阅读说明：本技术 一种单兵制导无人机与地面站通信连接建立方法 (Method for establishing communication connection between individual soldier guided unmanned aerial vehicle and ground station ) 是由 邹凯 高阳 王长峰 李永 王嘉兴 刘哲 潘宏禄 关发明 于 2019-10-30 设计创作，主要内容包括：一种单兵制导无人机与地面站通信连接建立方法,适用于多组无人机与地面站同时执行任务时,快速建立异频全双工直序扩频通信连接并避免通信的相互干扰。通过地面站键盘录入数字或摄像头扫瞄机体二维码,在地面站软件中输入目标无人机唯一“通信识别码”,使地面站数传电台与目标无人机数传电台之间快速建立通信连接。在通信连接建立后,地面站能够自动搜索附近其他单兵制导无人机与地面站通信已使用的伪随机码与频点通道,并将数传电台通信配置为未使用的伪随机码与频点通道,实现多地面站与无人机同时作战。无人机与地面站之间的数传电台通信采用扩频传输体制,具有较强的抗干扰能力。(A communication connection establishment method for an individual soldier guided unmanned aerial vehicle and a ground station is suitable for quickly establishing the different-frequency full-duplex direct sequence spread spectrum communication connection and avoiding the mutual interference of communication when a plurality of groups of unmanned aerial vehicles and the ground station execute tasks simultaneously. The method is characterized in that digits are input through a ground station keyboard or a camera scans a two-dimensional code of a machine body, and a unique communication identification code of a target unmanned aerial vehicle is input into ground station software, so that communication connection is quickly established between a ground station data transmission radio station and a target unmanned aerial vehicle data transmission radio station. After the communication connection is established, the ground station can automatically search used pseudo-random codes and frequency point channels for the communication between other adjacent individual soldier guided unmanned aerial vehicles and the ground station, and the communication of the data transmission radio station is configured into the unused pseudo-random codes and frequency point channels, so that the simultaneous operation of multiple ground stations and the unmanned aerial vehicles is realized. The data transmission radio station communication between the unmanned aerial vehicle and the ground station adopts a spread spectrum transmission system, and has stronger anti-interference capability.)

1. A method for establishing communication connection between an individual soldier guided unmanned aerial vehicle and a ground station is characterized by comprising the following steps:

s1, when the ground station is not in communication connection with the target unmanned aerial vehicle, acquiring an unoccupied idle communication channel;

s2, acquiring a communication identification code of the target unmanned aerial vehicle;

s3, the ground station acquires the unmanned aerial vehicle serial number, the uplink communication initial pseudo-random code U1 and the frequency point V1 of the target unmanned aerial vehicle, and the downlink communication initial pseudo-random code D1 and the frequency point E1 according to the communication identification code, and sets the unmanned aerial vehicle serial number, the uplink wireless communication pseudo-random code and the frequency point, and the downlink wireless communication pseudo-random code and the frequency point in the uplink communication protocol data frame and the downlink communication protocol data frame of the ground station to be correspondingly the same as the target unmanned aerial vehicle;

s4, trying to establish communication connection between the ground station and the target unmanned aerial vehicle; if the establishment is finished, entering S5, otherwise, returning to S2;

s5, selecting an uplink communication pseudo random code U2 and a frequency point V2, a downlink communication pseudo random code D2 and a frequency point E2 from the idle communication channel of S1, continuously transmitting the selected pseudo random code and frequency point information and the sequence number of the target unmanned aerial vehicle to the target unmanned aerial vehicle through uplink communication by the ground station, and simultaneously switching downlink communication reception to the pseudo random code D2 and the frequency point E2 by the ground station;

s6, the target unmanned aerial vehicle receives the selected pseudo random code and the frequency point information, and judges whether the serial number of the unmanned aerial vehicle in the received uplink communication data frame is consistent with the serial number of the local unmanned aerial vehicle; if the data frames are consistent, the downlink communication data frame is sent and switched to a pseudo random code D2 and a frequency point E2, and the downlink communication data frame is continuously sent;

s7, the ground station receives the downlink communication data frame sent by the target unmanned aerial vehicle in real time; if so, go to S8; if not, returning to S5;

s8, the ground station sends an uplink communication switching instruction data frame to the target unmanned aerial vehicle;

s9, after receiving the uplink communication switching instruction data frame, the target unmanned aerial vehicle switches the uplink communication data frame from the initial pseudo random code U1 and the frequency point V1 to the pseudo random code U2 and the frequency point V2, and sends feedback information of uplink communication switching completion to the ground station through downlink communication;

s10, the ground station receives the feedback information of the completion of the uplink communication switching in real time; if so, go to S11; if not, returning to S8;

and S11, the ground station switches the uplink communication from the initial pseudo random code U1 and the frequency point V1 to the pseudo random code U2 and the frequency point V2, and the ground station and the unmanned aerial vehicle use the uplink pseudo random code U2 and the frequency point V2, and the downlink pseudo random code D2 and the frequency point E2 to complete the establishment of communication connection.

2. The method for establishing the communication connection between the individual guided unmanned aerial vehicle and the ground station as claimed in claim 1, further comprising the steps of:

s21, after the ground station and the target unmanned aerial vehicle carry out uplink communication and establish communication connection with a frequency point V2 by using a pseudo-random code U2, the ground station sends an uplink state confirmation instruction to the target unmanned aerial vehicle at regular intervals; if the target unmanned aerial vehicle does not receive the uplink state confirmation instruction for a period of time, entering S22;

s22, re-searching unused pseudo random codes and frequency points by using a data transmission radio station of the target unmanned aerial vehicle, re-determining an idle communication channel, and selecting new uplink pseudo random codes and new uplink frequency points from the idle communication channel;

s23, the target unmanned aerial vehicle uses the downlink communication data frame to continuously send a first uplink communication switching request to the ground station within a period of time, and switches the uplink communication to a new pseudo random code and a new frequency point; the first uplink communication switching request comprises a new uplink pseudo random code and a new uplink frequency point;

s24, after receiving the first uplink communication switching request, the ground station switches the uplink communication to a new pseudo random code and a new frequency point, and continuously sends an uplink state confirmation instruction to the target unmanned aerial vehicle;

s25, after the target unmanned aerial vehicle sends the first uplink communication switching request, whether an uplink state confirmation instruction is received within a period of time is judged; if yes, go to S28; if not, entering S26;

s26, the target unmanned aerial vehicle switches the uplink communication back to pseudo random code U2 and frequency point V2, and continuously sends a second uplink communication switching request to the ground station within a period of time; the second uplink communication switching request comprises information of a pseudo random code U2 and a frequency point V2;

s27, after the target unmanned aerial vehicle sends the second uplink communication switching request, whether an uplink state confirmation instruction is received within a period of time is judged; if yes, go to S28; if not, returning to S22;

and S28, the uplink communication connection between the target unmanned aerial vehicle and the ground station is recovered, and the target unmanned aerial vehicle stops sending the uplink communication switching request to the ground station.

3. The method for establishing the communication connection between the individual guided unmanned aerial vehicle and the ground station as claimed in claim 1, further comprising the steps of:

s31, after the ground station and the target unmanned aerial vehicle perform downlink communication and establish communication connection with a frequency point E2 by using a pseudo-random code D2, the unmanned aerial vehicle continuously sends flight data to the ground station; if the ground station does not receive the flight data for more than a period of time, entering S32;

s32, re-searching unused pseudo random codes and frequency points by using a data transmission station of the ground station, re-determining an idle communication channel, and selecting new downlink pseudo random codes and new downlink frequency points from the idle communication channel;

s33, the ground station uses the uplink communication data frame to continuously send a first downlink communication switching request to the target unmanned aerial vehicle within a period of time, and switches the downlink communication to a new pseudo random code and a new frequency point; the first downlink communication switching request comprises a new pseudo random code and a new frequency point;

s34, when the target unmanned aerial vehicle receives the first downlink communication switching request, the downlink communication is switched to a new pseudo random code and a new frequency point, and the target unmanned aerial vehicle continues to send flight data to the ground station;

s35, after the ground station sends the first downlink communication switching request, judging whether the flight data are received within a period of time; if yes, go to S38; if not, entering S36;

s36, the ground station switches the downlink communication back to pseudo-random code D2 and frequency point E2, and continuously sends a second downlink communication switching request to the unmanned aerial vehicle within a period of time; the second downlink communication switching request comprises information of a pseudo random code D2 and a frequency point E2;

s37, after the ground station sends the second downlink communication switching request, judging whether the flight data are received within a period of time; if yes, go to S38; if not, entering S32;

and S38, the downlink communication connection between the ground station and the target unmanned aerial vehicle is recovered, and the ground station stops sending the downlink communication switching request to the unmanned aerial vehicle.

4. The method for establishing the communication connection between the individual guided unmanned aerial vehicle and the ground station as claimed in claim 1, wherein the method comprises the following steps: the data radio station specifically comprises an FPGA module (1), a radio frequency chip (2), a radio frequency front end (3), a transmitting antenna (4), a receiving antenna (5), a data radio station power supply module (6) and an interface circuit (7);

the data transmission radio station power supply module (6) is used for supplying power to the FPGA (1), the radio frequency chip (2) and the radio frequency front end (3);

a wireless receiving channel is formed by the receiving antenna (5), the radio frequency front end (3), the radio frequency chip (2), the FPGA (1) and the interface circuit (7), and wired output of wireless communication data receiving, filtering, down-conversion, decoding and receiving data is realized;

the interface circuit (7), the FPGA (1), the radio frequency chip (2), the radio frequency front end (3) and the transmitting antenna (4) form a wireless transmitting channel to realize wired input, coding, up-conversion, power amplification and wireless communication data transmission of transmitted data;

the interface circuit (7) is used for communicating wired data and configuration management instructions of the FPGA (1) and a ground station or a target unmanned aerial vehicle control computer, and the ground station or the unmanned aerial vehicle power supply supplies power to the data transmission radio station power supply module (6);

the FPGA (1) sends a frequency point configuration instruction to the radio frequency chip (2) according to a configuration management instruction sent by a ground station or a target unmanned aerial vehicle control computer, so that the change of a pseudo-random code and a frequency point of a wireless signal received and sent by a data transmission radio station is realized.

5. The method for establishing the communication connection between the individual guided unmanned aerial vehicle and the ground station as claimed in claim 1, wherein the method comprises the following steps: and the uplink and downlink communication between the target unmanned aerial vehicle and the ground station adopts a direct sequence spread spectrum system.

6. The method for establishing the communication connection between the individual guided unmanned aerial vehicle and the ground station as claimed in claim 1, wherein the method for acquiring unoccupied idle communication channels comprises the following steps: and searching pseudo-random codes and frequency points which are used by communication connections established between other unmanned aerial vehicles of the same type as the target unmanned aerial vehicle and the ground station in real time by using a data transmission radio station.

7. The method for establishing the communication connection between the individual soldier guided unmanned aerial vehicle and the ground station as claimed in claim 6, wherein the method for searching the pseudo random codes and the frequency points which are used for the communication connection between the ground station and other unmanned aerial vehicles of the same type as the target unmanned aerial vehicle by using the data transmission radio station in real time comprises the following steps: in the effective communication frequency range of uplink and downlink communication of the data transmission radio station, the searched frequency points are increased progressively according to 1MHz, and all pseudo-random codes are sequentially correlated with the received signals, so that idle pseudo-random codes and frequency point channels are obtained.

8. The individual soldier guided unmanned aerial vehicle and ground station communication connection establishing method according to claim 7, characterized in that: the effective communication frequency range is 500 MHz-3000 MHz.

9. The method for establishing the communication connection between the individual guided unmanned aerial vehicle and the ground station as claimed in claim 1, wherein the method comprises the following steps: and the uplink communication and the downlink communication adopt pilot frequency communication.

10. The individual soldier guided unmanned aerial vehicle and ground station communication connection establishing method according to claim 9, characterized in that: the frequency interval of the pilot frequency communication is not less than 50 MHz.

Technical Field

The invention relates to a method for establishing communication connection between an individual soldier guided unmanned aerial vehicle and a ground station,

background

With the development of intelligent combat, the individual soldier guided unmanned aerial vehicle becomes an important factor for improving the individual soldier combat capability and battlefield viability, and the unmanned aerial vehicle realizes the functions of investigation, tracking and attack by carrying a combat part. With the development of such weapons, counter-weapons have emerged that disable some or all of the unmanned aerial vehicle's combat capabilities by interfering with or intercepting the wireless communication link between the unmanned aerial vehicle and the ground station. The unmanned aerial vehicle belongs to a consumption weapon in an attack mode, so that a communication connection needs to be rapidly established between a ground station and a plurality of unmanned aerial vehicles in a battle in sequence to ensure the continuity and effectiveness of the attack.

The ground station and the data transmission radio station of the unmanned aerial vehicle are in communication and anti-interference mainly have two modes of frequency hopping and direct sequence spread spectrum. The frequency hopping anti-interference mode can widen the operating band, resists the narrowband and disturbs, and the shortcoming is that communication transmission rate is lower than direct sequence spread spectrum, and anti multipath ability is relatively poor, needs to use host computer software to pair ground station and unmanned aerial vehicle data transmission radio station before the use, and is consuming time longer, probably delays the fighter.

When the unmanned aerial vehicle and the ground station carry out high-speed communication, a direct sequence spread spectrum system is preferably selected. The direct sequence spread spectrum system improves the anti-interference capability by means of the spread of communication spectrum. The invention provides a method for quickly establishing communication connection when a ground station and an unmanned aerial vehicle use a direct sequence spread spectrum communication system, and a method for resisting interference and recovering communication connection when the communication between the ground station and the unmanned aerial vehicle is interfered.

Disclosure of Invention

The invention solves the technical problem of overcoming the defects of the prior art, provides a communication connection establishment method for an individual soldier guided unmanned aerial vehicle and a ground station, and solves the following problems: 1. when the ground station establishes wireless communication connection with different unmanned aerial vehicles, the connection operation is complex, and the consumed time is long; 2. when a plurality of ground stations and a plurality of unmanned aerial vehicles fight simultaneously, the flow of adjusting communication pseudo-random codes and frequency points after communication is interfered is complex; 3. the communication connection cannot be automatically restored when deception or suppression interference occurs to the communication connection by an adversary.

The technical solution of the invention is as follows: a method for establishing communication connection between an individual soldier guided unmanned aerial vehicle and a ground station comprises the following steps:

s1, when the ground station is not in communication connection with the target unmanned aerial vehicle, acquiring an unoccupied idle communication channel;

s2, acquiring a communication identification code of the target unmanned aerial vehicle;

s3, the ground station acquires the unmanned aerial vehicle serial number, the uplink communication initial pseudo-random code U1 and the frequency point V1 of the target unmanned aerial vehicle, and the downlink communication initial pseudo-random code D1 and the frequency point E1 according to the communication identification code, and sets the unmanned aerial vehicle serial number, the uplink wireless communication pseudo-random code and the frequency point, and the downlink wireless communication pseudo-random code and the frequency point in the uplink communication protocol data frame and the downlink communication protocol data frame of the ground station to be correspondingly the same as the target unmanned aerial vehicle;

s4, trying to establish communication connection between the ground station and the target unmanned aerial vehicle; if the establishment is finished, entering S5, otherwise, returning to S2;

s5, selecting an uplink communication pseudo random code U2 and a frequency point V2, a downlink communication pseudo random code D2 and a frequency point E2 from the idle communication channel of S1, continuously transmitting the selected pseudo random code and frequency point information and the sequence number of the target unmanned aerial vehicle to the target unmanned aerial vehicle through uplink communication by the ground station, and simultaneously switching downlink communication reception to the pseudo random code D2 and the frequency point E2 by the ground station;

s6, the target unmanned aerial vehicle receives the selected pseudo random code and the frequency point information, and judges whether the serial number of the unmanned aerial vehicle in the received uplink communication data frame is consistent with the serial number of the local unmanned aerial vehicle; if the data frames are consistent, the downlink communication data frame is sent and switched to a pseudo random code D2 and a frequency point E2, and the downlink communication data frame is continuously sent;

s7, the ground station receives the downlink communication data frame sent by the target unmanned aerial vehicle in real time; if so, go to S8; if not, returning to S5;

s8, the ground station sends an uplink communication switching instruction data frame to the target unmanned aerial vehicle;

s9, after receiving the uplink communication switching instruction data frame, the target unmanned aerial vehicle switches the uplink communication data frame from the initial pseudo random code U1 and the frequency point V1 to the pseudo random code U2 and the frequency point V2, and sends feedback information of uplink communication switching completion to the ground station through downlink communication;

s10, the ground station receives the feedback information of the completion of the uplink communication switching in real time; if so, go to S11; if not, returning to S8;

and S11, the ground station switches the uplink communication from the initial pseudo random code U1 and the frequency point V1 to the pseudo random code U2 and the frequency point V2, and the ground station and the unmanned aerial vehicle use the uplink pseudo random code U2 and the frequency point V2, and the downlink pseudo random code D2 and the frequency point E2 to complete the establishment of communication connection.

Further, the method also comprises the following steps:

s21, after the ground station and the target unmanned aerial vehicle carry out uplink communication and establish communication connection with a frequency point V2 by using a pseudo-random code U2, the ground station sends an uplink state confirmation instruction to the target unmanned aerial vehicle at regular intervals; if the target unmanned aerial vehicle does not receive the uplink state confirmation instruction for a period of time, entering S22;

s22, re-searching unused pseudo random codes and frequency points by using a data transmission radio station of the target unmanned aerial vehicle, re-determining an idle communication channel, and selecting new uplink pseudo random codes and new uplink frequency points from the idle communication channel;

s23, the target unmanned aerial vehicle uses the downlink communication data frame to continuously send a first uplink communication switching request to the ground station within a period of time, and switches the uplink communication to a new pseudo random code and a new frequency point; the first uplink communication switching request comprises a new uplink pseudo random code and a new uplink frequency point;

s24, after receiving the first uplink communication switching request, the ground station switches the uplink communication to a new pseudo random code and a new frequency point, and continuously sends an uplink state confirmation instruction to the target unmanned aerial vehicle;

s25, after the target unmanned aerial vehicle sends the first uplink communication switching request, whether an uplink state confirmation instruction is received within a period of time is judged; if yes, go to S28; if not, entering S26;

s26, the target unmanned aerial vehicle switches the uplink communication back to pseudo random code U2 and frequency point V2, and continuously sends a second uplink communication switching request to the ground station within a period of time; the second uplink communication switching request comprises information of a pseudo random code U2 and a frequency point V2;

s27, after the target unmanned aerial vehicle sends the second uplink communication switching request, whether an uplink state confirmation instruction is received within a period of time is judged; if yes, go to S28; if not, returning to S22;

and S28, the uplink communication connection between the target unmanned aerial vehicle and the ground station is recovered, and the target unmanned aerial vehicle stops sending the uplink communication switching request to the ground station.

Further, the method also comprises the following steps:

s31, after the ground station and the target unmanned aerial vehicle perform downlink communication and establish communication connection with a frequency point E2 by using a pseudo-random code D2, the unmanned aerial vehicle continuously sends flight data to the ground station; if the ground station does not receive the flight data for more than a period of time, entering S32;

s32, re-searching unused pseudo random codes and frequency points by using a data transmission station of the ground station, re-determining an idle communication channel, and selecting new downlink pseudo random codes and new downlink frequency points from the idle communication channel;

s33, the ground station uses the uplink communication data frame to continuously send a first downlink communication switching request to the target unmanned aerial vehicle within a period of time, and switches the downlink communication to a new pseudo random code and a new frequency point; the first downlink communication switching request comprises a new pseudo random code and a new frequency point;

s34, when the target unmanned aerial vehicle receives the first downlink communication switching request, the downlink communication is switched to a new pseudo random code and a new frequency point, and the target unmanned aerial vehicle continues to send flight data to the ground station;

s35, after the ground station sends the first downlink communication switching request, judging whether the flight data are received within a period of time; if yes, go to S38; if not, entering S36;

s36, the ground station switches the downlink communication back to pseudo-random code D2 and frequency point E2, and continuously sends a second downlink communication switching request to the unmanned aerial vehicle within a period of time; the second downlink communication switching request comprises information of a pseudo random code D2 and a frequency point E2;

s37, after the ground station sends the second downlink communication switching request, judging whether the flight data are received within a period of time; if yes, go to S38; if not, entering S32;

and S38, the downlink communication connection between the ground station and the target unmanned aerial vehicle is recovered, and the ground station stops sending the downlink communication switching request to the unmanned aerial vehicle.

Furthermore, the data radio station specifically comprises an FPGA module, a radio frequency chip, a radio frequency front end, a transmitting antenna, a receiving antenna, a data radio station power supply module and an interface circuit;

the data transmission radio station power supply module is used for supplying power to the FPGA, the radio frequency chip and the radio frequency front end;

the receiving antenna, the radio frequency front end, the radio frequency chip, the FPGA and the interface circuit form a wireless receiving channel to realize the wired output of wireless communication data receiving, filtering, down-conversion, decoding and receiving data;

the interface circuit, the FPGA, the radio frequency chip, the radio frequency front end and the transmitting antenna form a wireless transmitting channel to realize wired input, coding, up-conversion, power amplification of transmitted data and wireless communication data transmission;

the interface circuit is used for communicating wired data and configuration management instructions of the FPGA and a ground station or a target unmanned aerial vehicle control computer, and the ground station or an unmanned aerial vehicle power supply supplies power to the data transmission radio station power supply module;

the FPGA sends a frequency point configuration instruction to the radio frequency chip according to a configuration management instruction sent by a ground station or a target unmanned aerial vehicle control computer, so that the digital radio station receives and sends a wireless signal pseudo-random code and changes a frequency point.

Further, the uplink and downlink communication between the target unmanned aerial vehicle and the ground station adopts a direct sequence spread spectrum system.

Further, the method for acquiring unoccupied idle communication channels comprises: and searching pseudo-random codes and frequency points which are used by communication connections established between other unmanned aerial vehicles of the same type as the target unmanned aerial vehicle and the ground station in real time by using a data transmission radio station.

Further, the method for searching pseudo random codes and frequency points used in communication connection established between other unmanned aerial vehicles of the same type as the target unmanned aerial vehicle and the ground station in real time by using the data transmission radio station comprises the following steps: in the effective communication frequency range of uplink and downlink communication of the data transmission radio station, the searched frequency points are increased progressively according to 1MHz, and all pseudo-random codes are sequentially correlated with the received signals, so that idle pseudo-random codes and frequency point channels are obtained.

Further, the effective communication frequency range is 500MHz to 3000 MHz.

Further, the uplink and downlink communication both adopt pilot frequency communication.

Further, the frequency interval of the pilot frequency communication is not less than 50 MHz.

Compared with the prior art, the invention has the advantages that:

1. the method for establishing the communication connection between the individual soldier guided unmanned aerial vehicle and the ground station enables the ground station and the unmanned aerial vehicle to quickly establish the communication connection, so that the delay of a fighter plane is avoided;

2. after the unmanned aerial vehicle attacks the target, the method can directly establish communication connection with other unmanned aerial vehicles without reconfiguring ground station data transmission station firmware;

3. when a plurality of groups of ground stations and unmanned aerial vehicles cooperate in battle, the method can automatically avoid used pseudo-random codes and frequency points through communication connection, and mutual interference is avoided;

4. when the communication connection is interfered by environmental noise or deception and suppression type interference of enemies, the method can automatically change the pseudo-random code and the frequency point of the communication connection until the communication connection is recovered.

Drawings

FIG. 1 is a flow chart of a data transfer station communication connection according to the present invention;

fig. 2 is a flowchart illustrating a recovery process of an interfered uplink communication connection according to the present invention;

fig. 3 is a flowchart illustrating a connection recovery process of a communication in which downlink communication is interfered according to the present invention;

fig. 4 is a schematic diagram of the connection relationship between the data transmission radio station, the ground station and the target unmanned aerial vehicle.

Detailed Description

As shown in fig. 1, a method for establishing a communication connection between an individual guided unmanned aerial vehicle and a ground station, in which a target unmanned aerial vehicle not establishing a communication connection and the ground station are in a start-up operation state and can be in communication connection at any time, comprises the following steps:

(1) when the ground station does not establish communication connection, a wireless receiving channel of the data radio station is used for searching pseudo-random codes and frequency points which are used by other nearby unmanned aerial vehicles of the same type and the ground station in communication connection in real time to obtain an idle communication channel which is not occupied by other communication connections;

(2) inputting a 'communication identification code' printed on a target unmanned aerial vehicle body to a ground station through a keyboard, or scanning a two-dimensional code which is printed on the body and is consistent with the 'communication identification code' by using a camera carried by the ground station to obtain the 'communication identification code' of the target unmanned aerial vehicle;

(3) the ground station acquires information of an unmanned aerial vehicle serial number, an uplink communication initial pseudo-random code U1 and a frequency point V1, a downlink communication initial pseudo-random code D1 and a frequency point E1 of a target unmanned aerial vehicle according to the communication identification code, and sets the unmanned aerial vehicle serial number, the uplink and downlink wireless communication pseudo-random codes and the frequency point information in uplink and downlink communication protocol data frames of the ground station to be in the same state as the target unmanned aerial vehicle;

(4) the ground station tries to establish communication connection with the target unmanned aerial vehicle, if the communication connection is established, the step (5) is carried out, and if not, the step (2) is carried out;

(5) the ground station automatically selects an uplink communication pseudo random code U2 and a frequency point V2, a downlink communication pseudo random code D2 and a frequency point E2 which are not used in the idle communication channel according to the idle communication channel acquired in the step (1), or an operator selects a pseudo random code and a frequency point from the idle communication channel and switches downlink communication reception to the pseudo random code D2 and the frequency point E2; the ground station continuously transmits the selected pseudo-random code, the frequency point information and the serial number of the target unmanned aerial vehicle to the target unmanned aerial vehicle through uplink communication;

(6) when the target unmanned aerial vehicle receives the information of the uplink communication pseudo-random code U2, the frequency point V2, the downlink communication pseudo-random code D2 and the frequency point E2 and the serial number of the unmanned aerial vehicle in the uplink communication data frame is consistent with that of the target unmanned aerial vehicle, the target unmanned aerial vehicle immediately switches the transmission of the downlink communication data frame to the pseudo-random code D2 and the frequency point E2 and continues to transmit the downlink data frame;

(7) the ground station receives a downlink communication data frame sent by the target unmanned aerial vehicle, if the downlink communication data frame is received, the step (8) is carried out, and if the downlink communication data frame is not received, the step (5) is carried out;

(8) the ground station sends an uplink communication switching instruction data frame to the unmanned aerial vehicle;

(9) after receiving the data frame of the uplink communication switching instruction, the unmanned aerial vehicle immediately switches the uplink communication from the initial pseudo random code U1 and the frequency point V1 to the pseudo random code U2 and the frequency point V2 and sends feedback information of 'uplink communication switching completion' to the ground station through downlink communication;

(10) the ground station receives feedback information of 'uplink communication switching completion', if the feedback information is received, the step (11) is carried out, and if the feedback information is not received, the step (8) is carried out;

(11) the ground station switches the uplink communication from the initial pseudo random code U1 and the frequency point V1 to the pseudo random code U2 and the frequency point V2, completes the communication connection establishment by the ground station and the unmanned aerial vehicle by using the uplink pseudo random code U2, the frequency point V2, the downlink pseudo random code D2 and the frequency point E2, and starts to execute the subsequent task flow.

As shown in fig. 2, after the ground station and the target drone uplink communication establish communication connection with a frequency point V2 by using a pseudo random code U2, the ground station sends an "uplink state confirmation instruction" to the target drone every fixed time 1s, and if the uplink communication in which the ground station sends data to the target drone is interfered, the processing steps are as follows:

(21) if the target unmanned aerial vehicle cannot receive the uplink state confirmation instruction for 5s after a period of time, entering a step (22);

(22) searching unused pseudo-random codes and frequency points again by using a target unmanned aerial vehicle data transmission radio station, re-determining an idle communication channel, and selecting new uplink pseudo-random codes and new uplink frequency points from the idle communication channel;

(23) the target unmanned aerial vehicle continuously sends a first uplink communication switching request to the ground station by using a downlink communication data frame, wherein the first uplink communication switching request comprises a new uplink pseudo random code and a new uplink frequency point, and uplink communication is switched to the new pseudo random code and the new uplink frequency point for 5 s;

(24) when the ground station receives the first uplink communication switching request, the uplink communication is switched to a new pseudo random code and a new frequency point, and an uplink state confirmation instruction is continuously sent to the target unmanned aerial vehicle;

(25) after the target unmanned aerial vehicle sends the first uplink communication switching request, whether an uplink state confirmation instruction is received within 5s is judged, if yes, the step (28) is carried out, and if not, the step (26) is carried out;

(26) the target unmanned aerial vehicle switches the uplink communication back to the pseudo random code U2 and the frequency point V2, and sends a second uplink communication switching request to the ground station, wherein the second uplink communication switching request contains the information of the pseudo random code U2 and the frequency point V2 and lasts for 5 s;

(27) after the target unmanned aerial vehicle sends the second uplink communication switching request, whether an uplink state confirmation instruction is received within 5s is judged, if yes, the step (28) is carried out, and if not, the step (22) is returned;

(28) and the target unmanned aerial vehicle and the ground station recover from uplink communication connection, and the target unmanned aerial vehicle stops sending an uplink communication switching request to the ground station.

As shown in fig. 3, after the ground station and the target drone establish a communication connection with a frequency point E2 using a pseudo random code D2 for downlink communication, the target drone continuously sends "flight data" to the ground station; if the downlink communication of the target unmanned aerial vehicle for sending data to the ground station is interfered, the processing steps are as follows:

(31) if the ground station can not receive the flight data for more than 5s, the step (32) is entered

(32) Using a ground station data transmission station to search unused pseudo random codes and frequency points again, re-determining an idle communication channel, and selecting new downlink pseudo random codes and new downlink frequency points from the idle communication channel;

(33) the ground station uses an uplink communication data frame to continuously send a first downlink communication switching request to the target unmanned aerial vehicle, wherein the first downlink communication switching request comprises a new downlink pseudo random code and a new downlink frequency point, and downlink communication is switched to the new pseudo random code and the new frequency point for 5 s;

(34) when the target unmanned aerial vehicle receives the first downlink communication switching request, the downlink communication is switched to a new pseudo-random code and a new frequency point, and the flight data is continuously sent to the ground station;

(35) after the ground station sends the 'first downlink communication switching request', judging whether the 'flight data' is received within 5s, if so, entering a step (38), and if not, entering a step (36);

(36) the ground station switches the downlink communication back to the pseudo random code D2 and the frequency point E2, and continuously sends a second downlink communication switching request to the unmanned aerial vehicle, wherein the second downlink communication switching request comprises the information of the pseudo random code D2 and the frequency point E2 and lasts for 5 s;

(37) after the ground station sends the second downlink communication switching request, whether flight data are received within 5s is judged, if yes, the step (38) is carried out, and if not, the step (32) is carried out;

(38) and the ground station and the target unmanned aerial vehicle recover from downlink communication connection, and the ground station stops sending a downlink communication switching request to the target unmanned aerial vehicle.

As shown in fig. 4, a data transmission radio station (data transmission radio station) is respectively built in the unmanned aerial vehicle and the ground station, and the types of the data transmission radio stations are the same and are used for uplink and downlink communication connection; the data transmission radio station comprises an FPGA1, a radio frequency chip 2, a radio frequency front end 3, a transmitting antenna 4, a receiving antenna 5, a data transmission radio station power supply module 6 and an interface circuit 7, wherein the module connected with the data transmission radio station is a ground station or unmanned aerial vehicle control computer 8 and a ground station or unmanned aerial vehicle power supply 9;

the data transmission radio station power supply module 6 supplies power to the FPGA1, the radio frequency chip 2 and the radio frequency front end 3;

the working principle of a wireless receiving path of a data transmission radio station is as follows:

(1) after acquiring pseudo-random codes and frequency point information of a wireless receiving channel, a ground station or an unmanned aerial vehicle control computer 8 sends configuration management instructions to respective data transmission radio stations, wherein the configuration management instructions of the ground station comprise the pseudo-random codes and frequency point information of downlink communication, and the configuration management instructions of the unmanned aerial vehicle comprise the pseudo-random codes and frequency point information of uplink communication;

(2) after receiving the configuration management instruction, the FPGA1 despreads the received data in a pseudo-random code form contained in the instruction, and simultaneously sends a frequency point configuration instruction to the radio frequency chip 2, wherein the frequency point configuration instruction contains frequency point information in the configuration management instruction;

(3) the radio frequency chip 2 carries out down-conversion processing on the designated frequency point according to the frequency point configuration instruction;

(4) the receiving antenna 5 receives the wireless signal and sends the wireless signal to the radio frequency front end 3; the radio frequency front end 3 performs filtering processing on the wireless signal, acquires a radio frequency signal in a specified frequency band, and sends the radio frequency signal to the radio frequency chip 2; the radio frequency chip 2 performs down-conversion processing on the radio frequency signal and then sends the radio frequency signal to the FPGA 1; the FPGA1 performs despreading and decoding processing on the input signal and then sends the processed signal to an interface circuit 7; the interface circuit 7 performs level conversion on the data to realize the output of wireless receiving channel data to a ground station or an unmanned aerial vehicle control computer 8;

(5) through the above mode, the ground station data transmission station receives the downlink wireless communication data and sends the downlink wireless communication data to the ground station control computer; and the data transmission radio station of the unmanned aerial vehicle receives the uplink wireless communication data and sends the uplink wireless communication data to the unmanned aerial vehicle control computer.

The wireless transmission path working principle of the data transmission radio station is as follows:

(1) after acquiring pseudo-random codes and frequency points of a wireless transmitting path, a ground station or an unmanned aerial vehicle control computer 8 sends configuration management instructions to respective data transmission radio stations, wherein the configuration management instructions of the ground station comprise the pseudo-random codes and frequency point information of uplink communication, and the configuration management instructions of the unmanned aerial vehicle comprise the pseudo-random codes and frequency point information of downlink communication;

(2) after receiving the configuration management instruction, the FPGA1 uses a pseudo-random code specified in the instruction to perform spread spectrum coding on the transmitted data, and simultaneously transmits a frequency point configuration instruction to the radio frequency chip 2, wherein the frequency point configuration instruction comprises frequency point information in the configuration management instruction;

(3) the radio frequency chip 2 carries out up-conversion processing on the designated frequency point according to the frequency point configuration instruction;

(4) the interface circuit 7 receives wireless transmission channel data output by the ground station/unmanned aerial vehicle 8, and the data is transmitted to the FPGA1 after level conversion; after carrying out spread spectrum encryption and coding processing on data, the FPGA1 sends the data to a radio frequency chip 2; the radio frequency chip 2 performs up-conversion processing on the data and then sends the data to the radio frequency front end 3; the radio frequency front end 3 performs power amplification and filtering processing on the radio frequency signal and then sends the radio frequency signal to the transmitting antenna 4; the transmitting antenna 4 transmits a wireless signal to the outside;

(5) through the above mode, the ground station data transmission station receives the uplink communication data of the ground station control computer and sends the uplink wireless communication data; and the unmanned aerial vehicle data transmission radio station receives downlink communication data of the unmanned aerial vehicle control computer and sends the downlink wireless communication data.

The uplink and downlink communication of the unmanned aerial vehicle and the ground station adopts a direct sequence spread spectrum system, the selectable frequency range of the uplink communication and the downlink communication is 500 MHz-3000 MHz, the pilot frequency communication is adopted, and the frequency interval is not less than 50 MHz.

When an idle communication channel is searched, the data transmission radio station is in an effective communication frequency range, the searched frequency point is increased progressively according to 1MHz, and all pseudo-random codes are sequentially correlated with received signals to obtain the idle pseudo-random codes and frequency point channels.

The unmanned aerial vehicle communication identification code comprises an unmanned aerial vehicle serial number, an uplink communication initial pseudo-random code, an uplink communication initial frequency point, a downlink communication initial pseudo-random code and a downlink communication initial frequency point; the data frame sent by the unmanned aerial vehicle downlink communication contains an unmanned aerial vehicle serial number, and the unmanned aerial vehicle only responds to the uplink communication to receive the data frame of which the unmanned aerial vehicle serial number is consistent with the unmanned aerial vehicle serial number in the data frame; when the ground station receives the downlink communication data frame, the unmanned aerial vehicle serial number in the data frame is compared with the unmanned aerial vehicle serial number in the communication identification code, if the unmanned aerial vehicle serial number is consistent with the unmanned aerial vehicle serial number, the downlink communication data of the target unmanned aerial vehicle are received, and if the unmanned aerial vehicle serial number is inconsistent with the downlink communication data of the target unmanned aerial vehicle, the data frame is ignored.