Sistema UAV Datalink para controle de vários drones

UAV Datalink System Overview

O UAV Datalink System is designed to enable reliable, real-time communication, controlar, and monitoring for multiple unmanned aerial vehicles (Uavs). The system consists of four UAVs, each equipped with a Datalink Air Unit, um Computador de controle de vôo (FCC, Por exemplo, FALSO V5+), and a camera/seeker, as well as a Datalink Ground Unit connected to a Ground Control Station (GCS).

Principais recursos

• Configuração: 1 Ground Unit communicating with 4 Air Units via a point-to-multipoint bidirectional link (Ethernet + Uart).
• Faixa & Desempenho: ≥ 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.
• Interfaces: 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.
• Cabo & Wiring: Straight-through TTL UART connections minimize latency and complexity. Ethernet cables support standard Cat5e/Cat6 connections with shielding for EMI protection.
• Confiabilidade & Latência: Bit error rate < 8×10⁻⁸, data delay < 1 EM, perda de pacotes < 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, câmeras, and ground control, providing a lightweight, high-performance solution for real-time multi-drone operations.

Data link requirement documents

O sistema compreende dezesseis unidades aéreas Datalink Air (um por ave), a single Datalink Ground Unit, e uma estação de controle terrestre (GCS). O objetivo é especificar interfaces, comprimentos de cabo, port counts, and acceptance tests so that units delivered by suppliers will interoperate with the existing FCC (computador de controle de vôo), câmeras (buscadores), and the GCS.

É necessária uma solução completa para estabelecer um link de dados entre um ground station e 4 UAV air unidades. O sistema deve permitir uma comunicação confiável, controlar, and monitoring of all UAVs simultaneously. Detailed technical requirements are provided below.

Visão geral:

• Configuração: 1 × Unidade de Controle de Solo (GCU) comunicando-se com 4 × Unidades Aéreas (Fora de)
• Tipo de comunicação: Link bidirecional ponto-multiponto (Ethernet + Uart)
• Faixa: ≥ 80 linha de visão km (Los)
• Banda Operacional: 1.4Ghz(Banda L)
• Esquema de Modulação: TDD-OFDM / QPSK / 16-Qam
• Requisito de energia: tensão operacional (12V), Limite atual (≤2A)
• Faixa de temperatura: -20°C a 75 °C

Taxa de transferência de dados e largura de banda:

Parâmetro	Exigência	Notas
Taxa de dados de vídeo (por buscador)	5 - 9 Mbps	1080p@ 30 fps H.264/265 compression
Telemetria + Controlar (por FCC)	200 - 300 kbps	Dados de controle bidirecional baseados em UART
Taxa de transferência de vídeo agregada (4 Fora de)	24 - 36 Mbps	Uplink de vídeo combinado
Telemetria/Controle Agregado	1 Mbps	Insignificante em comparação com o vídeo
Largura de banda de uplink total necessária	≥ 36 Mbps	Com 20% FEC + sobrecarga ≈ 42 Mbps

Requisitos de latência e qualidade:

Parâmetro	Exigência	Notas
Taxa de erro de bits	< 8×10-8	No alcance máximo
Atraso de dados	< 1EM	Required for real-time seekeroperation and data transmission
Perda de pacotes	< 1%	Com FEC + Mecanismos ARQ
Correção de erros	FEC + CRC + ARQ	Obrigatório para confiabilidade da telemetria

Link Orçamento & Parâmetros de RF:

Parâmetro	Target Value	Notas
Transmitir energia (Unidade Aérea)	4 – 5 C	–
Transmitir energia (Unidade Terrestre)	4 – 5 C	–
Ganho de antena (Unidade Aérea)	>3dB	Padrão de antena: Isotrópico
Ganho de antena (Unidade Terrestre)	12 - 18 dB	Antena Direcional
Sensibilidade do receptor	–103dBm @10 MHz	Por 10⁻⁵ BER
Margem do link @ 80 km	> 10 dB	Garante vídeo robusto + link de dados

OBSERVAÇÃO:

• For seamless integration between the CUAV V5+ flight controller and external peripherals, é essencial que o tear UART mantenha uma direct and uncomplicated wiring structure. Especificamente, o tear da porta UART deve ser projetado como um single straight line connection without introducing any additional converters or intermediary boards. Isso minimiza possíveis pontos de falha, reduz a latência, and ensures a lightweight and reliable wiring architecture.
  • Furthermore, o tear deve operar na Lógica Transistor-Transistor (TTL) voltage levels, enquanto o controlador de vôo V5+ se comunica via TTL UART. Qualquer desvio do TTL (como níveis RS-232 ou RS-485) would necessitate external level shifters or converters, o que contradiz a exigência de um tear direto. By adhering to TTL standards, a compatibilidade do sinal é mantida, garantindo:
    • 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.

Para concluir,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.

Visão geral do sistema:

Descrição do sistema de alto nível:

1. Quatro UAVs, cada um equipado com:
   1. 1 × Unidade Aérea Datalink
   1. 1 ×FCC (Computador de controle de vôo, Por exemplo, FALSO V5+)
   1. 1 × Buscador / Câmera
2. 1 × Unidade Terrestre Datalink conectada à Estação de Controle Terrestre (GCS).

Fluxo de dados (visão geral): 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 (vídeo e dados da câmera) e uma única série (UART/USB) telemetry stream.

Requisitos da Unidade Aérea:

Cada unidade aérea Datalink (um por UAV) deve atender aos seguintes requisitos obrigatórios:

1. Interfaces & Portas (mínimo):

• 1 × porta UART (mínimo). This port shall be used for telemetry/control connectivity to the FCC (portas de telemetria Telem1 / Telem2 na FCC).
  • 1 × Porta Ethernet (mínimo). This port shall be used to receive camera/seeker Ethernet data.

2. Conectividade de cabo (delivered with the AirUnit):

• 1 × Cabo UART (primário) - comprimento: 1.0 m (±5%). O cabo deve transportar TX, 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 × Cabo Ethernet (primário) - comprimento: 1.0 m (±5%). Cable shall be standard shielded Cat5e or Cat6 patch cable with RJ45 connectors.
  • 2 × conjuntos sobressalentes (por Unidade Aérea) - ou seja, two additional UART cables and two additional Ethernet cables shall be supplied with each Air Unit (total supplied per unit = 3 Cabos UART, 3 Cabos Ethernet).

3. Mecânico & Físico:

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

4. Electrical / Protocolo:

Uart: Suporta taxas de transmissão comuns de até pelo menos 921600 bps. Provide user- configurable UART parameters.

Ethernet: Apoie pelo menos 100 Operação em Mbps (Gigabit preferido). Support common transport protocols (UDP, RTSP para vídeo e UDP para controle) — specific protocol selection shall be configurable.

Requisitos da Unidade Terrestre:

The Ground Unit performs demultiplexing of data from all four Air Units and presents a unified interface to the GCS. Os requisitos obrigatórios são:

1. Interfaces & Portas (mínimo):

• 1 × porta UART (apresentado ao GCS). The Ground Unit shall aggregate telemetry streams from all four air units and present them to the GCS as a single UART/USB interface (Por exemplo, a unidade terrestre UART conectada a uma interface USB no GCS).
  • 1 × Porta Ethernet (apresentado ao GCS). 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. Comportamento de agregação:

• 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. Do GCS’ 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. Conectividade de cabo (entregue com a Unidade Terrestre):

• 1 × Cabo UART (primário) - comprimento: 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, forneça um cabo adaptador USB-UART). The cable must carry TX, Rx, GND and VCC.
  • 1 × Cabo Ethernet (primário) - comprimento: 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 / Protocolo:

• 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.

Multiplexação de telemetria: 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.

Conectividade & Especificações do cabo

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

1. Cabos Ethernet (Air Unit -> Camera and Ground Unit -> GCS): Standard shielded Cat5e or Cat6 patch cables with RJ45 terminations. Use totalmente blindado (STP) cable if the installation has high EMI.
2. Ethernet comprimento (Air Unidade): 1.0 m ±5%.
3. Ethernet comprimento (Ground Unidade): 400 mm ±5%.
4. Cabos UART (Air Unit -> FCC telemetry): 4-cabo condutor (Tx, Rx, Gnd, opcional RTS/CTS). Comprimento: 1.0 m ±5%.
5. Uart cabo (Ground Unidade -> GCS USB/UART): 400 mm ±5% (include USB-UART adapter if required by the GCS).
6. Blindagem e aterramento de cabos: 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.

Fornece cabos adaptadores para interface do Datalink UART com conectores de telemetria CUAV V5+ (se a unidade Datalink não expor nativamente um conector compatível).

• Onde a câmera suporta Power-over-Ethernet (PoE) but the Datalink Air Unit does not supply PoE, provide a PoE injector.

Funcional & Requisitos de protocolo

Principais requisitos funcionais e recomendações:

1. Identificação por ave: Cada fluxo de dados (vídeo ou telemetria) 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. Latência e Taxa de transferência: The system shall minimize additional aggregation latency.
4. Confiabilidade: Ground Unit must handle temporary loss of one or more air units gracefully and continue to present remaining streams to the GCS.
5. Interface de configuração: Forneça um método de configuração (um documento detalhado) to set Bird IDs, Taxas de transmissão UART, e prioridades por fluxo.