UAV andmesidesüsteem mitme drooni juhtimiseks

UAV Datalink System Overview

The UAV Datalink System is designed to enable reliable, reaalajas suhtlus, kontrolli, and monitoring for multiple unmanned aerial vehicles (UAV-d). The system consists of four UAVs, each equipped with a Datalink Air Unit, a Lennujuhtimisarvuti (FCC, nt., VALE V5+), and a camera/seeker, as well as a Datalink Ground Unit connected to a Ground Control Station (GCS).

Põhifunktsioonid

• Seadistamine: 1 Ground Unit communicating with 4 Air Units via a point-to-multipoint bidirectional link (Ethernet + UART).
• Vahemik & Esitus: ≥ 80 km line-of-sight with robust video and telemetry links, supporting 1080p video at 30 fps and telemetry/control data at up to 921600 bps.
• Liidesed: Air Units provide 1 UART port for FCC telemetry and 1 Ethernet port for camera data. The Ground Unit aggregates these streams and presents a single UART and Ethernet interface to the GCS.
• Cable & Wiring: Straight-through TTL UART connections minimize latency and complexity. Ethernet cables support standard Cat5e/Cat6 connections with shielding for EMI protection.
• Reliability & Latentsus: Bit error rate < 8×10⁻⁸, data delay < 1 ms, packet loss < 1%, with FEC, CRC, and ARQ mechanisms to ensure continuous operation.
• System Flexibility: Each data stream is tagged with a unique Bird ID, allowing the GCS to identify and manage individual UAVs. The system continues operating even if one or more UAVs temporarily lose connection.

This Datalink System ensures seamless integration between UAVs, kaamerad, and ground control, providing a lightweight, high-performance solution for real-time multi-drone operations.

Data link requirement documents

Süsteem koosneb kuueteistkümnest õhus olevast Datalink Air üksusest (üks linnu kohta), a single Datalink Ground Unit, ja maapealne juhtimisjaam (GCS). Eesmärk on määrata liidesed, kaabli pikkused, port counts, and acceptance tests so that units delivered by suppliers will interoperate with the existing FCC (lennujuhtimise arvuti), kaamerad (otsijad), and the GCS.

A vahelise andmeside loomiseks on vaja terviklikku lahendust ground station ja 4 UAV air ühikut. Süsteem peaks võimaldama usaldusväärset sidet, kontrolli, and monitoring of all UAVs simultaneously. Detailed technical requirements are provided below.

Ülevaade:

• Seadistamine: 1 × Maapealne juhtseade (GCU) suhtlemisel 4 × Õhuühikud (välja)
• Kommunikatsiooni tüüp: Punkt-mitmepunkt kahesuunaline link (Ethernet + UART)
• Vahemik: ≥ 80 km vaatevälja (LOS)
• Tegevusbänd: 1.4GHz(L-bänd)
• Modulatsiooniskeem: TDD-OFDM / QPSK / 16-QAM
• Võimsusnõue: tööpinge (12V), Praegune lävi (≤2A)
• Temperatuurivahemik: -20°C kuni 75 °C

Andmeedastus ja ribalaius:

Parameeter	Nõue	Märkmed
Video andmeedastuskiirus (otsija kohta)	5 – 9 Mbps	1080p @ 30 fps H.264/265 compression
Telemeetria + Kontrolli (FCC kohta)	200 – 300 kbps	UART-põhised kahesuunalised juhtimisandmed
Video koondläbilaskvus (4 välja)	24 – 36 Mbps	Kombineeritud video üleslink
Kogu telemeetria/juhtimine	1 Mbps	Videoga võrreldes tühine
Kokku nõutav üleslingi ribalaius	≥ 36 Mbps	Koos 20% FEC + üldkulud ≈ 42 Mbps

Latentsus- ja kvaliteedinõuded:

Parameeter	Nõue	Märkmed
Biti veamäär	< 8×10-8	Maksimaalses vahemikus
Andmete viivitus	< 1ms	Required for real-time seekeroperation and data transmission
Paketi kadu	< 1%	Koos FEC-ga + ARQ mehhanismid
Veaparandus	FEC + CRC + ARQ	Telemeetria töökindluse jaoks kohustuslik

Lingi eelarve & RF parameetrid:

Parameeter	Target Value	Märkmed
Edasta võimsust (Õhuüksus)	4 – 5 W	–
Edasta võimsust (Maapealne üksus)	4 – 5 W	–
Antenni võimendus (Õhuüksus)	>3dB	Antenni muster: Isotroopne
Antenni võimendus (Maapealne üksus)	12 – 18 dB	Suunatud antenn
Vastuvõtja tundlikkus	–103dBm @10 MHz	10⁻⁵ BER jaoks
Lingi veeris @ 80 km	> 10 dB	Tagab tugeva video + andmeside

MÄRKUS:

• For seamless integration between the CUAV V5+ flight controller and external peripherals, on oluline, et UART kangas säilitaks a direct and uncomplicated wiring structure. Täpsemalt, UART-pordist lähtuv kangastelg peaks olema konstrueeritud a single straight line connection without introducing any additional converters or intermediary boards. See vähendab võimalikke tõrkepunkte, vähendab latentsust, and ensures a lightweight and reliable wiring architecture.
  • Furthermore, kangastelg peab töötama Transistor-Transistor Logic'il (TTL) voltage levels, kuna V5+ lennujuht suhtleb TTL UART kaudu. Igasugune kõrvalekalle TTL-ist (näiteks RS-232 või RS-485 tasemed) would necessitate external level shifters or converters, mis on vastuolus otsese kangastelje nõudega. By adhering to TTL standards, signaali ühilduvus säilib, tagamine:
    • Direct communication between the V5+ and connected modules.
    • Reduced hardware complexity by eliminating converters or translators.
    • Lower weight and improved reliability, as fewer components are involved in the signal path.
    • Improved signal integrity, since additional conversion stages can introduce noise or timing mismatches.

Kokkuvõtteks,the loom design should strictly provide a straight-through UART wiring harness operating at TTL voltages,aligning with the CUAV V5+electrical specifications and guaranteeing optimal performance in airborne applications.

Süsteemi ülevaade:

Kõrgetasemeline süsteemi kirjeldus:

1. Neli UAV-d, igaüks varustatud:
   1. 1 × Datalink Air Unit
   1. 1 × FCC (Lennujuhtimisarvuti, nt., VALE V5+)
   1. 1 × Otsija / Kaamera
2. 1 × Datalink Ground Unit ühendatud maapealse juhtimisjaamaga (GCS).

Andmevoog (ülevaadet): Video and sensor data from each camera is provided to its associated Datalink Air Unit via the camera’s Ethernet port. Telemetry and control data between the FCC and the Air Unit is carried over a UART link. The Datalink Air Unit transmits these streams over the data link to the Ground Unit; the Ground Unit demultiplexes the streams and presents them to the GCS as a single Ethernet stream (kaamera video ja andmed) ja üks seeria (UART/USB) telemetry stream.

Nõuded õhuüksusele:

Iga andmelingi õhuüksus (üks UAV kohta) peab vastama järgmistele kohustuslikele nõuetele:

1.  Liidesed & Sadamad (miinimum):

• 1 × UART-port (miinimum). This port shall be used for telemetry/control connectivity to the FCC (telemeetria pordid Telem1 / Telem2 FCC-s).
  • 1 × Etherneti port (miinimum). This port shall be used to receive camera/seeker Ethernet data.

2.  Kaabli ühenduvus (delivered with the AirUnit):

• 1 × UART kaabel (esmane) - pikkus: 1.0 m (±5%). Kaabel peab kandma TX-i, RX, GND and VCC. Cable must be terminated to match the Datalink UART connector on one end and the FCC telemetry connector on the other.
  • 1 × Etherneti kaabel (esmane) - pikkus: 1.0 m (±5%). Cable shall be standard shielded Cat5e or Cat6 patch cable with RJ45 connectors.
  • 2 × varukomplektid (õhuühiku kohta) — st., two additional UART cables and two additional Ethernet cables shall be supplied with each Air Unit (total supplied per unit = 3 UART kaablid, 3 Etherneti kaablid).

3.  Mehaaniline & Füüsiline:

• Cables should be color-coded (soovitatav) and have clear directionality markings if pinouts are not symmetric.

4.  Electrical / Protokoll:

UART: Toetage tavalisi andmeedastuskiirusi kuni vähemalt 921600 bps. Provide user- configurable UART parameters.

Ethernet: Toetage vähemalt 100 Mbps töö (Eelistatakse gigabitist). Support common transport protocols (UDP, RTSP video jaoks ja UDP juhtimiseks) — specific protocol selection shall be configurable.

Nõuded maapealsele seadmele:

The Ground Unit performs demultiplexing of data from all four Air Units and presents a unified interface to the GCS. Kohustuslikud nõuded on:

1.  Liidesed & Sadamad (miinimum):

• 1 × UART-port (esitati GCS-ile). The Ground Unit shall aggregate telemetry streams from all four air units and present them to the GCS as a single UART/USB interface (nt., maandusseade UART, mis on ühendatud GCS-i USB-liidesega).
  • 1 × Etherneti port (esitati GCS-ile). The Ground Unit shall aggregate camera/video and data streams from the four air units and present them as a single Ethernet interface to the GCS.

2.  Agregatsiooni käitumine:

• The Ground Unit shall accept four independent incoming data streams (one from each Air Unit) and demultiplex them to a combined Ethernet stream and a combined serial stream. GCS-ist’ perspective there shall be only one Ethernet link and one UART link to configure and monitor.
  • Aggregation must preserve source addressing, so the GCS can identify which stream is from which Bird. The Ground Unit shall not lose per-bird identification information.

3.  Kaabli ühenduvus (tarnitakse koos maapealse seadmega):

• 1 × UART kaabel (esmane) - pikkus: 400 mm (0.4 m). Cable shall allow connection from the Ground Unit UART port to the GCS USB port (if the Ground Unit UART is a direct UART, hankige USB-UART-adapterikaabel). The cable must carry TX, RX, GND and VCC.
  • 1 × Etherneti kaabel (esmane) - pikkus: 400 mm (0.4 m). Cable shall be shielded Cat5e/Cat6 patch cable with RJ45 connectors.
  • 2 × spare sets — two additional UART and two additional Ethernet cables supplied as spares with the Ground Unit.

4.  Electrical / Protokoll:

• Aggregation shall be transparent with respect to Ethernet frames for video; where needed the Ground Unit may repackage streams into a single transport stream but must preserve timing information and per-bird source identification.

Telemeetriline multipleksimine: The Ground Unit shall time-multiplex or packetize telemetry streams into a single UART stream with clear framing and optional tags to distinguish messages by bird ID. The protocol used for multiplexing must be documented and supported by the GCS software.

Ühenduvus & Kaabli spetsifikatsioonid

This section lists the recommended cable and connector specifications to ensure reliable performance in the airborne and ground environments.

1. Etherneti kaablid (Õhuüksus -> Kaamera ja maapealne seade -> GCS): Standard shielded Cat5e or Cat6 patch cables with RJ45 terminations. Kasutage täielikult varjestatud (STP) cable if the installation has high EMI.
2. Ethernet length (Air Unit): 1.0 m ±5%.
3. Ethernet length (Ground Unit): 400 mm ±5%.
4. UART kaablid (Õhuüksus -> FCC telemeetria): 4-juhtkaabel (TX, RX, GND, valikuline RTS/CTS). Pikkus: 1.0 m ±5%.
5. UART kaabel (Ground Unit -> GCS USB/UART): 400 mm ±5% (include USB-UART adapter if required by the GCS).
6. Cable shielding and grounding: Provide common ground and ensure shielding is terminated at one end per best-practice to avoid ground loops. Use locking RJ45 or latching connectors if vibration is expected.

Provide adapter cables for interfacing Datalink UART to CUAV V5+ telemetry connectors (if the Datalink unit does not natively expose a compatible connector).

• Where camera supports Power-over-Ethernet (PoE) but the Datalink Air Unit does not supply PoE, provide a PoE injector.

Functional & Protocol Requirements

Key functional requirements and recommendations:

1. Per-Bird Identification: Each data stream (video or telemetry) MUST be tagged with a unique Bird ID so the GCS can map streams to vehicles.
2. Multiplexing Scheme: The Ground Unit shall implement a deterministic multiplexing scheme for telemetry (UART) allowing GCS to parse and route messages by Bird ID.
3. Latentsus ja Throughput: The system shall minimize additional aggregation latency.
4. Reliability: Ground Unit must handle temporary loss of one or more air units gracefully and continue to present remaining streams to the GCS.
5. Configuration Interface: Provide a configuration method (a detailed document) to set Bird IDs, UART baud rates, and per-stream priorities.