用于多无人机控制的无人机数据链系统

UAV Datalink System Overview

这 UAV Datalink System is designed to enable reliable, real-time communication, 控制, and monitoring for multiple unmanned aerial vehicles (无人机). The system consists of four UAVs, each equipped with a Datalink Air Unit, 一种 飞行控制计算机 (联邦通信委员会, 例如。, 假V5+), and a camera/seeker, as well as a Datalink Ground Unit connected to a 地面控制站 (地面站).

主要特征

• 组态: 1 Ground Unit communicating with 4 Air Units via a point-to-multipoint bidirectional link (以太网 + 串口).
• 范围 & 表现: ≥ 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 基点.
• 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.
• 电缆 & 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 & 潜伏: Bit error rate < 8×10⁻⁸, data delay < 1 小姐, 丢包 < 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, 相机, and ground control, providing a lightweight, high-performance solution for real-time multi-drone operations.

Data link requirement documents

该系统由十六个机载数据链空中单元组成 (每只鸟一只), a single Datalink Ground Unit, 和地面控制站 (地面站). 目的是指定接口, 电缆长度, port counts, and acceptance tests so that units delivered by suppliers will interoperate with the existing FCC (飞行控制计算机), 相机 (探索者), and the GCS.

需要一个完整的解决方案来建立数据链路 ground station 和 4 UAV air 单位. 系统应能够实现可靠的通信, 控制, and monitoring of all UAVs simultaneously. Detailed technical requirements are provided below.

概述:

• 组态: 1 × 地面控制单元 (通用控制单元) 与…沟通 4 × 航空单位 (出)
• 通讯类型: 点对多点双向链路 (以太网 + 串口)
• 范围: ≥ 80 公里视距 (这)
• 工作频段: 1.4千兆赫(L波段)
• 调制方案: 时分双工正交频分复用 / QPSK / 16-QAM
• 电源要求: 工作电压 (12V), 当前阈值 (≤2A)
• 温度范围: -20°C 至 75°C

数据吞吐量和带宽:

范围	要求	笔记
视频数据速率 (每个搜寻者)	5 - 9 兆比特	1080p@ 30 fps H.264/265 compression
遥测 + 控制 (根据联邦通信委员会)	200 - 300 千比特每秒	基于UART的双向控制数据
聚合视频吞吐量 (4 出)	24 - 36 兆比特	组合视频上行
聚合遥测/控制	1 兆比特	与视频相比可以忽略不计
所需上行链路总带宽	≥ 36 兆比特	和 20% FEC + 开销 ≈ 42 兆比特

延迟和质量要求:

范围	要求	笔记
误码率	< 8×10-8	在最大范围内
数据延迟	< 1小姐	Required for real-time seekeroperation and data transmission
丢包	< 1%	带前向纠错 + ARQ机制
纠错	FEC + CRC + ARQ	遥测可靠性的强制要求

链路预算 & 射频参数:

范围	目标 Value	笔记
传输功率 (空中单位)	4 – 5 w ^	–
传输功率 (地面单位)	4 – 5 w ^	–
天线增益 (空中单位)	>3D b	天线方向图: 各向同性
天线增益 (地面单位)	12 - 18 D b	定向天线
接收器灵敏度	–103dBm @10 MHz	对于 10⁻⁵ BER
链接边距@ 80 千米	> 10 D b	确保稳定的视频 + 数据链路

笔记:

• For seamless integration between the CUAV V5+ flight controller and external peripherals, UART 织机保持一个至关重要 direct and uncomplicated wiring structure. 具体来说, 来自 UART 端口的织机应设计为 single straight line connection without introducing any additional converters or intermediary boards. 这最大限度地减少了潜在的故障点, 减少延迟, and ensures a lightweight and reliable wiring architecture.
  • 此外, 织机必须以晶体管-晶体管逻辑运行 (TTL) voltage levels, V5+飞控通过TTL UART进行通信. 与 TTL 的任何偏差 (例如 RS-232 或 RS-485 电平) would necessitate external level shifters or converters, 这与直接织机的要求相矛盾. By adhering to TTL standards, 保持信号兼容性, 确保:
    • 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.

综上所述,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.

系统概述:

高级系统描述:

1. 四架无人机, 每个配备:
   1. 1 × 数据链空中装置
   1. 1 × 美国联邦通信委员会 (飞行控制计算机, 例如。, 假V5+)
   1. 1 × 探索者 / 相机
2. 1 × 与地面控制站连接的数据链地面单元 (地面站).

数据流 (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 (摄像头视频和数据) 和一个连续剧 (串口/USB) telemetry stream.

空气装置要求:

每个数据链空中单元 (每架无人机一台) 应满足以下强制性要求:

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 (遥测端口 Telem1 / Telem2 在 FCC 上的发言).
  • 1 × 以太网端口 (最低限度). This port shall be used to receive camera/seeker Ethernet data.

2. 电缆连接 (delivered with the AirUnit):

• 1 × 串口线 (基本的) - 长度: 1.0 米 (±5%). 电缆应携带 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 × 以太网电缆 (基本的) - 长度: 1.0 米 (±5%). Cable shall be standard shielded Cat5e or Cat6 patch cable with RJ45 connectors.
  • 2 × 备用套 (每空气单位) - IE。, two additional UART cables and two additional Ethernet cables shall be supplied with each Air Unit (total supplied per unit = 3 串口线, 3 以太网电缆).

3. 机械的 & 身体的:

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

4. 电气 / 主芯片组:

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

以太网: 至少支持 100 Mbps 操作 (千兆首选). Support common transport protocols (UDP, RTSP 用于视频，UDP 用于控制) — specific protocol selection shall be configurable.

地面单位要求:

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

1. 接口 & 港口 (最低限度):

• 1 × 串口 (提交给 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。, 连接到 GCS 上 USB 接口的地面单元 UART).
  • 1 × 以太网端口 (提交给 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. 聚合行为:

• 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. 来自全球气候系统’ 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. 电缆连接 (与地面装置一起交付):

• 1 × 串口线 (基本的) - 长度: 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 适配器电缆). The cable must carry TX, 接收, GND and VCC.
  • 1 × 以太网电缆 (基本的) - 长度: 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. 电气 / 主芯片组:

• 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.

遥测复用: 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.

连接性 & 电缆规格

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

1. 以太网电缆 (Air Unit -> Camera and Ground Unit -> GCS): Standard shielded Cat5e or Cat6 patch cables with RJ45 terminations. 使用全屏蔽 (直通车) cable if the installation has high EMI.
2. 以太网 长度 (Air 单元): 1.0 m ±5%.
3. 以太网 长度 (Ground 单元): 400 毫米±5%.
4. 串口线 (Air Unit -> FCC telemetry): 4-导体电缆 (得克萨斯州, 接收, 地线, 可选RTS/CTS). 长度: 1.0 m ±5%.
5. 串口 DVB-T和ISDB-T之间的区别 (Ground 单元 -> 地面站 USB/UART): 400 毫米±5% (include USB-UART adapter if required by the GCS).
6. 电缆屏蔽和接地: 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.

提供适配器电缆，用于将 Datalink UART 连接到 CUAV V5+ 遥测连接器 (如果数据链路单元本身不公开兼容连接器).

• 摄像机支持以太网供电的地方 (以太网供电) but the Datalink Air Unit does not supply PoE, provide a PoE injector.

功能 & 协议要求

关键功能要求和建议:

1. 每只鸟的识别: 每个数据流 (视频或遥测) 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. 潜伏 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 (详细的文件) to set Bird IDs, 串口波特率, 和每个流的优先级.