Design and Implementation of Ground Station Antennas for UAV Data Radio
Link in UHF Band
Z.H. Firouzeh, M. Moradian, A. Safari-Hajat-Aghaei, H. Mir-Mohammad-Sadeghi
Information and Communication Technology Institute
Isfahan University of Technology, 84154 Isfahan, Iran
Tel. (+98) 311 3912480, Fax. (+98) 311 3912481
Abstract
In this paper, design and implementation of Ground
Station (GS) antennas are presented to control UAV by
use of data radio link between UAV and GS based on
spread spectrum in frequency band of 780-880MHz at
the maximum range of 100Km. Gain, frequency
bandwidth, polarization, radiation pattern, and the height
of installed antenna from the ground are very important
in regard to UAV maneuver and desired range. Helix
and omni-directional antennas are designed and
implemented to cover short and long ranges. Helix is
designed based on Emerson's relations and optimized by
IE3D to match to 50Q in frequency range of 100MHz by
new stub-loaded method. Monopole antenna is designed
and optimized by Fidelity software. After
implementation, measurement results are in a good
agreement with the simulation. Then, we demonstrate
how we can dominate the ground effect and multipath
effect by use of two-antenna system.
1. Introduction
Unmanned Aerial Vehicle (UAV) is a remotely
piloted or self-piloted aircraft that can carry cameras,
sensors, communication equipments or the other
payloads. They commonly operate in military operations
and scientific research, perform powerful intelligence
collection capability, and hence highly reduce the human
risk and operation cost. Their autonomous flight and
powerful sensing capability further facilitate their
operations of flights beyond the visual ranges [1, 2].
GS Antennas should have appropriate frequency
bandwidth, polarization, gain, and radiation pattern on
the basis of radio link specifications. It is necessary to
use directional antennas to cover long ranges because of
their high gain. The Antenna polarization of the UAV is
vertical, and the direction of its installed antenna most
often changes due to maneuvering fast around the GS;
therefore, it is necessary to choose circular or slant
(+45/-45) polarization for GS Antennas. Meanwhile, it is
used spread spectrum methods such as frequency
hopping to increase link security, so the Antennas
should be relatively wideband. Since the desired system
is based on Ground Control Station (GCS), i.e., it can
find the location of UAV by GPS or received RF
0-7803-9521-2/06/$20.00 §2006 IEEE.
signals; thus, it can direct Antenna to the UAV and
track. However, the fast maneuvering of UAV around
the Ground Station, especially in the time of taking-off
and landing should be regarded; consequently, GCS can
not follow the UAV simultaneously and quickly.
Moreover, the UAV can be controlled visually, so omni-
directional antenna can be utilized in the short ranges
-
less than 5 km.
Monopole antenna which is a vertical-polarized omni-
directional antenna will be designed, simulated by
Fidelity simulator, and optimized. Helix antenna has
been used to cover ranges more than 5Km to establish
data radio link. It is designed, and matched to 50Q in
frequency bandwidth of 100MHz by new stub-loaded
matching method. The dimensions and position of
optimum stub matching is attained by IE3D simulator.
Also, helix antenna specifications such as radiation
pattern, gain, HPBW, VSWR, and Axial Ratio (AR) are
calculated. The implemented antennas will be tested and
measured. In the end, the appropriate height for
installing of the antennas is proposed in regard to LOS
relations and multipath problems.
2. Design and simulation of the monopole
antenna
We would like to design a quite wideband vertical-
polarized omni-directional antenna which covers 360°
around the GS at the maximum range of 5Km. A thick-
rod monopole antenna with bent ground plane has the
preceding characteristics. The dimensions have been
shown in Figure 1. The )/4 monopole antenna is
simulated at the center frequency of 830MHz by Fidelity
simulator.
~92nu
z
x
.g/ - - . I ~30 mm . >
.-A.g~ ~ mm
2195
 Figure 1: X/4 monopole antenna with bent ground plane
-40
0.7 0.75 0. 0 SE
Froquoncy (GiHz)
Figure 2: Simulated VSWR of X/4 monopole antenna
448..00 .0 0 2.0
i..........
\--~~~~~~~~~~~~~~~~~~~~~~~~~~..
5,
0 08
Elevation Pattern Gain Display
(dBi)
Figure 3: Radiation pattern of X/4 monopole antenna
The results are depicted in Figure 2 and Figure 3.
Figure 2 shows the antenna has very good matching in
frequency bandwidth of 1OOMHz with VSWR<2.
Radiation pattern is omni-directional in the azimuth
plane. Figure 3 shows the main beam is at the elevation
angle of 40° with the maximum gain of 3dB. The loss in
the horizontal plane is about 4dB which is not important
because of the high level of received power in the short
ranges.
3. Design and optimization of Helix
Helix antenna has many applications to establish any
data radio links between UAV and GS. Circularly
polarized axial-mode helical antenna prepares GS
antenna to be able to receive signals in the different
conditions of maneuvering and to solve the wave
propagation problems. The UAV has the vertical-
polarized antenna, so the helix antenna will receive the
signals with loss of 3dB in all directions [3, 4].
Several relations have been introduced to design of
helix antenna [4-6]. Investigation of these formulas by
IE3D software to design of practical helix antenna
indicates Emerson's relations are more accurate [6]. The
antenna parameters are functions of the dimensions of
helix, the center frequency, the ground plane size and
0-7803-9521-2/06/$20.00 §2006 IEEE.
shape, the helical conductor diameter, the helix support
structure and the feed arrangement [4-6]. Some
references suggest choosing 1.1) for the circumference
of the helix to have better performance.
We would like to design the helix as a GS antenna at
-1 5
the center frequency of 830MHz for data radio link. It
-20
should have VSWR<2 (50Q system) and AR<2dB in
-25
frequency bandwidth of 1OOMHz. LOS link calculation
shows that GS antenna with the minimum gain of 12dB
throughout the bandwidth is required to cover lOOkm
-30
-35
range. According to [4,6] references, the number of
0O95
-40
turns and the dimensions of the desired helix antenna are
as the following:
N=13
S =9.0cm (1)
D =12.6cm
The parameters are N: number of turns, S: turn
spacing, and D: diameter of helix circumference. Kraus's
relations predict the gain of 16.5dB and the HPBW
;0.1
80.0 ~4.0
:-''-".120J80
0.0
. . . . . . ,0
40
jK0., of 290 but King & Wong's relations anticipate the gain of
14.4dB and the HPBW of 370 [4,5]. It is calculated
13.4dB gain based on Emerson's formulas [6].
The helical conductor diameter does not significantly
....... affect the radiation properties of the helix and may range
from 0.006) and 0.05X. The diameter conductor is
presumed 2.7mm. The helix may be supported by a few
radial insulators mounted on an axial dielectric or tube
whose diameter is a few hundredths of wavelength, by
one or more longitudinal dielectric rods mounted
peripherally or by a thin-wall dielectric tube on which
the helix is wound. We use Thin-wall plastic cylinder to
support the helix. The ground plane may be flat (either
circular or square) or cup-shaped forming a shallow
cavity or replaced by loops. The diameter or side
dimension of the ground plane is calculated 0.5) at the
low frequency of bandwidth. If the diameter of the
ground plane is lengthened, the level of side lobes will
be increased. We use a flat 320mm-diameter circular
ground plane for the helix. The antenna parameters of
helix are not sensitive to the calculated dimensions and it
works well in a wide bandwidth [7].
The input impedance of an axial-mode helical antenna
is between 140Q and 150Q. With a suitable matching
section, the terminal impedance can be made any desired
value from less than 50Q to more than 150Q. Thus, by
bringing the last 1/4turn of the helix parallel to the
ground plane in a gradual manner, a tapered transition
between the 140- or 150-Q helix impedance and a 50Q
coaxial line can be readily accomplished. This can be
done with either axially or peripherally fed helices but is
more convenient with a peripheral feed [8,9]. A new
stub-loaded matching is proposed for helix in frequency
bandwidth of 1OOMHz. This method is easy, flexible,
tunable and low loss. Figure 4 shows the feed rod is
passed through the circular stub. The diameter and
thickness of the copper-circular stub are 50mm and
2196
1mm, respectively. The position of stub is changeable
and tunable. Meanwhile, the input impedance of helix is
dependent on the thickness of the feed rod and the angle
of the first loop relating to the ground plane. The plastic-
cylinder strutctuire is connected to the ground plane by z
Teflon flange.
x

Circular stub

Figure 5: Helix simulated by IE3D software

Figure 4: The position of the circular stub

The calculated helix is simulated by IE3D) software to

optimize the dimensions of helix and the place of the

stub. The geometry of helix is depicted for simulation in

Figure 5. Simulation results show that the helix without

stub-matching has the directivity of 12.8dB and VSWR

of 2.5; consequently, the antenna efficiency and gain
-9.0
will be 80 percent and 11.8dB, respectively. After
simulation of helix with 50mm-diameter circular stub,
the most favorable height of the stub is obtained 30mm
above the ground plane. In addition, the angle of the first

loop relation to the ground plane is attained 45'

Figures 6 and 7 illustrate far-field radiation patterns in

vertical plane =O' (XOZ) and azimuth plane Figure 6: Elevation-plane radiation pattern at 830MHz

9P 90' (YOZ) at frequency of 830MHz,

correspondingly. Both of radiation patterns are nearly

similar; therefore, elevation and azimuth HPBW are

equal to 31'. The gain is computed 12.7dB. Figure 8

shows the antenna gain from 11.8dB at 780MHz has

been increased to 13.8dB at 880MHz. As a result, the
beamwidth is increased at low frequencies and vice
versa. As shown in Figure 9, VSWR is 1.14 at 830MHz

and less than 1.35 throughout the frequency bandwidth.

It is found that the circular stub can accomplish a very

good matching with loss of around 0.15dB. The axial

ratio is the values simulated in the direction of the helix
axis. It is depicted AR is less than 1I8B as shown in

Figure 10. The loss of plastic-cylinder structure is

expected about 0.1IdB. Figure 7: Azimuth-plane radiation pattern at 830MHz

Considered altogether, these pattern, polarization and

impedance characteristics represent remarkably good 15 15

performance over a wide frequency range for a .5

circularly polarized beam antenna. ........1

1 35 1 35

13 ......13

125 1 25

12 12

11.5 11.5

1 05 10.5

10 10

0.78 0.79 0.8 0.81 0.82 0.83 0.84 0.85 0.86 0.87 0.88
Fieqtuelicy (GIHz)

Figure 8: Helix gain in frequency bandwidth of 100MHz

0-7803-952 1-21061$20.00 §2006 IEEE. 2197

 1.35 11.35
35

1.3 1 .3

1 .25 1 .25

1.2

1.1 5 1.15

1.1 1.1

1.05 1 .05 Figure 11: The implemented monopole antenna

MKR( 250)* 31MHz ME
1 1 A(*) :[AGTD -24. l4dB I dB/ 0. OlOdB
0.78 0.79 0.8 0.81 0o82 0.83 0.84 0.85 0.85 0.87 0o88 VS)JR 1.1323 _ l-
Freitieiicy (GHz) I I
Figure 9: Helix VSWR in frequency bandwidth of 100MHz
2 2
8
6
........... ............ ........... ...........
1d 1.2 26

0 I4...i
.. ..i .. 0 4
0.8 0)8
06 2-
06,,.G
m

8 EF: O51Hz0
OUT () i-10. ST:f
m 3 .90sec EL:e 00cm
6 IRG(R):-1OdBm IRG(T) -]OdBm RBW.lOkHz UB4W:I0SHz 50fk
1=RGTD T1 1=
4
2 Figure 12: Measured VSWR of monopole antenna
O 0
0.78 0.79 0.8 0.81 0.82 0.83 0.84 0.85 0.86 0.87 0.88
Frequieiicy (GHz)

Figure 10: Axial Ratio in the direction of helix axis

4. Implementation and measurement results

After manufacture of monopole antenna as shown in
Figure 11, VSWR and radiation patterns were measured.
Figure 12 illustrates the monopole antenna has
VSWR 1.13 at 830 MHz. The monopole antenna is
omni-directional in the azimuth plane. According to
Figure 13, the measured elevation radiation pattern is
presented at 830MHz. HPBW of the vertical plane is
about 65°. The gain of monopole antenna is 2.5dB at Figure 13: Vertical-plane radiation pattern
the elevation angle of 40° and the loss is 2dB in the
horizontal plane.
Helix was implemented according to the optimized
dimensions as shown in Figure 14. The angle of the first
loop to connect to the feed rod relation to the ground
plane is 45° which is shown in Figure 15. VSWR was
measured by Network Analyzer. Figure 16 indicates
VSWR<2 in bandwidth of 1OOMHz and VSWR is 1.6 at
830MHz. Radiation pattern of helix is endfire with the
gain of 12.5dB in the direction of helix axis. HPBW in
both of the elevation and azimuth planes are quite 32° . It Figure 14: Implemented helix antenna
is found that there are good agreement between
Emerson's relations and measurement. The antennas
have the mechanical resistance against vibration and
wind.

0-7803-9521-2/06/$20.00 )2006 IEEE. 2198


Figure 15: Angle of 45 to connect the first loop to the feed
rod
0. WOde
CF ^ 30NHf1z ] OlH
OUsT(B)':-10.030dBEm ST. 3.i%sec lEL:6.00PA)
IRG(R )-I dEn It P i~cT:- Ed [:QeJ
REAJ LOkil QlJS II:lkHz
Figure 16: Measured VSWR of helix antenna
5. Short and long ranges coverage
Helix should cover 360°at the maximum range of
100Km. Moreover, multipath effect and LOS rules
should be regarded due to install GS antenna [10,11] . In
respect to the UAV flying height, it is recommended to
install GS antennas- especially helix antenna- at the
height of 4m. The first break point -the furthest break
point away from GS- is at the range of 2 1Km [11,12].
The multipath loss can not degrade the data radio link in
this range because of the high level of received power. It
is necessary to elevate helix axis up about 4 to
compensate the ground effect on the radiation pattern.
The flight tests confirmed the preceding
recommendation [12].
Although the desired system is based on Ground
Control Station (GCS), i.e., it can find the location of
UAV by GPS or received RF signals; therefore, it can
direct the helix to the UAV and track. In the other hand,
the fast maneuvering of UAV around the Ground
Station, especially in the time of taking-off and landing
should be regarded; consequently, GCS can not follow
UAV simultaneously and quickly. Moreover, UAV can
be controlled visually, so omni-directional antenna can
be utilized in the short ranges (less than 5 km). A RF
switch can be utilized in GS Transceiver due to select
the desired antenna electronically.
6. Conclusion
0-7803-9521-2/06/$20.00 §2006 IEEE.
Design and implementation of Ground Station (GS)
antennas have been presented to control UAV by use of
data radio link between UAV and GS based on spread
spectrum in bandwidth of 780-880MHz at the maximum
range of 100Km. Helix and omni-directional antennas
have been designed and implemented to cover short and
long ranges with high reliability. Monopole antenna is
used for short range - less than 5 Km. It has been
designed, simulated and implemented. Measurements
indicate monopole antenna has VSWR<2 in 780-
880MHz frequency band. Vertical-plane HPBW is
about 65°. The gain of monopole antenna is 2.5dB at
ME the elevation angle of 40° and the loss is 2dB in the
horizontal plane.
Helix antenna has been used to cover ranges more
than 5Km to establish radio data link. It has been
designed, simulated and matched to 50Q in frequency
bandwidth of 100MHz by new stub-loaded matching
method. It has VSWR<2 in bandwidth of 100MHz.
Radiation pattern of helix is endfire with the gain of
12.5dB in the direction of helix axis. HPBW in both of
the elevation and azimuth planes are quite 32°. It is
found that there are good agreement between Emerson's
relations and measurement.
1ir
According to the multipath effect and LOS relations,
GS antennas should be installed at the height of 4m in
regard to the UAV flying height. It is necessary to
elevate helix axis up about 40 to compensate the ground
effect on the radiation pattern. The flight tests confirned
the preceding hints.
7. References
[1] Munson, K., World Unmanned Aircraft, JANE'S,
NewYork, pp. 7-10, 1988.
[2] http//airtraffici.stanford.edu/uav/
[3] C.A. Balanis, Antenna Theory, Analysis and Design, John
Wiley & Sins, 1997
[4] J.D. Kraus, Antennas, 2nd Ed., McGraw-Hill, 1988
[5] H. E. King & J. L. Wong, Helical Antennas, Chapter 13 of
Antenna Engineering HandBook, 3rd Ed. L. Johnson, 1993
[6] Darrel Emerson, AA4FV, The Gain of an Axial-Mode
Helical Antenna, The ARRL Antenna Compendium, Vol. 4,
1995
[7] Robert S. Elliott, Antenna Theory and Design, John Wiley
& Sons, revised Ed., 2003
[8] J. D. Kraus, "A 50-Ohm Input Impedance for Helical Beam
Antennas", IEEE Trans. Antenna Propagation, Vol. Ap-25, No.
6, p.913, 1977
[9] The ARRL Antenna Book, The American radio Relay
League, 15thEd., 1988
2199
[10] William C.Y. Lee, Mobile Communications Engineering,
2nd Ed., McGraw-Hill, 1997
[11] William C.Y. Lee, Mobile Communications Design
Fundamentals, 2nd Ed., John-Wiley, 1993
[12] Z.H. Firouzeh, M.R Haji-hashemi, S.M. Moosavian,
H. Mir-Mohammad Sadeghi, "Reduction of UAV body effect
and Multipath fading in the high range of UHF radio link",
The 13th ICEE, pp377-382, Zanjan University, May 2005

0-7803-9521-2/06/$20.00 §2006 IEEE. 2200