le-50 km (jonga umzobo we-4), isignali yokuhambisa idluliselwe kwi-antenna emisiwe kwiimitha ezi-5, kunye noluhlu lweekhilomitha ezingama-60 - ukuya kwi-antenna emisiwe kwiimitha ezi-4. Le yindlela esetyenziswa kwimodem ye-3D Link [11]. Indlela yesibini ayisebenzisi idatha ye-priori malunga nemeko ye-UAV→ ijelo lonxibelelwano lwe-NS (amanqanaba emiqondiso efunyenweyo kwiziphumo ze-antenna), ngoko ke yahlula amandla okuhambisa ngokulinganayo phakathi kwee-eriyali ezimbini, nto leyo ekhokelela ekulahlekeni kwamandla, ekubeni enye yee-eriyali inokuba kumandla entsimi yomngxuma. Indlela yesithathu ilingana neyokuqala ngokomgangatho wonxibelelwano, kodwa kunzima kakhulu ukuyiphumeza.

Masiphinde siqwalasele umba wempembelelo yefrikhwensi yamaza erediyo kuluhlu lonxibelelwano kunye ne-UAV, sithathela ingqalelo impembelelo yendawo engaphantsi. Kuboniswe ngasentla ukuba ukwandisa i-frequency kunenzuzo, kuba ngemilinganiselo emiselweyo yee-antenna, oku kukhokelela ekwandeni koluhlu lonxibelelwano. Nangona kunjalo, umbuzo wokuxhomekeka zange kuqwalaselwe rhoqo. Ukusuka (3) kulandela ukuba umlinganiselo weenzuzo ze-eriyali zilingana kwindawo kwaye zenzelwe ukusebenza kwiifrikhwensi и , iyalingana
(6)

kuba 2450 MHz; Sifumana 915 MHz 7.2 (8.5 dB). Oku kuphantse kwenzeke xa kusenziwa. Makhe sithelekise, umzekelo, iparameters zezi eriyali zilandelayo ukusuka kwi-Wireless Instruments:

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

Kukulungele ukuthelekisa ezi zi-antenna, kuba zenziwe kwizindlu ezifanayo ze-27x27 cm, oko kukuthi zinendawo efanayo. Qaphela ukuba inzuzo ye-eriyali iyahluka ngo-15−8=7 dB, ekufutshane nexabiso elibaliweyo le-8.5 dB. Ukususela kwiimpawu ze-eriyali kwakhona kucacile ukuba ububanzi bepateni ye-antenna kuluhlu lwe-2.3-2.5 GHz (30 ° / 30 °) luphindwe kabini kunobubanzi bepatheni ye-eriyali yoluhlu lwe-0.83-0.96 I-GHz (70 ° / 70 °), okt Ukuzuzwa kwee-eriyali ezinobukhulu obufanayo ngokwenene kwandisa ngenxa yokuphuculwa kweempawu zendlela. Ukuthathela ingqalelo into yokuba i-antenna ezi-2 zisetyenziswa kumgca wonxibelelwano, umlinganiselo izakuba yi-2∙8.5=17 dB. Ngaloo ndlela, kunye nemilinganiselo ye-antenna efanayo, uhlahlo lwabiwo-mali lwamandla onxibelelwano lwerediyo kunye ne-frequency I-2450 MHz iya kuba yi-17 dB ngaphezu kohlahlo lwabiwo-mali oluhamba rhoqo 915 MHz. Ekubaleni, siphinde sithathele ingqalelo into yokuba ii-UAVs, njengomthetho, zisebenzisa i-antenna ye-whip apho imilinganiselo ingabalulekanga njengee-antenna zepaneli ze-NS ezicatshangelwayo. Ke ngoko, siyayamkela inzuzo ye-eriyali ye-UAV yeefrikhwensi и ngokulinganayo. Ezo. umahluko kuhlahlo lwabiwo-mali lwamandla emigca iya kuba yi-8.5 dB, hayi i-17 dB. Iziphumo zokubala ezenziwe kule datha yokuqala kunye nobude be-5 m ye-antenna ye-NS iboniswe kwi-Fig. 5.

Irayisi. 5. Amandla omqondiso kwigalelo lomamkeli kwiikhonkco zerediyo ezisebenza kwiifrikhwensi ze-915 kunye ne-2450 MHz

Ukusuka kwiFig. I-5 ibonisa ngokucacileyo ukuba uluhlu lonxibelelwano kunye nokunyuka kwe-frequency yokusebenza kunye nommandla ofanayo we-antenna ye-NS yonyuka ukusuka kwi-96.3 km yekhonkco yerediyo kunye ne-frequency ye-915 MHz ukuya kwi-110.8 km ngekhonkco elinomjikelezo we-2450 MHz. . Nangona kunjalo, umgca kwi-915 MHz une-oscillation frequency ephantsi. Ii-oscillations ezimbalwa zithetha ukudipha okumbalwa kumandla entsimi, oko kukuthi, amathuba amancinci okuphazamisa unxibelelwano kunye ne-UAV kumgama wonke wokubhabha. Mhlawumbi yile nyaniso emisela ukuthandwa kwe-sub-gigahertz yoluhlu lwamaza omsakazo womyalelo kunye nemigca yonxibelelwano ye-telemetry kunye ne-UAV njengeyona ithembekileyo. Ngexesha elifanayo, xa usenza isethi yezenzo ezichazwe ngasentla ukukhusela ngokuchasene ne-oscillations yamandla entsimi, izixhumanisi zerediyo kwi-gigahertz zibonelela ngoluhlu olukhulu lonxibelelwano ngokuphucula iimpawu zolwalathiso lwee-antenna.

Ukusuka kuqwalaselo lweFig. I-5 sinokugqiba ukuba kwindawo yomthunzi (emva kophawu lwe-128.8 km) ukuthoba i-frequency yokusebenza yomgca wonxibelelwano kunengqiqo. Ngokwenene, kwindawo emalunga ne-−120 dBm iijiko zombane zamaza и nqumla. Ezo. Xa usebenzisa abamkeli abanovakalelo olungcono kuno--120 dBm, ikhonkco lerediyo kwi-frequency ye-915 MHz iya kubonelela ngoluhlu olude lonxibelelwano. Kule meko, nangona kunjalo, i-bandwidth efunekayo yekhonkco kufuneka ithathelwe ingqalelo, ekubeni ngexabiso eliphezulu lovakalelo, isantya solwazi siya kuba siphantsi kakhulu. Umzekelo, imodem ye-3D Link [11] Nangona ibonelela ngovakalelo ukuya kuthi ga ku -122 dBm, iaggregate (kumacala omabini) izinga losasazo lolwazi liya kuba yi-23 kbit/sec, leyo, ngokomgaqo, yanele kunxibelelwano lwe-KTRL ne-UAV, kodwa ngokucacileyo akwanelanga ukusasaza ividiyo ukusuka phambili. ibhodi. Ke, uluhlu olusezantsi lwegigahertz, eneneni, lunenzuzo encinci ngaphezulu koluhlu lwegigahertz lwe-KTRL, kodwa luphulukana ngokucacileyo neempawu xa uququzelela imigca yevidiyo.

Xa ukhetha i-frequency link yerediyo, kufuneka kwakhona uthathele ingqalelo ukuthotywa kwesiginali njengoko isasazeka kwiatmosfera yoMhlaba. Kumakhonkco onxibelelwano lwe-NS-UAV, ukuthotywa emoyeni kubangelwa ziigesi, imvula, isichotho, ikhephu, inkungu namafu. [2]. Kumaza okusebenza amakhonkco erediyo angaphantsi kwe-6 GHz, ukuthotywa kweegesi kunokungahoywa. [2]. Obona buthathaka buqatha bujongwa kwiimvula, ngakumbi ezona zininzi kakhulu (iishawa). Itheyibhile 1 ibonisa idatha [2] ngokucutha ngomgca [dB/km] kwiimvula ezinobunzulu obahlukeneyo kumaza 3–6 GHz.

Itheyibhile 1. Ukunciphisa umgca wamaza erediyo [dB/km] kwiimvula ezinobunzulu obahlukeneyo ngokuxhomekeke kumaza

Ireyithi [GHz]
3 mm/iyure (ubuthathaka)
12 mm/yure (phakathi)
30 mm/yure (yomelele)
70 mm/yure (imvula)

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

Ukusuka etafileni 1 kulandela ukuba, umzekelo, kwi-frequency ye-3 GHz, ukutshatyalaliswa kwishawa kuya kuba malunga ne-0.0087 dB / km, leyo kwindlela ye-100 km iya kunika i-0.87 dB yokunciphisa ngokupheleleyo. Njengoko i-frequency yokusebenza yekhonkco yerediyo isanda, ukuthotywa kwemvula kuyanda kakhulu. Kwi-frequency ye-4 GHz, i-attenuation kwishawa kwindlela efanayo iya kuba sele i-9.1 dB, kunye ne-frequencies ye-5 kunye ne-6 GHz - 28 kunye ne-57 dB, ngokulandelanayo. Kule meko, nangona kunjalo, kucingelwa ukuba imvula enobunzulu obunikiweyo iyenzeka kuyo yonke indlela, nto leyo engaqhelekanga ukuba yenzeke. Nangona kunjalo, xa usebenzisa ii-UAVs kwiindawo apho imvula ephezulu ixhaphake kakhulu, kuyacetyiswa ukuba ukhethe i-frequency yokusebenza yekhonkco yerediyo engaphantsi kwe-3 GHz.

Iincwadi

1. Smorodinov A.A. Ungayikhetha njani imodem yebroadband yenqwelo moya engenabantu (UAV). UHabr. 2019.
2. Kalinin A.I., Cherenkova E.L. Ukusasazwa kwamaza erediyo kunye nokusebenza kweekhonkco zerediyo. Uqhagamshelwano. eMoscow. 1971.
3. Microhard.
4. Pico Digital Data Link pDDL2450 iinkcukacha.
5. Picoradio OEM iinkcukacha.
6. Ingxelo yoVavanyo lobuNjineli. Pico 2.4GHz 1W Digital Data Link Imodyuli.
7. Isazisi seFCC.
8. CA Balanis. Ithiyori ye-antenna. Uhlalutyo kunye noyilo. Uhlelo lwesine. UJohn Wiley kunye noonyana. 2016.
9. Ukuzuza kwe-antenna. Inqaku leWikipedia.
10. ubude bemitha. Inqaku leWikipedia.
11. Digital duplex radio modem 3D Link.
12. SM Alamouti. "Indlela elula yokuhambisa iyantlukwano kunxibelelwano olungenazingcingo." IJenali ye-IEEE kwiiNdawo eziKhethekileyo kuNxibelelwano. 16(8):1451–1458.
13. PTP Client Antenna WiBOX PA 0809-8V.
14. PTP Client Antenna WiBOX PA 24-15.

umthombo: www.habr.com