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 Flight Control Computer (聯邦通信委員會, 例如。, CUAV V5+), and a camera/seeker, as well as a Datalink Ground Unit connected to a Ground Control Station (GCS).

主要特點

• 組態: 1 Ground Unit communicating with 4 空中裝置透過點對多點雙向鏈路 (乙太網路 + 串口).
• 範圍 & 表現: ≥ 80 公里視線，具有強大的視訊和遙測鏈路, 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: 誤碼率 < 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: 每個資料流都標有唯一的 Bird ID, 允許 GCS 識別和管理單一無人機. The system continues operating even if one or more UAVs temporarily lose connection.

此數據鏈系統確保無人機之間的無縫集成, 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). The purpose is to specify interfaces, 電纜長度, port counts, and acceptance tests so that units delivered by suppliers will interoperate with the existing FCC (flight control computer), 相機 (seekers), 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. The system should enable reliable communication, 控制, and monitoring of all UAVs simultaneously. Detailed technical requirements are provided below.

概述:

• 組態: 1 × Ground Control Unit (GCU) communicating with 4 × Air Units (AUs)
• 通訊類型: Point-to-Multipoint bidirectional link (乙太網路 + 串口)
• 範圍: ≥ 80 km line-of-sight (這)
• Operating Band: 1.4GHz的(L-Band)
• Modulation Scheme: 時分雙工正交頻分複用 / QPSK / 16-QAM
• Power Requirement: operating voltage (12V), Current threshold (≤ 2A)
• Temperature Range: -20°C to 75°C

Data Throughput and Bandwidth:

範圍	要求	筆記
Video Data Rate (per seeker)	5 - 9 Mbps的	1080p@ 30 fps H.264/265 compression
遙測 + 控制 (per FCC)	200 - 300 千比特每秒	UART-based bidirectional control data
Aggregate Video Throughput (4 AUs)	24 - 36 Mbps的	Combined video uplink
Aggregate Telemetry/Control	1 Mbps的	Negligible compared to video
Total Required Uplink Bandwidth	≥ 36 Mbps的	和 20% FEC + overhead ≈ 42 Mbps的

Latency and Quality Requirements:

範圍	要求	筆記
Bit Error Rate	< 8×10-8	At max range
Data Delay	< 1多發性硬化症	即時導引頭操作和資料傳輸所需
丟包	< 1%	With FEC + ARQ mechanisms
Error Correction	FEC + CRC + ARQ	Mandatory for telemetry reliability

Link Budget & RF Parameters:

範圍	目標 Value	筆記
發射功率 (空中單位)	4 – 5 w ^	–
發射功率 (Ground Unit)	4 – 5 w ^	–
天線增益 (空中單位)	>3D b	Antenna pattern: Isotropic
天線增益 (Ground Unit)	12 - 18 D b	Directional Antenna
接收器靈敏度	–103dBm @10 MHz	對於 10⁻⁵ BER
Link Margin @ 80 千米	> 10 D b	確保穩定的視頻 + data link

筆記:

• 用於CUAV V5+飛控與週邊設備之間的無縫集成, it is essential that the UART loom maintains a direct and uncomplicated wiring structure. 具體來說, the loom from the UART port should be designed as a 單直線連接，無需引入任何額外的轉換器或中間板. 這最大限度地減少了潛在的故障點, reduces latency, 並確保輕量且可靠的佈線架構.
  • Furthermore, 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. Any deviation from TTL (such as RS-232 or RS-485 levels) 需要外部電平轉換器或轉換器, 這與直接織機的要求相矛盾. By adhering to TTL standards, signal compatibility is maintained, ensuring:
    • 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.

In conclusion,織布機設計應嚴格提供在 TTL 電壓下運作的直通 UART 線束,符合 CUAV V5+ 電氣規格並確保機載應用中的最佳性能.

系統概述:

High-level system description:

1. Four UAVs, each equipped with:
   1. 1 × Datalink Air Unit
   1. 1 × FCC (Flight Control Computer, 例如。, CUAV V5+)
   1. 1 × Seeker / 相機
2. 1 × 與地面控制站連接的數據鏈地面單元 (GCS).

Data flow (overview): 每個攝影機的視訊和感測器資料透過攝影機的乙太網路連接埠提供給其關聯的 Datalink Air Unit. FCC 和空中裝置之間的遙測和控制資料透過 UART 連結傳輸. 資料鏈空中單元透過資料鏈將這些流傳輸到地面單元; 地面單元對流進行解復用並將其作為單一乙太網路流呈現給 GCS (camera video and data) and a single serial (UART/USB) telemetry stream.

Air Unit Requirements:

Each Datalink Air Unit (one per UAV) shall meet the following mandatory requirements:

1.  接口 & Ports (minimum):

• 1 × UART port (minimum). 此連接埠應用於 FCC 的遙測/控制連接 (telemetry ports Telem1 / Telem2 on the FCC).
  • 1 × Ethernet port (minimum). This port shall be used to receive camera/seeker Ethernet data.

2.  Cable connectivity (delivered with the AirUnit):

• 1 × UART cable (primary) — length: 1.0 米 (±5%). Cable shall carry TX, 接收, GND and VCC. 電纜的端接必須匹配一端的 Datalink UART 連接器和另一端的 FCC 遙測連接器.
  • 1 × 以太網電纜 (primary) — length: 1.0 米 (±5%). Cable shall be standard shielded Cat5e or Cat6 patch cable with RJ45 connectors.
  • 2 × spare sets (per Air Unit) — i.e., 每個天空單元應提供兩條額外的 UART 電纜和兩條額外的乙太網路電纜 (total supplied per unit = 3 UART cables, 3 Ethernet cables).

3.  機械的 & 身體的:

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

4.  電力 / 協議:

串口: Support common baud rates up to at least 921600 基點. Provide user- configurable UART parameters.

乙太網路: Support at least 100 Mbps operation (Gigabit preferred). Support common transport protocols (UDP協議, RTSP for video and UDP for control) — specific protocol selection shall be configurable.

Ground Unit Requirements:

地面單元對來自所有四個空中單元的資料進行多路分解，並向 GCS 提供統一的接口. Mandatory requirements are:

1.  接口 & Ports (minimum):

• 1 × UART port (presented to the 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 × Ethernet port (presented to the 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.  Aggregation behavior:

• The Ground Unit shall accept four independent incoming data streams (one from each Air Unit) 並將它們解復用為組合的乙太網路流和組合的串行流. From the GCS’ 從角度來看，應該只有一個乙太網路鏈路和一個 UART 鏈路來配置和監控.
  • Aggregation must preserve source addressing, 所以 GCS 可以辨識哪個流來自哪隻鳥. The Ground Unit shall not lose per-bird identification information.

3.  Cable connectivity (delivered with the Ground Unit):

• 1 × UART cable (primary) — length: 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, provide a USB-UART adapter cable). The cable must carry TX, 接收, GND and VCC.
  • 1 × 以太網電纜 (primary) — length: 400 毫米 (0.4 米). Cable shall be shielded Cat5e/Cat6 patch cable with RJ45 connectors.
  • 2 × 備用套件 — 兩條額外的 UART 和兩條額外的乙太網路電纜作為地面單元的備用零件提供.

4.  電力 / 協議:

• 聚合對於視訊乙太網路幀應是透明的; where needed the Ground Unit may repackage streams into a single transport stream but must preserve timing information and per-bird source identification.

Telemetry multiplexing: 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 & Cable Specifications

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

1. Ethernet cables (Air Unit -> Camera and Ground Unit -> GCS): Standard shielded Cat5e or Cat6 patch cables with RJ45 terminations. Use fully shielded (STP) cable if the installation has high EMI.
2. 乙太網路 長度 (Air Unit): 1.0 m ±5%.
3. 乙太網路 長度 (Ground Unit): 400 mm ±5%.
4. UART cables (Air Unit -> FCC telemetry): 4-conductor cable (德克薩斯州, 接收, 地線, optional RTS/CTS). 長度: 1.0 m ±5%.
5. 串口 cable (Ground Unit -> GCS USB/UART): 400 mm ±5% (include USB-UART adapter if required by the GCS).
6. Cable shielding and grounding: 提供公共接地並確保屏蔽按照最佳實踐在一端終止，以避免接地環路. Use locking RJ45 or latching connectors if vibration is expected.

Provide adapter cables for interfacing Datalink UART to CUAV V5+ telemetry connectors (如果數據鏈路單元本身不公開兼容連接器).

• Where camera supports Power-over-Ethernet (坡) 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 (視頻或遙測) MUST be tagged with a unique Bird ID so the GCS can map streams to vehicles.
2. Multiplexing Scheme: 地面單元應實施確定性的遙測復用方案 (串口) allowing GCS to parse and route messages by Bird ID.
3. 潛伏 和 Throughput: 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. Configuration Interface: Provide a configuration method (a detailed document) to set Bird IDs, UART baud rates, and per-stream priorities.