用於多無人機控制的無人機數據鏈系統

UAV Datalink System Overview

該 UAV Datalink System is designed to enable reliable, 即時通訊, 控制, and monitoring for multiple unmanned aerial vehicles (無人機). The system consists of four UAVs, each equipped with a Datalink Air Unit, 一種 飛行控制計算機 (聯邦通信委員會, 例如。, 假V5+), and a camera/seeker, as well as a Datalink Ground Unit connected to a 地面控制站 (GCS).

主要特點

• 組態: 1 Ground Unit communicating with 4 Air Units via a point-to-multipoint bidirectional link (乙太網路 + 串口).
• 範圍 & 表現: ≥ 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 基點.
• 接口: 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.
• 電纜 & Wiring: Straight-through TTL UART connections minimize latency and complexity. Ethernet cables support standard Cat5e/Cat6 connections with shielding for EMI protection.
• 可靠性 & 潛伏: Bit error rate < 8×10⁻⁸, data delay < 1 多發性硬化症, 丟包 < 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, 相機, and ground control, providing a lightweight, high-performance solution for real-time multi-drone operations.

Data link requirement documents

該系統由十六個機載數據鏈空中單元組成 (每隻鳥一隻), a single Datalink Ground Unit, 和地面控制站 (GCS). 目的是指定接口, 電纜長度, port counts, and acceptance tests so that units delivered by suppliers will interoperate with the existing FCC (飛行控制計算機), 相機 (探索者), and the GCS.

需要一個完整的解決方案來建立數據鏈路 ground station 和 4 UAV air 單位. 系統應能夠實現可靠的通信, 控制, and monitoring of all UAVs simultaneously. Detailed technical requirements are provided below.

概述:

• 組態: 1 × 地面控制單元 (通用控制單元) 與…溝通 4 × 航空單位 (出)
• 通訊類型: 點對多點雙向鏈路 (乙太網路 + 串口)
• 範圍: ≥ 80 公里視距 (這)
• 工作頻段: 1.4GHz的(L波段)
• 調製方案: TDD-OFDM / QPSK / 16-QAM
• 電源要求: 工作電壓 (12V), 當前閾值 (≤2A)
• 溫度範圍: -20°C 至 75°C

數據吞吐量和帶寬:

範圍	要求	筆記
視頻數據速率 (每個搜尋者)	5 - 9 Mbps的	1080p@ 30 fps H.264/265 compression
遙測 + 控制 (根據聯邦通信委員會)	200 - 300 千比特每秒	基於UART的雙向控制數據
聚合視頻吞吐量 (4 出)	24 - 36 Mbps的	組合視頻上行
聚合遙測/控制	1 Mbps的	與視頻相比可以忽略不計
所需上行鏈路總帶寬	≥ 36 Mbps的	和 20% FEC + 開銷 ≈ 42 Mbps的

延遲和質量要求:

範圍	要求	筆記
誤碼率	< 8×10-8	在最大範圍內
數據延遲	< 1多發性硬化症	Required for real-time seekeroperation and data transmission
丟包	< 1%	帶前向糾錯 + ARQ機制
糾錯	FEC + CRC + ARQ	遙測可靠性的強制要求

鏈路預算 & 射頻參數:

範圍	目標 Value	筆記
傳輸功率 (空中單位)	4 – 5 w ^	–
傳輸功率 (地面單位)	4 – 5 w ^	–
天線增益 (空中單位)	>3D b	天線方向圖: 各向同性
天線增益 (地面單位)	12 - 18 D b	定向天線
接收器靈敏度	–103dBm @10 MHz	對於 10⁻⁵ BER
鏈接邊距@ 80 千米	> 10 D b	確保穩定的視頻 + 數據鏈路

筆記:

• For seamless integration between the CUAV V5+ flight controller and external peripherals, UART 織機保持一個至關重要 direct and uncomplicated wiring structure. 具體來說, 來自 UART 端口的織機應設計為 single straight line connection without introducing any additional converters or intermediary boards. 這最大限度地減少了潛在的故障點, 減少延遲, and ensures a lightweight and reliable wiring architecture.
  • 此外, 織機必須以晶體管-晶體管邏輯運行 (TTL) voltage levels, V5+飛控通過TTL UART進行通信. 與 TTL 的任何偏差 (例如 RS-232 或 RS-485 電平) would necessitate external level shifters or converters, 這與直接織機的要求相矛盾. By adhering to TTL standards, 保持信號兼容性, 確保:
    • 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.

綜上所述,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.

系統概述:

高級系統描述:

1. 四架無人機, 每個配備:
   1. 1 × 數據鏈空中裝置
   1. 1 × 美國聯邦通信委員會 (飛行控制計算機, 例如。, 假V5+)
   1. 1 × 探索者 / 相機
2. 1 × 與地面控制站連接的數據鏈地面單元 (GCS).

數據流 (概述): 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 (攝像頭視頻和數據) 和一個連續劇 (串口/USB) telemetry stream.

空氣裝置要求:

每個數據鏈空中單元 (每架無人機一台) 應滿足以下強制性要求:

1. 接口 & 港口 (最低限度):

• 1 × 串口 (最低限度). This port shall be used for telemetry/control connectivity to the FCC (遙測端口 Telem1 / Telem2 在 FCC 上的發言).
  • 1 × 以太網端口 (最低限度). This port shall be used to receive camera/seeker Ethernet data.

2. 電纜連接 (delivered with the AirUnit):

• 1 × 串口線 (基本的) - 長度: 1.0 米 (±5％). 電纜應攜帶 TX, 接收, 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 × 以太網電纜 (基本的) - 長度: 1.0 米 (±5％). Cable shall be standard shielded Cat5e or Cat6 patch cable with RJ45 connectors.
  • 2 × 備用套 (每空氣單位) - IE。, two additional UART cables and two additional Ethernet cables shall be supplied with each Air Unit (total supplied per unit = 3 串口線, 3 以太網電纜).

3. 機械的 & 身體的:

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

4. Electrical / 協議:

串口: 支持常用波特率至少可達 921600 基點. Provide user- configurable UART parameters.

乙太網路: 至少支持 100 Mbps 操作 (千兆首選). Support common transport protocols (UDP協議, RTSP 用於視頻，UDP 用於控制) — specific protocol selection shall be configurable.

地面單位要求:

The Ground Unit performs demultiplexing of data from all four Air Units and presents a unified interface to the GCS. 強制性要求是:

1. 接口 & 港口 (最低限度):

• 1 × 串口 (提交給 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 (例如。, 連接到 GCS 上 USB 接口的地面單元 UART).
  • 1 × 以太網端口 (提交給 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. 聚合行為:

• 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. 來自全球氣候系統’ 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. 電纜連接 (與地面裝置一起交付):

• 1 × 串口線 (基本的) - 長度: 400 毫米 (0.4 米). Cable shall allow connection from the Ground Unit UART port to the GCS USB port (if the Ground Unit UART is a direct UART, 提供 USB-UART 適配器電纜). The cable must carry TX, 接收, GND and VCC.
  • 1 × 以太網電纜 (基本的) - 長度: 400 毫米 (0.4 米). 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 / 協議:

• 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.

遙測復用: 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.

連接性 & 電纜規格

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

1. 以太網電纜 (Air Unit -> Camera and Ground Unit -> GCS): Standard shielded Cat5e or Cat6 patch cables with RJ45 terminations. 使用全屏蔽 (直通車) cable if the installation has high EMI.
2. 乙太網路 長度 (Air 單元): 1.0 m ±5%.
3. 乙太網路 長度 (Ground 單元): 400 毫米±5%.
4. 串口線 (Air Unit -> FCC telemetry): 4-導體電纜 (德克薩斯州, 接收, 地線, 可選RTS/CTS). 長度: 1.0 m ±5%.
5. 串口 電纜 (Ground 單元 -> GCS USB/UART): 400 毫米±5% (include USB-UART adapter if required by the GCS).
6. 電纜屏蔽和接地: 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.

提供適配器電纜，用於將 Datalink UART 連接到 CUAV V5+ 遙測連接器 (如果數據鏈路單元本身不公開兼容連接器).

• 攝像機支持以太網供電的地方 (坡) but the Datalink Air Unit does not supply PoE, provide a PoE injector.

功能 & 協議要求

關鍵功能要求和建議:

1. 每隻鳥的識別: 每個數據流 (視頻或遙測) 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 (串口) allowing GCS to parse and route messages by Bird ID.
3. 潛伏 和 吞吐量: The system shall minimize additional aggregation latency.
4. 可靠性: Ground Unit must handle temporary loss of one or more air units gracefully and continue to present remaining streams to the GCS.
5. 配置界面: 提供配置方法 (詳細的文件) to set Bird IDs, 串口波特率, 和每個流的優先級.