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Development and Testing of a Two-UAV Communication Relay System

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DOI: 10.3390/s16101696

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 sensors
Article
Development and Testing of a Two-UAV
Communication Relay System
Boyang Li, Yifan Jiang, Jingxuan Sun, Lingfeng Cai and Chih-Yung Wen *
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, China;
boyang.li@connect.polyu.hk (B.L.); jiang.uhrmacher@connect.polyu.hk (Y.J.);
jingxuan.j.sun@connect.polyu.hk (J.S.); 11811766d@connect.polyu.hk (L.C.)
* Correspondence: cywen@polyu.edu.hk; Tel.: +852-2766-6644

Academic Editors: Felipe Gonzalez Toro and Antonios Tsourdos

Received: 22 July 2016; Accepted: 10 October 2016; Published: 13 October 2016

Abstract: In the development of beyond-line-of-sight (BLOS) Unmanned Aerial Vehicle (UAV)

systems, communication between the UAVs and the ground control station (GCS) is of critical
importance. The commonly used economical wireless modules are restricted by the short
communication range and are easily blocked by obstacles. The use of a communication relay system
provides a practical way to solve these problems, improving the performance of UAV communication
in BLOS and cross-obstacle operations. In this study, a communication relay system, in which
a quadrotor was used to relay radio communication for another quadrotor was developed and
tested. First, the UAVs used as the airborne platform were constructed, and the hardware for the
communication relay system was selected and built up. Second, a set of software programs and
protocol for autonomous mission control, communication relay control, and ground control were
developed. Finally, the system was fully integrated into the airborne platform and tested both
indoor and in-flight. The Received Signal Strength Indication (RSSI) and noise value in two typical
application scenarios were recorded. The test results demonstrated the ability of this system to extend
the communication range and build communication over obstacles. This system also shows the
feasibility to coordinate multiple UAVs’ communication with the same relay structure.

Keywords: two-UAV system; communication relay; mission control software; Ground Control Station

1. Introduction
In recent years, as a result of decreased weights and sizes, reduced costs, and increased
functionalities of different sensors and components, Unmanned Aerial Vehicles (UAVs) are becoming
increasingly popular in a wide range of domestic applications (photography, surveillance, environment
monitoring, search-and-rescue, etc.) [1–3]. As the market develops and the variety of applications
expands, more requirements are now being imposed on extending the flight range and increasing
the adaptability to the complex missions of UAV systems. In missions such are surveillance and
search-and-rescue, UAV systems are usually required to operate in complicated environments while
still being able to maintain uninterrupted communication with the ground control station for the
purpose of reporting, monitoring, and control. For example, in the mountainous or high-density urban
regions, the communication between UAVs and the ground control station can be easily interrupted,
causing the ground control station to lose real-time data feedback from the UAVs, leading to mission
failure. In addition, if the mission requires long flight range, the communication might also be
interrupted by the distance.
Commercially available yet economical UAV communication solutions, however, have a number
of limitations that potentially hinder their widespread application. First, the communication range of
major civil UAV communication solutions is comparatively short. Telemetry modules, such as 3DR

Sensors 2016, 16, 1696; doi:10.3390/s16101696 www.mdpi.com/journal/sensors

Sensors 2016, 16,
Sensors 2016, 16, 1696
1696 20
2 of 21

range of major civil UAV communication solutions is comparatively short. Telemetry modules, such
Sik2,
as 3DR XBee, andXBee,
Sik2, other and
Wi-Fiother
modules,
Wi-Fiwhich are common
modules, which areoptions for civil
common UAVs,for
options have communication
civil UAVs, have
ranges that are limited to a few kilometers. Second, it is difficult to establish
communication ranges that are limited to a few kilometers. Second, it is difficult to establish a stable data link when
a stable
obstacles
data link such
whenasobstacles
trees, tallsuch
buildings,
as trees,ortall
mountains
buildings,separate the UAVs
or mountains and GSC.
separate the UAVs and GSC.
In situations discussed above, it can be difficult to complete
In situations discussed above, it can be difficult to complete the mission the mission withwith only
only one
one UAV
UAV
deployed,
deployed, while keeping cost and system complexity requirements met [4–7]. To harness the
while keeping cost and system complexity requirements met [4–7]. To harness the
advantages of UAVs in these situations and minimize the drawbacks at the
advantages of UAVs in these situations and minimize the drawbacks at the same time, an alternative same time, an alternative
solution
solution is is to
to deploy
deploy aa multi-UAV
multi-UAV system,system, which
which could
could utilize
utilize the
the inter-connectivity
inter-connectivity among among multiple
multiple
UAVs
UAVs to to maintain
maintain uninterrupted
uninterrupted communication
communication betweenbetween everyevery UAV
UAV and the ground
and the ground control
control station.
station.
In
In this study, a UAV communication relay solution was developed, which uses relay and routing to
this study, a UAV communication relay solution was developed, which uses relay and routing to
extend
extend the the communication
communication range range andand bypass
bypass obstacles
obstacles at at low
low cost.
cost. The
The objective
objective waswas toto develop
develop andand
test
test aa proof-of-concept
proof-of-concept two-UAV
two-UAV systemsystem that
that demonstrated
demonstrated the ability to
the ability to relay
relay radio
radio communication.
communication.
This
This system only consisted of two UAVs, but its design could accommodate the addition of
system only consisted of two UAVs, but its design could accommodate the addition of more
more
UAVs.
UAVs. The system uses one UAV as communication relay point and enables the other UAV to operate
The system uses one UAV as communication relay point and enables the other UAV to operate
in
in areas
areas where
where direct
direct communication
communication with with ground
ground control
control cannot
cannot bebe established.
established. ThisThis configuration
configuration
allows
allows communication to be established across obstacles or over a distance exceeding the
communication to be established across obstacles or over a distance exceeding the range
range ofof
the
the onboard
onboard radioradio transceiver,
transceiver, bothboth of of which
which will
will be
be demonstrated
demonstrated in in field
field tests
tests later.
later. The
The typical
typical
application
application scenario
scenario of
of this
this system
system is is shown
shown in in Figure
Figure 11 schematically.
schematically.

Figure 1. Application scenarios of UAV communication relay

UAV communication relay system.
system.

The paper is organized as follows. Section 2 introduced the related works. Section 3 introduces
The paper is organized as follows. Section 2 introduced the related works. Section 3 introduces
the hardware configurations of the multiple UAVs communication relay system. Section 4 discusses
the hardware configurations of the multiple UAVs communication relay system. Section 4 discusses
the software aspects of the system. In Section 5, both the indoor and outdoor tests methods and results
the software aspects of the system. In Section 5, both the indoor and outdoor tests methods and results
are presented. A conclusion of the work is given in Section 6.
are presented. A conclusion of the work is given in Section 6.
2. Related
2. RelatedWorks
Works
Numerous researches
Numerous researches have
have been
been performed
performed in in UAV
UAV communication
communication relay relay scheme.
scheme. In In the
the
conceptualstudy
conceptual studyof ofUAV
UAVbased
based military
military communication
communication relays,
relays, Pinkney
Pinkney et[8]
et al. al. described
[8] described a multi-
a multi-year
year airborne communication range extension program plan which was
airborne communication range extension program plan which was primarily used to support the primarily used to support
the Battlefield
Battlefield Information
Information Transmission
Transmission System.
System. TheThe
main main objective
objective of program
of the the program waswas to provide
to provide the
the beyond line of sight (BLOS) communications capabilities without the help
beyond line of sight (BLOS) communications capabilities without the help of scarce satellite resources. of scarce satellite
resources.
Their rangeTheir range of
of coverage cancoverage
vary from can
50vary
to 100from 50for
miles to UAVs
100 miles for UAVs
of interest. Rangelof interest.
et al. [9]Rangel
developedet al.
a
[9] developed a multipurpose aerial platform using a UAV for tactical surveillance
multipurpose aerial platform using a UAV for tactical surveillance of maritime vessels. They concluded of maritime
vessels.
that They concluded relay
the communication that the communication
using a UAV system relay
is a using
low-costa UAV system which
application is a low-cost
could application
provide air
dominance with satisfied communication range with lost cost resources. In Orfanus cost
which could provide air dominance with satisfied communication range with lost et al.resources.
[10], the useIn
Orfanus
of et al. [10], theparadigm
the self-organizing use of thetoself-organizing
design efficientparadigm
UAV relay tonetworks
design efficient
to supportUAVmilitary
relay networks
operations to
support military
was proposed. operations was proposed.
Abundant previous
Abundant previous studies
studieshave
havefocused
focusedonon thethe
algorithms
algorithms forfor
vehicle
vehicleposition assignment
position assignmentand
network configuration. Choi et al. [11] developed guidance laws to optimize
and network configuration. Choi et al. [11] developed guidance laws to optimize the position of athe position of a Micro-
UAV which relayed communication and video signals when the other UAV is out of radio contact
range with the base. Zhan et al. [12] investigated a communication system in which UAVs were used
Sensors 2016, 16, 1696 3 of 21

Micro-UAV which relayed communication and video signals when the other UAV is out of radio
contact range with the base. Zhan et al. [12] investigated a communication system in which UAVs
were used as relays between ground terminals and a network base station. Their work mainly focused
on developing the algorithm for optimizing the performance of the relay system. In [13,14], Cetin and
coworkers proposed a novel dynamic approach to the relay chain concept to maintain communication
between vehicles in the long-range communication relay infrastructure. Their path planning method
was based on the artificial potential field.
Many other researchers used simulation methods to propose and test the relay systems.
Hauert et al. [15] conducted 2D simulations of the design on a swarm system which does not make
use of positioning information or stigmergy for application in aerial communication relay. Jiang and
Swindlehurst [16] simulated the dynamic UAV relay positioning for multiple mobile ground nodes
and multi-antenna UAVs. In [17], a relay network composed of UAVs keeping the Wireless Sensor
Network connected was proposed. They also used cooperative multiple input multiple output (MIMO)
techniques to support communication. Ben Moussa et al. [18] provided a simulation-based comparison
between two strategies for an autonomous mobile aerial node communication relay between two
mobile BLOS ground nodes. Lee et al. [19] proposed an airborne relay-based regional positioning
system to address pseudolite system limitations. They conducted simulations and demonstrated that
the proposed system guarantees a higher accuracy than an airborne-based pseudolite system.
For experimental studies, most of the previous works were based on IEEE 802.11b (Wi-Fi) standard.
Brown et al. [20,21] implemented a wireless mobile ad hoc network with radio nodes mounted at fixed
sites, ground vehicles, and UAVs. One of their scenarios was to extend small UAVs’ operational scope
and range. They measured detailed data on network throughput, delay, range, and connectivity under
different operating regimes and showed that the UAV has longer range and better connectivity with the
ground nodes. Jimenez-Pacheco et al. [22] also built a mobile ad hoc network (MANET) of light UAVs.
The system has implemented a line of sight dynamic routing in the network. Morgenthaler et al. [23]
described the implementation and characterization of a mobile ad hoc network for light flying robots.
Their UAVNet prototype was able to autonomously interconnect two end systems by the airborne relay.
Asadpour et al. [24,25] conducted simulation and experimental study of image relay transmission for
UAVs. Yanmaz et al. [26] proposed a simple antenna extension to 802.11 devices for aerial UAV nodes.
They tested the performance of their system and showed that 12 Mbps communication can be achieved
at around 300 m. Yanmaz et al. [27] also did a follow up work on a two-UAV network using 802.11a.
In this work, they showed that high throughout can be achieved using two-hop communications.
Johansen et al. [28] described the field experiment with a fixed wing UAV acted as a wireless relay for
Underwater Vehicle. They only tested the download data rates. Notably, although the Wi-Fi network
is convenient to build multiple access points, its communication range is highly restricted and a large
number of nodes are needed for long range applications. One of the advantages of a Wi-Fi network is
its high throughput. However, for UAV telemetry communication, the distance is a more important
requirement than the transmission speed.
For experimental works without the use of Wi-Fi network, Guo et al. [29] analyzed the use of
small UAVs for 3G cellular network relay. They tested the upload and download throughputs and
the ping time in both urban and rural environments. Deng et al. [30] developed the UAVs and the
communication relay system for power line inspection. Their system consisted of multi-platform UAVs
and multi-model communication system for image/video transmission. However, they did not test
the communication range or quality of their system. The only one work used 433/915 MHz as the
communication frequency was Willink et al. [31] who measured the low-altitude air-to-ground channel
at 915 MHz. They mainly focused on studying the spatial diversity to and from the airborne node and
also measured time delay and received power.
For all above-mentioned works, The UAVs in their systems did not exchange messages with
the GCS by the relayed communication, which means the UAVs were used as carriers to realize
communication relay for other systems rather than acting as the active parts in the relay systems.
Therefore, the applications would be constrained if UAVs lost connection with the GCS. The highlights
Sensors 2016, 16, 1696 4 of 21

Sensors
of our 2016,
work16,are
1696 4 of 20
the building of an interface and protocol with the flight controller and direct monitoring
and control of the UAVs with relayed communication. This study provides a viable and economic
and economic way, with detailed hardware and software methods described, to construct a prototype
way, with detailed hardware and software methods described, to construct a prototype of the UAV
of the UAV communication relay system.
communication relay system.

3. Hardware
3. HardwarePlatform
Platform
In this
In this section,
section, the
thehardware
hardwareconstruction
constructionofofthetheminiature
miniaturetwo-UAV
two-UAV system
systemis introduced.
is introduced.A
miniature UAV relay system with the ability to relay radio communications was built.
A miniature UAV relay system with the ability to relay radio communications was built. The hardware The hardware
mainly consisted
mainly consisted ofof three communication nodes:
three communication nodes: aa GCS;
GCS; aa UAV
UAV that
that relays
relays radio
radio communication,
communication,
which was named “Mom”; and a second UAV named “Son”, whose
which was named “Mom”; and a second UAV named “Son”, whose communication with communication with the
the GCS
GCS
was relayed
was relayed through
through the
the UAV
UAV “Mom”.
“Mom”. TheThe schematic
schematic ofof the
the major
major hardware
hardware platform
platform for
for the
the “Mom
“Mom
and Son” relay system is illustrated in Figure 2 and the detailed communication subsystem
and Son” relay system is illustrated in Figure 2 and the detailed communication subsystem will be will be
introduced in Section 3.3 later.
introduced in Section 3.3 later.

Figure 2. Whole architecture of the communication relay system.

3.1. System Architecture

The relay system can be conceptualized as the following major functional blocks, with the
corresponding hardware architecture shown in Figure
Figure 3.
3. The
The figure mainly describes the main
UAV “Mom”
components in UAV “Mom” while
while all
all other
other UAVs
UAVshave
havethe
thesame
samehardware
hardwarearchitecture.
architecture.
• Aircraft: This
Aircraft: This isisthe
thebody
bodyof of
thethe
UAV,UAV, usually
usually consisting
consisting of structural
of structural components,
components, power
power system,
system,
and andInbattery.
battery. the test In the test
system, system,were
the aircraft the constructed
aircraft were constructed
using usingavailable
commercially commercially
frame
available frame kits. Both of the UAVs, i.e., “Mom” and “Son”, were selected
kits. Both of the UAVs, i.e., “Mom” and “Son”, were selected as quadrotors for easily launch and as quadrotors for
easily launch and recovery ability during the development period. Communication
recovery ability during the development period. Communication relay systems, however, are not relay
systems,tohowever,
limited quadrotors areand
notcan
limited to quadrotors
be integrated anddesired
into any can be airborne
integrated into any
platform desired
such airborne
as fixed wing
platform such as fixed wing UAV for long
UAV for long endurance and distance relay service. endurance and distance relay service.
 Flight Controller: This includes main flight control boards as well as the necessary sensors, that
• Flight Controller: This includes main flight control boards as well as the necessary sensors,
together provide attitude and position control for the UAVs. In this test system, 3DR Pixhawk
that together provide attitude and position control for the UAVs. In this test system, 3DR Pixhawk
kit [32] was selected as the main flight controller. The controller has an internal IMU, barometer,
kit [32] was selected as the main flight controller. The controller has an internal IMU, barometer,
external GPS, and a compass for attitude and position measure. It also includes safety switch,
external GPS, and a compass for attitude and position measure. It also includes safety switch,
buzzer, LEDs, and different kinds of interfaces combined to provide flight control.
buzzer, LEDs, and different kinds of interfaces combined to provide flight control.
 Communication Module: This functional block directly handles wireless radio
• Communication Module: This functional block directly handles wireless radio communications,
communications, and consists of radio transceivers and antennas. The paired modules will
and consists of radio transceivers and antennas. The paired modules will connect automatically
connect automatically and transmit data instructed by the mission controller.
and transmit data instructed by the mission controller.
 Mission Controller: This functional block is a microcomputer running Linux operation system
• Mission Controller: This functional block is a microcomputer running Linux operation system
and mainly responsible for the following functions: (1) conducting communication flow control,
and mainly responsible for the following functions: (1) conducting communication flow control,
message routing, and message error checking; (2) monitoring UAV flight conditions and
message routing, and message error checking; (2) monitoring UAV flight conditions and reporting
reporting to GCS; and (3) translating mission commands from GCS to low-level instructions,
to GCS; and (3) translating mission commands from GCS to low-level instructions, which are
which are directly supplied to the flight controller.
directly supplied to the flight controller.
 Ground Control Station: This functional block refers to a Windows-based laptop running the
• Ground Control
GCS software Station:
to send This functional
commands to all theblock
UAVrefers
nodesto
anda Windows-based
monitor the status laptop
of allrunning
UAVs. the
 GCS software
Emergency to sendController:
Remote commandsThe to all the UAV
remote nodes and
controller monitor the
is connected to status of allcontroller
the flight UAVs. via
• Emergency Remote Controller: The remote controller is connected
2.4 GHz wireless communication. In normal operation, all the commands and status can to the flight controller
be set
via
by the GSC point. This device has switch to directly takeover the control of UAVs in case be
2.4 GHz wireless communication. In normal operation, all the commands and status can of
emergency situation in the debugging process.
Sensors 2016, 16, 1696 5 of 21

set by the GSC point. This device has switch to directly takeover the control of UAVs in case of
emergency situation in the debugging process.
Sensors 2016, 16, 1696 5 of 20

Figure 3.
Figure 3. System
System hardware architecture.
hardware architecture.

3.2. Communication
3.2. Communication Subsystem
Subsystem
To construct
To construct the the communication
communication subsystem,
subsystem, a number a ofnumber
commonly of used
commonly used wireless
wireless communication
communication technologies were considered as the possible candidate:
technologies were considered as the possible candidate: IEEE 802.11n Wi-Fi, 3G/4G-LTEIEEE 802.11n Wi-Fi, 3G/4G-LTE
mobile
mobile network, and 433 MHz/915 MHz radio. Wi-Fi can provide a reliable,
network, and 433 MHz/915 MHz radio. Wi-Fi can provide a reliable, high-speed connection, but high-speed connection,
but has
has a comparatively
a comparatively small
small range.
range. Typical
Typical Wi-Fi
Wi-Fi routers
routers haveananeffective
have effectiverange
rangeofoffewer
fewer than
than 100
100 m,
m,
rendering them unsuitable for long-range outdoor missions. The applicability
rendering them unsuitable for long-range outdoor missions. The applicability of the 3G/4G-LTE of the 3G/4G-LTE
mobile network
mobile network relies
relies heavily
heavily on
on the
the strength
strength of
of mobile
mobile phone
phone signal,
signal, which
which varies
varies greatly in different
greatly in different
locations, and
locations, and is is not
not always
always available
available in
in remote
remote areas
areas where
where surveillance
surveillance andand rescue
rescue missions
missions are
are
likely to take place. A 433 MHz/915 MHz radio can be operated without a license in many parts of
likely to take place. A 433 MHz/915 MHz radio can be operated without a license in many parts of
the world, and can be implemented with easily accessible, low-cost transceivers (for example, 3DR
the world, and can be implemented with easily accessible, low-cost transceivers (for example, 3DR
Radio Telemetry as discussed below). A range of a few kilometers could be achieved. The radio can
Radio Telemetry as discussed below). A range of a few kilometers could be achieved. The radio can
also be deployed at any desirable site without the need for supporting infrastructure. These features
also be deployed at any desirable site without the need for supporting infrastructure. These features
give 433 MHz/915 MHz radio advantages in various outdoor missions. The frequency options, 433 MHz
give 433 MHz/915 MHz radio advantages in various outdoor missions. The frequency options,
or 915 MHz, can be selected to ensure compliance with local radio regulations.
433 MHz or 915 MHz, can be selected to ensure compliance with local radio regulations.
Based on the discussion above, to establish communication between the UAVs and GCS and to
Based on the discussion above, to establish communication between the UAVs and GCS and
facilitate the communication relay system, 3DR 915 MHz Radio Telemetry (3DR Radio) [33] was
to facilitate the communication relay system, 3DR 915 MHz Radio Telemetry (3DR Radio) [33] was
selected as our radio transceiver hardware. 3DR Radio, the built-in processor of which runs open-
selected as our radio transceiver hardware. 3DR Radio, the built-in processor of which runs open-source
source SiK firmware [34], has the following useful features that enable communication relay:
SiK firmware [34], has the following useful features that enable communication relay:
 Built-in time division multiplexing (TDM) support.
• Built-in
Supports time divisionhopping
frequency multiplexing
spread(TDM) support.
spectrum (FHSS) among a configurable number of channels
• Supports frequency hopping spread spectrum (FHSS) among
(configured to 50 channels in this study). Its frequency hoppinga configurable
sequence is number of channels
user-configurable.
(configured to 50 channels in this study). Its frequency hopping sequence is user-configurable.
Figure 4 illustrates the radio communication relay setup. Four 3DR Radios were used, numbered
T1-1,Figure
T1-2, 4T2-1, and T2-2.
illustrates Table
the radio 1 gives the details
communication of theFour
relay setup. configuration
3DR Radiosand wereinstallation of the
used, numbered
telemetries.
T1-1, T1-1 and
T1-2, T2-1, and T2-2.
T1-2 carried
Table 1communication
gives the detailsbetween GCS and UAV
of the configuration and“Mom” exclusively,
installation of the
whereas T2-1
telemetries. andand
T1-1 T2-2 carried
T1-2 communication
carried communication between
betweenUAVGCS“Mom”
and UAV and UAV exclusively,
“Mom” “Son”. whereas
T2-1 and T2-2 carried communication between UAV “Mom” and UAV “Son”.
Sensors 2016, 16, 1696 6 of 21
Sensors 2016, 16, 1696 6 of 20

Sensors 2016, 16, 1696 6 of 20

Figure4.4.Radio
Figure Radio communication
communication relay
relaysetup.
setup.

Table 1. Telemetry Installation and Settings.

Table 1. Telemetry Installation and Settings.
3DR Radio Installed at Frequency Hopping Setting
3DR Radio T1-1 Figure Installed
4. GCS at
Radio communication hopping sequence
Frequency
relay setup. 1
Hopping Setting
T1-1 T1-2 UAV “Mom”
GCS hopping sequence 1
hopping sequence 1
T1-2 T2-1 Table UAV
UAV “Mom”
1. Telemetry
“Mom” hopping
Installation sequence
and Settings.
hopping 2
sequence 1
T2-2
T2-13DR Radio Installed UAV
UAV “Mom” “Son” hopping sequence
hoppingSetting 2
sequence 2
at Frequency Hopping
T2-2 UAV “Son” hopping sequence 2
T1-1 GCS hopping sequence 1
A combination of TDM and FHSS techniques was used to ensure that the presence of multiple
T1-2 UAV “Mom” hopping sequence 1
radio telemetries did not lead to radio-frequency interference. By default, telemetries Tn-1 and Tn-2
A combination of TDM and FHSS techniques washopping
T2-1 UAV “Mom” used to sequence
ensure2that the presence of multiple
(where n = 1, 2…) formedT2-2 one radioUAV link “Son”
between each another.
hopping On power-up,
sequence 2 Tn-1 and Tn-2 first
radiosearched
telemetries did not lead tosignals
for synchronization radio-frequency
from each another; interference. By default,
these signals were used telemetries Tn-1 and
to synchronize the Tn-2
(where n = 1, 2
internalAclocks . . . ) formed one
of bothoftelemetries. radio link between
Oncetechniques
the clocks were each another.
synchronized, On power-up,
the thetelemetries Tn-1 and
started a first
Tn-2
combination TDM and FHSS was used to ensure that presencethen of multiple
searched
TDM for
radio synchronization
process,
telemetries in which
did notTn-1 signals
lead and
to from each another;
Tn-2 alternately
radio-frequency these
transmitted
interference. Bysignals
data over
default, were usedTn-1
radio,
telemetries to synchronize
and and Tn-2 to the
listened
internal clocks
incoming of
data both
when telemetries.
not Once
transmitting. the
The clocks
alternation were of asynchronized,
transmission
(where n = 1, 2…) formed one radio link between each another. On power-up, Tn-1 and Tn-2 the
window telemetries
occurred then started a
at afirst
fixed
frequency,
TDM process, and
searchedinfor whichthe time between
Tn-1 and Tn-2
synchronization consecutive
signalsalternately alternations
from each transmitted was
another; thesedata referred
over
signals to as
radio,
were the
usedand turnover time.
listened tothe
to synchronize The
incoming
selection
internal of the
clocks turnover
of both time depends
telemetries. Once on the
the time
clocks required
were to transmit
synchronized,
data when not transmitting. The alternation of a transmission window occurred at a fixed frequency, themessages.
telemetries On one
then hand,
started athe
turnover
TDM time
process, should
in be
which long enough
Tn-1 and to
Tn-2 allow an
alternatelyadequate number
transmitted
and the time between consecutive alternations was referred to as the turnover time. The selection of
data messages
over radio, to be
and transmitted
listened to in of
a incoming data when not
single transmission transmitting.
window. On the Theotheralternation
hand, of thea transmission
turnover time windowshould occurred
not beattoo a fixed
long,
the turnover time depends on the time required to transmit messages. On one hand, the turnover
frequency,
otherwise, theand the time
other between
telemetry consecutive
would have to alternations
wait longerwas referred
before it cantotransmit
as the turnover
its owntime. The
messages,
time should beoflong
selection the enough time
turnover to allow
dependsan on adequate
the time number
required oftransmit
to messages to be transmitted
messages. On one hand, in
thea single
causing delays in information update, and compromising the synchronization accuracy between
transmission
telemetries. window.
turnover time The should On
value of the
bethelongother hand,
enoughtime
turnover the
to allowcould turnover
anbeadequate time
number
tuned based should
onofthe not
messages be too long,
to be transmitted
above-mentioned otherwise,
in
principles. the
otherIntelemetry
athis
single wouldthe
transmission
research, have to waittime
window.
turnover longer
On the before
was other it100
set tohand, canms,transmit
the which its
turnover ownshould
time
ensured messages,
stablenot causing
be ofdelays
too long,
operation the in
otherwise,
information update,the other
and telemetry
compromising would have
the to wait longer
synchronization before
communication relay function. Values ranging from 90 ms to 140 ms have been tested and could it
accuracy can transmit
between its own messages,
telemetries. The value
causing
of theprovide
turnover delays
similar time incould
information
results. This update,
beprocess
tuned isbased and on compromising
illustrated the the
above-mentioned
in Figures 5 and synchronization
6. accuracy
principles. Inbetween
this research,
telemetries. The value of the turnover time could be tuned based on the above-mentioned principles.
the turnover time was set to 100 ms, which ensured stable operation of the communication relay
In this research, the turnover time was set to 100 ms, which ensured stable operation of the
function. Values ranging
communication relay from
function.90 ms to 140
Values rangingms have
from 90 beenms tested
to 140 ms and could
have beenprovide
tested and similar
could results.
This process
provideissimilar
illustratedresults.inThis
Figures
process5 and 6.
is illustrated in Figures 5 and 6.

Figure 5. Time division multiplexing (TDM) working principle.

Figure 5. Time division multiplexing (TDM) working principle.

Figure 5. Time division multiplexing (TDM) working principle.
Sensors 2016, 16, 1696 7 of 21
Sensors 2016, 16, 1696 7 of 20
Sensors 2016, 16, 1696 7 of 20

Figure 6. TDM
TDM process
process flow
flow chart.
Figure
Figure 6.
6. TDM process flow chart.
chart.
In addition to the TDM process, the transmission of telemetries Tn-1 and Tn-2 were frequency-
In addition
additiontotothethe TDM TDM process,
process, the transmission
the transmission of telemetries
of telemetries Tn-1 andTn-1 Tn-2 and
were Tn-2 were
frequency-
hopped. The telemetries transmitted in one of the 50 sub-channels that were obtained by dividing the
frequency-hopped.
hopped.
915 MHz Theband intoThe
telemetries telemetries
transmitted
50 equal transmitted
portions.in one
On in sub-channels
oneofofthe
ofoccurrence
the the 50 thealternation
50that
sub-channels
were
of aobtainedthat by
transmissionwere obtained
dividing
window, the
by dividing
915both
MHz Tn-1 and Tn-2 simultaneously hopped to a new sub-channel, which was determined by a a
the
band 915
into MHz
50 equal band into
portions. 50
On equal
the portions.
occurrence ofOn
thethe occurrence
alternation of a of the alternation
transmission of
window,
both Tn-1 channel
transmission
random and Tn-2
window, simultaneously
both sequence
hopping hopped
Tn-1 and shared
Tn-2 to a new
between Tn-1sub-channel,
simultaneously hopped
and Tn-2.toAsa which
new
shown was determined
sub-channel,
in Table which
1, T1-1 by
wasa
and
random
determinedchannel
by a hopping
random sequence
channel shared
hopping between
sequence Tn-1 and
shared Tn-2.
betweenAs shown
Tn-1
T1-2 were configured to use a different hopping sequence than T2-1 and T2-2. Therefore, althoughandin Table
Tn-2. 1,
AsT1-1 and
shown
T1-2
in were
Table 1,configured
T1-1 and to
T1-2use a different
were hopping
configured to sequence
use a than
different T2-1 and
hopping T2-2. Therefore,
sequence
multiple devices might be transmitting radio waves at the same time, the sub-channels in which they than although
T2-1 and
multiple
T2-2. devices might
Therefore,
are transmitting althoughbe transmitting
multiple
are different, radioinwaves
devices
as illustrated Figureat
might 7.the
be same time, radio
transmitting the sub-channels
waves at the in which they
same time,
are sub-channels
the transmitting are different,
in which theyasare
illustrated in Figure
transmitting 7.
are different, as illustrated in Figure 7.

Figure 7. Frequency hopping of telemetries.

3.3. Mission Control SubsystemFigure 7. Frequency hopping of telemetries.

The control of key onboard functions: communication relay, flight status monitoring, and
3.3. Mission
3.3. Control Subsystem
Mission Control Subsystem
mission control, is centrally managed by the mission control subsystem, which UAV “Mom” and
The control
“Son”
The control
both ofofkey
carry key
onboard.onboard
onboard The functions:
onboard
functions: communication
mission
communicationcontrolrelay,relay,
subsystem flight statusin monitoring,
is mainly
flight status charge
monitoring, and
andofmission
the
mission iscontrol,
following
control, is centrally
functions:
centrally managed managed
by the missionby thecontrol
mission control subsystem,
subsystem, which UAVwhich “Mom” UAVand“Mom” and
“Son” both
“Son”
carry both carry onboard. The onboard mission control subsystem is mainly in charge of the
 onboard.
Executing The onboard
radio mission control
communication frame subsystem is mainly
processing and in charge of the following functions:
relay control.
following

functions:
Decoding commands contained in frames, and translating the commands into low-level
• Executing radio communication frame processing and relay control.
 instructions
Executing to the
radio UAV’s flight controller.
communication frame processing and relay control.
• Decoding commands contained in frames, and translating the commands into low-level
  Monitoring UAV flight
Decoding commands contained status, andinreporting
frames,toandthe GCS on a regular
translating the basis.
commands into low-level
instructions to the UAV’s flight controller.
 instructions
Handling ad hocUAV’s
to the functions thatcontroller.
flight specific missions necessitate, for example, image processing,
• Monitoring
dynamics UAV flight flight status, and reporting
target to the GCS on a regular basis.
 Monitoring UAV route
flightplanning,
status, and smart
reporting identification,
to the GCS onetc. a regular basis.
• Handling ad hoc functions that specific missions necessitate, for example, image processing,
 Handling ad hoc functions that specific missions necessitate, for example, image processing,
dynamics flight route planning, smart target identification, etc.
dynamics flight route planning, smart target identification, etc.
Sensors 2016, 16, 1696 8 of 21
Sensors 2016, 16, 1696 8 of 20

TheTheabove-mentioned
above-mentionedfunctions
functions require
require the UAVs to
the UAVs to be
be equipped
equippedwith withananon-board
on-board computer
computer
Sensors 2016, 16, 1696 8 of 20
with
with adequate processing power. In this research, Raspberry Pi 2 Module B (Rpi 2B) was chosenasasthe
adequate processing power. In this research, Raspberry Pi 2 Module B (Rpi 2B) was chosen
onboard computer
the onboard for both
computer
The above-mentioned
UAVs
for both because
UAVs
functions
of its
because
require ofrelatively
the
small
its relatively
UAVs
size,size,
small
to be equipped
strong
with
processing
strong power,
processing
an on-board power,
computer
and
abundant
and
with IO
abundant port.
adequate Figure 8
IOprocessingshows
port. Figure the
8 shows
power. on-board computer
theresearch,
In this on-boardRaspberry module,
computerPi with
module,
2 Module Rpi
with 2B mounted
Rpi 2B
B (Rpi 2B)mountedon top.
on top.
was chosen as
the onboard computer for both UAVs because of its relatively small size, strong processing power,
and abundant IO port. Figure 8 shows the on-board computer module, with Rpi 2B mounted on top.

Figure 8. Onboard computer module.

Figure 8. Onboard computer module.

The onboard computer needsFigure 8. Onboardexchange

to frequently computer module.
data with and acquire information from
The onboard computer needs to frequently
other onboard devices: radio telemetries, the flight controller,exchange data
the with and acquire
GPS module, information
and various onboardfrom
other The
onboard onboard computer
devices: computer needs
radio telemetries, to frequently
the flightexchange data with and acquire information from
sensors. The onboard communicates with controller, the devices
the peripheral GPS module,
through andUSB various onboard
ports. Rpi 2B
other onboard devices: radio telemetries, the flight controller, the GPS module, and various onboard
sensors.
readily supports USB protocol and has four USB ports available. Most peripheral devices, however,2B
The onboard computer communicates with the peripheral devices through USB ports. Rpi
sensors. The onboard computer communicates with the peripheral devices through USB ports. Rpi 2B
readily
utilizesupports
a low-levelUSB protocol andmethod
communication has fournamedUSB ports available.
Universal Most peripheral
Asynchronous Receiver anddevices, however,
Transmitter
readily supports USB protocol and has four USB ports available. Most peripheral devices, however,
utilize a low-level
(UART). Therefore,communication method named
a protocol conversion moduleUniversal
based on Asynchronous
CP2102 microchip Receiver
was wiredand Transmitter
between
utilize a low-level communication method named Universal Asynchronous Receiver and Transmitter
(UART).
the USBTherefore,
ports of a
Rpi protocol
2B and conversion
the peripheral module
devices,based
which on CP2102
handles the microchip
conversion
(UART). Therefore, a protocol conversion module based on CP2102 microchip was wired between was wired
between between
the USB
protocol
the USB
the USB and
ports the
of Rpi
ports UART
of Rpi2B2B protocol.
and andthethe Figure
peripheral 9 shows
peripheraldevices, the hardware
devices, which connection
handlesthe
which handles diagrams
theconversion
conversion of the
between
between onboard
the the
USBUSB
computer
protocol and module
the UART with other
protocol. subsystems.
Figure 9 The
shows Rpi
the2B of “Son”
hardware was connected
connection to
diagrams
protocol and the UART protocol. Figure 9 shows the hardware connection diagrams of the onboard two USB
of the devices
onboard
which
computer are
computer T2-2
module and
module withtheother
withflight
other controller.
subsystems.
subsystems. TheTheRpi
The 2B2B
Rpi
Rpi of of
2B “Mom”
“Son”was
of“Son” was
was connected
connected
connected to
to three
to
two two USB
USB USB devices
devices
devices
including
which are are
which T1-2,
T2-2T2-2 T2-1,
andand and
thethe the
flight
flight flight controller.
controller.
controller.TheTheRpi
Rpi 2B
2B of “Mom”
“Mom”was wasconnected
connected to to three
three USB USB devices
devices
including
including T1-2,T1-2, T2-1,
T2-1, andandthethe flightcontroller.
flight controller.

(a) (b)
(a) (b)
Figure 9. Hardware connection diagram of (a) UAV “Son” and (b) UAV “Mom”.
Figure 9. Hardware connection diagram of (a) UAV “Son” and (b) UAV “Mom”.
Figure 9. Hardware connection diagram of (a) UAV “Son” and (b) UAV “Mom”.
The onboard computer module is powered by the UAV’s main battery and is switched on when
The onboard computer module is powered by the UAV’s main battery and is switched on when
theThe
UAV is powered
onboard up. After
computer power-up,
module the onboard
is powered computer
by thecomputer module
UAV’s main then automatically
battery executes
the UAV is powered up. After power-up, the onboard module then and is switched
automatically on when
executes
a self-initialization program, which configures necessary system parameters and starts up a set of
the UAV is powered up.
a self-initialization After power-up,
program, the onboard
which configures computer
necessary systemmodule thenand
parameters automatically executes
starts up a set of
Sensors 2016, 16,
Sensors 2016, 16, 1696
1696 99 of
of 21
20

software programs. The programs then run on the onboard computer module and execute functions
a self-initialization program, which configures necessary system parameters and starts up a set of
such as communication relay control and mission control. Details about software structure and
software programs. The programs then run on the onboard computer module and execute functions
realization of the communication relay subsystem will be discussed in Section 4.
such as communication relay control and mission control. Details about software structure and
realization of the communication relay subsystem will be discussed in Section 4.
4. Software Development
4. Software Development
The software developed in this project includes mission control software running on the mission
control
Theboard and developed
software Mini GCS running on theincludes
in this project GCS laptop. Thecontrol
mission missionsoftware
control running
softwareon is in
thecharge of
mission
analyzing the target node as well as the command contents of each message it receives.
control board and Mini GCS running on the GCS laptop. The mission control software is in charge of If the ID of
the messages
analyzing represents
the target node as other
well asUAV nodes, the
the command software
contents of eachwill bypass
message this message
it receives. If the IDtoof the
the
corresponding
messages targets.
represents If the
other UAVID of the message
nodes, corresponds
the software to thethis
will bypass receiving
message UAV itself,
to the the software
corresponding
will further resolve the command data in the message and send it to the flight
targets. If the ID of the message corresponds to the receiving UAV itself, the software will controller. The Mini
further
GCS was
resolve developed
the commandtodata better
incoordinate
the message theand
multiple UAV
send it system.
to the flightThe condition
controller. Theof Mini
each UAV will
GCS was
be displayed on the screen including the flight mode, the GPS position, the attitude
developed to better coordinate the multiple UAV system. The condition of each UAV will be displayed etc. The Mini
GCS
on thewas also including
screen used to sendthecommands
flight mode, to each UAV
the GPS node bythe
position, theattitude
user friendly Graphic
etc. The Mini GCSUser was
Interface
also
(GUI).
used to send commands to each UAV node by the user friendly Graphic User Interface (GUI).

4.1. Data
4.1. Data Framing for Communication
Framing for Communication Relay
Relay
To facilitate
To facilitate the
the communication
communication relay,relay, the
the messages
messages andand data
data to
to be
be exchanged
exchanged between
between thethe UAVs
UAVs
and GCS were grouped into frames, the format of which is shown in Figure 10.
and GCS were grouped into frames, the format of which is shown in Figure 10. Each communication Each communication
node (“Mom”,
node (“Mom”, “Son”,
“Son”, and
and GCS)
GCS) waswas given
given aa unique
unique ID.
ID. The
The header
header of
of the
the frame
frame contained
contained two
two fields,
fields,
“Source ID” and “Target ID”. “Source ID” indicated the node from which the frame
“Source ID” and “Target ID”. “Source ID” indicated the node from which the frame was transmitted, was transmitted,
and “Target
and “Target ID”
ID” indicated
indicated the
the target
target receiver
receiver ofof this
this frame.
frame. This
This mechanism
mechanism enabled
enabled the
the identification
identification
of the
of the sender
sender and
and receiver
receiver of
of aa data
data frame,
frame, which
which waswas important
important to
to the
the realization
realization of
offrame
framerouting.
routing.

Figure 10. Format of frame.

4.2. Mission Control Software

The mission control software, which runs on the UAV’s on-board computer, consists of the
the software’s
following seven modules, and the software’s block
block diagram
diagram is
is shown
shown in
in Figure
Figure 11.
11.

Figure 11. Block diagram of mission control software.

1.
1. Flight
Flight Controller
Controller Interface:
Interface: manages
manages direct
direct communication
communication with
with Pixhawk
Pixhawk flight
flight controller over
controller over
USB
USB port.
port.
2.
2. UAV
UAV Status
Status Monitor:
Monitor: monitors
monitors flight
flight and
and mission
mission parameters
parameters of
of the
the UAV, and reports
UAV, and reports them
them
regularly to the GCS.
regularly to the GCS.
Sensors 2016, 16, 1696 10 of 21

3. Command Interface: translates user commands into low-level instructions to the flight controller;
records and reports command execution status.
4. Communication System Interface: manages low-level message traffic between mission control
subsystem and ration telemetries; executes message framing, frame reception, and error checking.
5. Communication Relay Control: controls the relay of radio communication.
6. Startup Control: bootstraps the whole mission control software system during UAV
power-up process.

4.3. Software Realization of Relay Process

The presence of a relay implies that the relaying node (UAV “Mom” in this case) needs to handle
a frame routing. When processing received frames, the UAVs made use of the “Source ID” and “Target
ID” fields to filter and/or route the frames in the following manner.
• UAV “Son” is the terminal receiver, which only receives frames over the relay from “Mom.”
Therefore, “Son” only saves for further processing frames whose “Target ID” is equal to the ID of
“Son” itself.
• UAV “Mom” functions as a communication relay node, but it also receives control commands
from GCS. Therefore, “Mom” will save for further processing frames whose “Target ID” is equal
to the ID of “Mom” itself, and will re-transmit frames targeted at “Son” over Radio T2-1.
The above-mentioned frame routing logic is elaborated in the following pseudocode (Algorithms 1
and 2) and flow chart in Figure 12.

Algorithm 1: Frame Processing Logic, UAV Son

For (true) do:
if (frame receive from T2-2) do:
if (frame_target_id == id_son) do:
save frame for local processing.
else do:
discard frame.
end
end
end

Algorithm 2: Frame Processing Logic, UAV Mom

For (true) do:
if (frame receive from T1-2) do:
if (frame_target_id == id_mom) do:
save frame for local processing.
else if (frame_target_id == id_son) do:
send frame out from T2-1.
end
else if (frame received from T2-1) do:
if (frame_target_id == id_mom) do:
save frame for local processing.
else if (frame_target_id == id_GCS) do:
send frame out from T1-1.
end
end
end
Sensors 2016, 16, 1696 11 of 21
Sensors 2016, 16, 1696 11 of 20

The
The last
last field
field of
of the
the frame
frame contained
contained aa four-byte
four-byte cyclic
cyclic redundancy
redundancy checking
checking (CRC)
(CRC) code,
code, which
which
was computed using the IEEE 802.3 32-bit CRC polynomial. This CRC code
was computed using the IEEE 802.3 32-bit CRC polynomial. This CRC code was important was important because it
because
helps verify
it helps verifydata frame
data frameintegrity
integrityand
andprotect
protectthe
thesystem
systemfrom
fromthe
theinfluence
influenceofoferror-corrupted
error-corrupted data
data
or messages. Error-corrupted data or messages could be dangerous, as they might
or messages. Error-corrupted data or messages could be dangerous, as they might be mistakenly be mistakenly
understood
understood by by the
the UAV’s
UAV’s mission
mission control
control subsystem
subsystem as
as wrong
wrong commands,
commands, resulting
resulting in unpredictable
in unpredictable
and
and potentially
potentially dangerous
dangerous behavior.
behavior.

(a) (b)
Figure
Figure 12.
12. Flow
Flow chart
chart of
of mission
mission control
control software
software for
for (a)
(a) UAV “Son” and
UAV “Son” and (b)
(b) UAV
UAV“Mom”.
“Mom”.

4.4. Mini GCS

4.4. Mini GCS
A ground control software, named “Mini GCS”, was developed in-house. Mini GCS is an
A ground control software, named “Mini GCS”, was developed in-house. Mini GCS is an
integrated UAV control interface that is compatible with Windows 7, 8, and 10 systems. The functions
integrated UAV control interface that is compatible with Windows 7, 8, and 10 systems. The functions
of Mini GCS include handling data exchanges with UAVs, displaying information about the UAVs,
of Mini GCS include handling data exchanges with UAVs, displaying information about the UAVs, and
and providing an interface for users to send commands to the UAVs. It allows users to monitor the
providing an interface for users to send commands to the UAVs. It allows users to monitor the status of
status of both UAVs, and to control the mission of each UAV from a single, integrated interface,
both UAVs, and to control the mission of each UAV from a single, integrated interface, which makes it
which makes it a crucial communication node in the communication relay network. Mini GCS was
a crucial communication node in the communication relay network. Mini GCS was implemented using
implemented using C#, and the graphic user interface (GUI) was constructed using Microsoft
C#, and the graphic user interface (GUI) was constructed using Microsoft Windows .NET framework.
Windows .NET framework. Because the main focus of this work is to demonstrate a signal relay
Because the main focus of this work is to demonstrate a signal relay system for the UAV applications,
system for the UAV applications, details of this Mini GCS software are not emphasized in the
details of this Mini GCS software are not emphasized in the manuscript and the source code is included
manuscript and the source code is included in the section of Supplementary Materials for reference.
in the section of Supplementary Materials for reference.
Figure 13 shows a screenshot of Mini GCS. A number of features are available.
Figure 13 shows a screenshot of Mini GCS. A number of features are available.
 UAV Status Display: displays to users a selected set of important information about each UAV,
• UAV Status
including Display: displays
communication to users
status, a selected
GPS status, setmode,
flight of important
altitude,information
speed etc. about each UAV,
 including
UAV Command communication status, GPS
Line: a command linestatus, flight
interface mode,
that altitude,
allows users tospeed
sendetc.
specific commands to
• any UAV nodes in the network such as takeoff, land, return to launch, etc.specific commands to
UAV Command Line: a command line interface that allows users to send
 any
UAV UAV nodesDisplay:
Position in the network
displayssuch
theasreal-time
takeoff, land, return
position andtoheading
launch,ofetc.
both UAVs in a map of
• UAV Position Display:
the mission area. displays the real-time position and heading of both UAVs in a map of the
mission area.
Sensors 2016, 16, 1696 12 of 21
Sensors 2016, 16, 1696 12 of 20

Figure 13.
Figure 13. Graphic
Graphic user
user interface
interface (GUI)
(GUI) of
of Mini
Mini GCS.
GCS.

5. Performance
5. PerformanceTests
Tests
To verify
To verify the
the performance
performance of of the
the system,
system, aa series
series ofof indoor
indoor and and outdoor
outdoor tests
tests were
were carried
carried out.
out.
First, the data loss rate and bit error rate (BER) were measured in
First, the data loss rate and bit error rate (BER) were measured in the laboratory environment to the laboratory environment to
choose the suitable data transmission rate for the relay system. Then,
choose the suitable data transmission rate for the relay system. Then, for outdoor tests, Received for outdoor tests, Received
Signal Strength
Signal Strength Indicator
Indicator (RSSI),
(RSSI), aa measurement
measurement of of the
the power
power present
present in in aa received
received radio
radio signal,
signal, was
was
measured. The
measured. The RSSI value scales
RSSI value scales asas 1.9
1.9×× the
the dBm
dBm signal
signal strength,
strength, plus plus an offset, which
an offset, which means
means the the
RSSI is proportional to the dBm [35]. We tested both UAVs in two
RSSI is proportional to the dBm [35]. We tested both UAVs in two typical application scenerios in typical application scenerios in
Hong Kong:
Hong Kong: oneone was
was to to cross
cross obstacles
obstacles and and the
the other
other was
was toto extend
extend the thecommunication
communication range. range. Finally,
Finally,
a BLOS demonstration was conducted to show the rundown
a BLOS demonstration was conducted to show the rundown and results of a whole application and results of a whole application
process
process
in Taiwan. in Notably,
Taiwan.when Notably, when the transmission
the transmission power of the powertelemetry of module
the telemetryis set tomodule is set to
the maximum the
value,
maximum
which is 20value,
dBm which
(100 mW), is 20 dBm (100 mW),
the typical range theachieved
typical range
usingachieved
standardusing standard configuration
configuration and antenna
and antenna is around 500 m. Due to the stringent flight
is around 500 m. Due to the stringent flight regulation and the area constraintregulation and the area constraint
of the testof the
sitetest
in
Hong Kong, it is almost impossible for the authors to test the beyond-line-of-sight flight and and
site in Hong Kong, it is almost impossible for the authors to test the beyond-line-of-sight flight the
the maximum
maximum powerpowerrelayrelay
whichwhich
would would exceed
exceed the allowed
the allowed flight
flight area.area. Therefore,
Therefore, to demonstrate
to demonstrate the
the relay function in Hong Kong, the authors have adjusted
relay function in Hong Kong, the authors have adjusted the transmission power of the the transmission power of the radio
radio to
to its
its minimum
minimum value
value (1/10
(1/10 ofof the
the max.)sosothat
max.) thatthe
theradios
radioswillwilldisconnect
disconnectat at about
about 100
100 m.
m. InIn this
this way,
way,
the relay methods can be tested in a relatively small area, otherwise, the
the relay methods can be tested in a relatively small area, otherwise, the telemetry modules will always telemetry modules will
always be connected. In missions requiring long distance communication,
be connected. In missions requiring long distance communication, the transmission power can be the transmission power
can beturned
easily easily turned to a maximum
to a maximum value tovalue
get theto get
bestthe best communication
communication range. range.

Tests
5.1. Indoor Tests
To investigate
To investigatethethereliability
reliabilityofof
ourour radio
radio communication
communication relay,
relay, the data
the data loss and
loss rate rate the
andBER
thewere
BER
were first tested indoors. Verifying the data loss rate and BER in an indoor
first tested indoors. Verifying the data loss rate and BER in an indoor environment under different environment under
different
data ratesdata
gaverates gave us knowledge
us knowledge about bandwidth
about the usable the usable bandwidth
of the system of and
the helped
system us and helpedthe
estimate us
estimate the
maximum maximum
data rate that data
can berate that
used in can be used
the flight in The
tests. the flight
GCS was tests. The GCStowas
configured configured
transfer data atto
a
transfer data at a fixed data rate, and the statistics of the received data at UAV
fixed data rate, and the statistics of the received data at UAV “Son” were measured. Two aspects of “Son” were measured.
Twodata
the aspects of the
transfer data
were transferthe
studied: were
datastudied: thewhich
loss rate, data loss
is therate, which isof
percentage the percentage
data that was of data
lost that
during
was lost during transmission (data that was transmitted from GCS but was
transmission (data that was transmitted from GCS but was not received by UAV “Son”); and the BER, not received by UAV
“Son”);was
which andthe
thepercentage
BER, which of was
datathe
thatpercentage
was received of data that was
by “Son” but received
did not pass by “Son”
the CRC buttest.
did not pass
the CRC
Teststest.
were conducted at four different data rates: 4 kilobits per second (kbps), 8 kbps, 12.8 kbps,
and 16Tests were
kbps. conducted
Figure 14 shows at four different
the setup data
of the rates:
test. The 4percentages
kilobits perof second (kbps),
data loss and 8BERkbps, 12.8
with kbps,
respect
and
to the16data
kbps. Figure
rate 14 shows
are shown the setup
in Figure 15. of the test. The percentages of data loss and BER with respect
to the data rate are shown in Figure 15.
Sensors 2016, 16, 1696 13 of 21
Sensors
Sensors 2016,
2016, 16,
16, 1696
1696 13
13 of
of 20
20

Figure 14.
14. Radio
Figure 14.
Figure Radio communication
Radio communication relay testing
relay testing
communication relay setup.
testing setup.
setup.

(a)
(a) (b)
(b)
Figure
Figure 15.
15. (a)
(a) Percentage of data loss and
and (b)
(b) bit
bit error rate with respect to data rate.
Figure 15. (a) Percentage
Percentage of
of data
data loss
loss and (b) bit error rate
error rate with
with respect
respect to
to data
data rate.
rate.

The
The tests
tests indicated
indicated that that when
when thethe data
data rate
rate was
was equal
equal to to or
or higher
higher than
than 44 kbps,
kbps, thethe data
data lost
lost
The
percentage tests indicated that when the data rate was equal to or higher than 4 kbps, the data lost
percentage roserose fromfrom 3% 3% toto 9%
9% and
and thethe data
data error
error rate
rate rose
rose from
from 0.2%
0.2% toto 0.5%,
0.5%, approximately.
approximately. A A
percentage
higher data rose
rate from
resulted3% in to both
9% and
more the
datadatalosserror
and rate
a rose chance
higher from 0.2% of to 0.5%,
data approximately.
transmission errors.
higher data rate resulted in both more data loss and a higher chance of data transmission errors.
A higheral.
Andre data estimated
rate resulted the in both more data loss and amissionhigher chance of isdata transmission
Andre et et al. [7]
[7] estimated that that the throughput
throughput of of typical
typical UAV
UAV mission commandscommands is less less than
than 10 10 kbps.
kbps.
errors.
In Andre et al. [7] estimated that the throughput of typical UAV mission commands is less
In our
our tests,
tests, thethe current
current usedused data
data rate
rate forfor aa two-UAV
two-UAV system system was was about
about 88 kbps.
kbps. Then,
Then, for for
than 10 kbps. In our
communication tests, the current usedthis
data rate for a two-UAV systemawas about 8ofkbps. Then,
communication relay applications with this system and configuration, a data rate of 8 kbps is
relay applications with system and configuration, data rate 8 kbps is
for communication
recommended relay applications with this system and configuration, a data rate of 8 kbps is
recommended to to ensure
ensure an an acceptable
acceptable compromised
compromised data data lose
lose and
and error
error rate.
rate.
recommended to ensure an acceptable compromised data lose and error rate.
5.2.
5.2. Cross-Obstacle
Cross-Obstacle Test Test
5.2. Cross-Obstacle Test
The
The outdoor
outdoor flightflight tests
tests were
were first
first conducted
conducted in in the
the International
International Model
Model Aviation
Aviation Center
Center of of the
the
The outdoor flight tests were first conducted in the International Model Aviation Center of the
Hong Kong Model Engineering Club (22°24′58.1″ N 114°02′35.4″ E).
Hong Kong Model Engineering Club (22°24′58.1″ N 114°02′35.4″ E). Figure 16 shows the Google map Figure 16 shows the Google map
Hong Kong Model Engineering Club (22◦ 240 58.100 N 114◦ 020 35.400 E). Figure 16 shows the Google map
of
of the
the test
test site
site andand final
final positions
positions of of the
the UAVsUAVs in in thethe test.
test. InIn the
the simulated
simulated cross-obstacle
cross-obstacle
of the test site and final positions of the UAVs in the test. In the simulated cross-obstacle communication
communication
communication relay relay test,
test, the
the UAV
UAV “Son”
“Son” waswas designed
designed to to conduct
conduct aa mission
mission that
that takes
takes off
off from
from thethe
relay test, the UAV “Son” was designed to conduct a mission that takes off from the “Home Position”,
“Home Position”, flies over a part of the forest with tall trees, and then lands
“Home Position”, flies over a part of the forest with tall trees, and then lands on the road across the on the road across the
flies over a part of the forest with tall trees, and then lands on the road across the forest (UAV “Son”
forest
forest (UAV
(UAV “Son”
“Son” in in Figure).
Figure). The
The tall
tall trees
trees would
would blockblock the
the communication
communication signal signal from
from GCSGCS to to UAV
UAV
in Figure). The tall trees would block the communication signal from GCS to UAV “Son”. Then the
“Son”. Then the UAV “Mom” took off and loitered at the UAV
“Son”. Then the UAV “Mom” took off and loitered at the UAV “Mom” position, which was above “Mom” position, which was above
UAV “Mom” took off and loitered at the UAV “Mom” position, which was above the forest. The UAV
the
the forest.
forest. The
The UAV UAV “Son”“Son” would
would recover
recover the the communication
communication with with home
home GSCGSC with
with the
the help
help of of relay
relay
“Son”
point would recover the communication with home GSC with the help of relay point UAV “Mom”.
point UAV
UAV “Mom”.
“Mom”. The The relative
relative positions
positions of of all
all the
the communication
communication nodes nodes cancan bebe more
more clearly
clearly
The relative positions
conceived of all the communication nodes can be more clearly conceived in the schematic
conceived in in the
the schematic
schematic shown shown inin Figure
Figure 17. 17.
shown in Figure 17.
Sensors 2016, 16, 1696 14 of 20
Sensors 2016, 16, 1696 14 of 21
Sensors 2016, 16, 1696 14 of 20

Figure 16.16.
Figure Final positions
Final positionsofofnodes
nodesininthe
theGoogle
Google map
map in the cross-obstacle teststest
cross-obstacletests testininHong
HongKong.
Kong.

Figure 17. Schematic of cross-obstacle communication relay flight test.

Figure 17. Schematic of cross-obstacle communication relay flight test.
RSSI and noise of both UAV “Son” and UAV “Mom” were recorded and shown in Figure 18.
RSSI
RSSI can and noise ofstrength
reflect both UAV “Son” and UAV “Mom” were recorded and
andshown in Figure 18.
RSSI and noisethe of both UAV of “Son”
wirelessandsignal
UAVreceived
“Mom” by the
were UAV
recorded “Mom”
and shown UAV “Son”.
in Figure After
18. RSSI
RSSI can reflect the strength of wireless signal received by the UAV “Mom” and UAV “Son”. After
canseveral
reflect tests, we found
the strength of that only signal
wireless when RSSI valueby
received is the
20 scale
UAV(about
“Mom” 7 dBm)
and UAV higher than the
“Son”. Afteraverage
several
several
noise tests,
value wecan found
the that only
wireless whenkeep
modules RSSIa value
stable is 20 scale (about
connection. 7 dBm)
Therefore, a higher
dashed than
blue line the
is average
added
tests, we found that only when RSSI value is 20 scale (about 7 dBm) higher than the average noise
noise valuefigure
to each can the wireless modules
to indicator when the keep a stable
connection is connection. Therefore,
lost or unstable. Theatest a started
dashedatblue line iswhen
added
value can the wireless modules keep a stable connection. Therefore, dashed blue time
line is 0 s,added to
to each
UAV figure
“Son” to indicator
took off and when
flew the
to theconnection
mission area.is lost
The or unstable.
duration of Thewhole
the test started
test at time
mission was 0 s, when
about
each figure to indicator when the connection is lost or unstable. The test started at time 0 s, when UAV
UAV 10 “Son” took120
min. Since off and
s, theflew
UAV to “Son”
the mission
reached area.theThe areaduration
behind theof the
tallwhole
trees so test
themission was about
RSSI decreased
“Son” took off and flew to the mission area. The duration of the whole test mission was about 10 min.
10 significantly
min. Since 120 untils, itthereached the noise
UAV “Son” level the
reached and area the connection
behind thewith the GCS
tall trees wasRSSI
so the lost.decreased
At this
Since 120 s, the UAV “Son” reached the area behind the tall trees so the RSSI decreased significantly
moment, the
significantly UAV
until it “Mom”
reachedtookthe off and level
noise flew to andthe therelay point. Before
connection with120thes, UAV
GCS“Mom”was lost. stayed At at
this
until it reached the noise level and the connection with the GCS was lost. At this moment, the UAV
home near the GSC so the RSSI remained at a high value. After
moment, the UAV “Mom” took off and flew to the relay point. Before 120 s, UAV “Mom” stayed attake off, the RSSI of UAV “Mom”
“Mom” took off and flew to the relay point. Before 120 s, UAV “Mom” stayed at home near the GSC so
homedecreased
near the butGSCstill so
remained
the RSSI much higherat
remained than the noise,
a high value.which
After means
take off,thatthethe UAV
RSSI of“Mom”
UAV “Mom” kept
theconnecting
RSSI remained at a high value. After take off, the RSSI of UAV “Mom” decreased but still remained
decreased butwith still the GSC. During
remained muchthe 180 tothan
higher 420 s,the thenoise,
UAV which
“Son” flew
means overthatthethe
forest
UAV and“Mom”
landed on kept
muchthe higher
road. Inthan
the the
Figurenoise, which
17a, the means
RSSI fell that
to thethesame
UAVscale “Mom”with kept
noiseconnecting
value. In with
this the GSC.
period, the During
UAV
connecting with the GSC. During the 180 to 420 s, the UAV “Son” flew over the forest and landed on
the“Son”
180 to 420 s, the disconnected
UAV “Son” flew withover the forest and landed on the road. In theflew
Figure 17a,tothe RSSI
the road. remained
In the Figure 17a, the RSSI GCS.
fell to After
the same the time
scale420s,
withthe UAV
noise “Mom”
value. close
In this period, the UAV
UAV
fell“Son”
to theandsame scale with noise value. In this period, the UAV “Son”
relayed the communication to help UAV “Son” reconnect with the GCS. Then the RSSI remained disconnected with
“Son” remained disconnected with GCS. After the time 420s, the UAV “Mom” flew close to UAV
GCS. After the time 420s, the UAV “Mom” flew close to UAV “Son” and relayed the communication to
“Son” and relayed the communication to help UAV “Son” reconnect with the GCS. Then the RSSI
Sensors 2016, 16, 1696 15 of 21
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Sensors 2016, 16, 1696 15 of 20
help
valueUAV “Son”recovered.
of “Son” reconnectThe
with the GCS.
UAV “Mom” Then the RSSI flied
continually valuetoofUAV
“Son” recovered.
“Son” The UAV
(away from “Mom”
the GCS) for
value of “Son”
continually recovered.
flied to UAV The
“Son” UAV
(away “Mom”
from continually
the GCS) for aflied
whileto UAV
which “Son”
caused(away from
further the
increase
a while which caused further increase of RSSI of “Son” and decrease of “Mon” at the end period. GCS)
of for
RSSI
a while
of “Son”which caused further
and decrease increase
of “Mon” at the of RSSI
end of “Son” and decrease of “Mon” at the end period.
period.

(a) (b)
(a) (b)
Figure 18. Received Signal Strength Indicator (RSSI), noise and critical curve of both (a) UAV “Son”
Figure 18.
and (b)18.
Figure UAVReceived
“Mom”.
Received Signal Strength
Signal Strength Indicator
Indicator (RSSI),
(RSSI), noise
noise and
and critical
critical curve
curve of
of both
both (a)
(a) UAV
UAV “Son”
“Son”
and (b) UAV “Mom”.
and (b) UAV “Mom”.
5.3. Extend Distance Test
5.3. Extend Distance Test
5.3. Extend
In the Distance Test
communication distance extension tests in Hong Kong, the UAV “Son” was firstly given
In
a mission thetocommunication
fly away as far distance
as extension
possible until the tests in Hong Kong,
connection the UAV “Son” was firstly given
In the communication distance extension tests in Hongwas lost.
Kong, theAfter
UAVrecording
“Son” was thefirstly
lost position,
given a
awhich
missionistoto fly 100
about away as far as possible until the connection was lost. After recording the lost
the position,
mission fly awaym, asthe
far UAV “Son” until
as possible continued to fly away
the connection forlost.
was about 60 mrecording
After and stayedtheatlost position,
position,
which
waiting is about 100 m, the UAV “Son” continued to fly away for about 60 m and stayed at the position,
which is for
aboutthe100
UAV m, “Mom”
the UAVto“Son”relaycontinued
the communication.
to fly awayThereafter,
for about 60them UAV “Mom”
and stayed took
at the off and
position,
waiting
flew to for
the the UAV “Mom”
direction of UAV to“Son”
relay until
the communication.
the connection Thereafter,
was theThe
rebuild. UAV “Mom”
final took of
positions offUAV
and
waiting for the UAV “Mom” to relay the communication. Thereafter, the UAV “Mom” took off and
flew
nodes to the direction of UAV “Son” 19.
until the the
connection of awas
relayrebuild. The final positions of UAV
flew to in
thethis test is of
direction shown
UAVin Figure
“Son” With
until the help was
connection node,
rebuild. The afinal
160 positions
m total connection
of UAV nodes was
nodes in
achieved. this test is shown in Figure 19. With the help of a relay node, a 160 m total connection was
in this test is shown in Figure 19. With the help of a relay node, a 160 m total connection was achieved.
achieved.

Figure 19. Final

Figure 19. Final positions
positions of
of nodes
nodes in
in the
the Google
Google map
map in
in the
the extended
extendeddistance
distancetest
testin
inHong
HongKong.
Kong.
Figure 19. Final positions of nodes in the Google map in the extended distance test in Hong Kong.
Sensors 2016, 16, 1696 16 of 21
Sensors 2016, 16, 1696 16 of 20
Sensors 2016, 16, 1696 16 of 20

The RSSI, noise and critical curves during the full test are shown in Figure 20. As is similar with
The RSSI, noise and critical curves during the full test are shown in Figure 20. As is similar with
the cross obstacle test, the communication between UAV “Son” and GCS was first lost at about 180 s
the
andcross obstacle
finally test, the
reconnected atcommunication
about 300 between UAV “Son”takeoff
and GCS was first losttoatUAV
about 180 s
300 ss when
when the
the UAV
UAV “Mom”
“Mom” takeoff and
and flew
flew near
near to UAV “Son”.
“Son”.
and finallyofreconnected
RSSI of UAVat“Mom”
of UAV about 300
“Mom” wassdue
when
due the
toits UAV “Mom”
itstakeoff
takeoff takeoff
andflying
flying awayand flewhome
from nearposition.
to UAV “Son”.
The drop of RSSI was to and away from home position.
The drop of RSSI of UAV “Mom” was due to its takeoff and flying away from home position.

(a) (b)
(a) (b)
Figure
Figure 20.
20. RSSI,
RSSI, noise,
noise, and
and critical
critical curve
curve of
of both
both (a)
(a) UAV “Son” and
UAV “Son” and (b)
(b) UAV
UAV “Mom”.
“Mom”.
Figure 20. RSSI, noise, and critical curve of both (a) UAV “Son” and (b) UAV “Mom”.
5.4. Beyond-Line-of-Sight
5.4. Tests
Beyond-Line-of-Sight Tests
Tests
5.4. Beyond-Line-of-Sight
To further
To further verify
verify the
the reliability
reliability of
of the
the communication
communication relayrelay system,
system, including
including minimini GCS,
GCS, in
in aa
To further verify the
beyond-line-of-sight missions, reliability
outdoorof the
flightcommunication
tests were relay
conducted system,
in Xigangincluding
flight mini
site, GCS,
Tainan in a
City,
beyond-line-of-sight
beyond-line-of-sight missions,
missions, outdoor
outdoor flight
flight tests
tests were
were conducted
conducted inin Xigang
Xigang flight
flight site, Tainan
site, Tainan City,
City,
Taiwan (23
Taiwan
(23°6′21.5″
◦ 60 21.500 N, 120°12′36.0″ E).
120◦ 120 36.000 E).
N, 120°12′36.0″
In
E).In
this
In this
test,
this test,
the
test, the
transmission
the transmission
power
transmission power
power of
of the telemetry
of the
the telemetry
modules
modules
Taiwan (23°6′21.5″
were turned
turned toto the N,
the maximum
maximum valuevalue to
to get
get the
the longest
longest communication
communication range.
range. The telemetry
The Google
Google map modules
map of
of the
the
were
were turned to the maximum value to get the longest communication range. The Google map of the
test site and final positions of the UAVs in the test are shown in Figure 21.
test site
test site and
and final
final positions
positions ofof the
the UAVs
UAVs in in the
the test
test are
areshown
shownininFigure
Figure21.21.

Figure 21. Final positions of nodes in the Google map in the extended distance test in Taiwan.
Figure
Figure 21.
21. Final
Final positions
positions of
of nodes
nodes in
in the
the Google
Google map
map in
in the
the extended
extended distance
distance test
test in
in Taiwan.
Taiwan.
The rundown of the typical flight mission is given below:
The rundown of the typical flight mission is given below:
1. The rundown
All UAVs of theand
(“Mom” typical
“Son”flight mission
in this case)isare
given below:
powered up.
1.
2. All UAVs (“Mom” and “Son”
Start GCS software “Mini GCS”. in this case) are powered up.
1.
2. All UAVs software
Start (“Mom” and “Son” in this case) are powered up.
3. Wait GCS “Mini
for communication GCS”.
relay network to start. The startup process is automatic and normally
2.
3. Start
Wait GCS
for software
communication“Mini GCS”.
relay network to start. The startup process is automatic and normally
takes less than three minutes.
takes less than three minutes.
Sensors 2016, 16, 1696 17 of 21

3. Wait for communication relay network to start. The startup process is automatic and normally
takes less than three minutes.
Sensors 2016, 16, 1696 17 of 20
4. Using “Mini GCS”, command “Son” to take off and start the execution of a preprogrammed
4. mission, whichGCS”,
Using “Mini bringscommand
“Son” to “Son”
a destination
to take far
off enough
and startfor
thethe radio communication
execution of a preprogrammed between
“Son” and which
mission, “Mini brings
GCS” to break.
“Son” to a destination far enough for the radio communication between
5. Wait until the communication
“Son” and “Mini GCS” to break. between “Son” and “Mini GCS” breaks due to distance.
6. 5. Using
Wait “Mini GCS”,
until the command “Mom”
communication betweento“Son”
take off
andand move
“Mini GCS” intobreaks
the proximity of the destination
due to distance.
6. area
Using “Mini GCS”,
of “Son”. “Mom” command “Mom” performs
automatically to take off aand move into the proximity
communication relay when of itthemoves
destination
toward
area of “Son”.
“Son” and reconnects. “Mom” automatically performs a communication relay when it moves toward
“Son” and reconnects.
The rundown of the test is shown as a series of pictures in Figure 22. A video clip demonstrating
The rundown of the test is shown as a series of pictures in Figure 22. A video clip demonstrating
the complete test procedure is given in the Supplementary Material. In the video demonstration,
the complete test procedure is given in the Supplementary Material. In the video demonstration,
UAV “Son” started a pre-defined mission. The mission is to fly away for about 600 m until the UAV
UAV “Son” started a pre-defined mission. The mission is to fly away for about 600 m until the UAV
waswasBLOS
BLOS ininFigure
Figure22c.
22c.When
Whenthe
theconnection
connection between “Son”and
between “Son” andGCS
GCSwas waslost
lost(indicated
(indicated bybythethe
green “Connected” icon changing to the red “Disconnected”), “Mom” was deployed
green “Connected” icon changing to the red “Disconnected”), “Mom” was deployed to a designated to a designated
relaying
relayingposition
position (about 400400
(about m away
m awayfromfrom
homehome
position). Once Once
position). “Mom” reached
“Mom” the relaying
reached position,
the relaying
communication between “Son”
position, communication and
between GCSand
“Son” wasGCSre-established automatically
was re-established and was
automatically and not
was lost again
not lost
before the end of the mission.
again before the end of the mission.

(a) (b)

(c) (d)

(e) (f)
Figure 22. A rundown of flight test (a) Pre-takeoff setup of flight test; (b) UAV “Son” starts the
Figure 22. A rundown of flight test (a) Pre-takeoff setup of flight test; (b) UAV “Son” starts the mission;
mission; (c) “Son” is out of radio range and communication with it is lost; (d) UAV “Mom” is deployed
(c) “Son” is out of radio range and communication with it is lost; (d) UAV “Mom” is deployed to the
to the relay position; (e) Communication with “Son” is re-established after being relayed through
relay position; (e) Communication with “Son” is re-established after being relayed through “Mom”;
“Mom”; (f) “Mom” and “Son” return to launch position; the mission is completed.
(f) “Mom” and “Son” return to launch position; the mission is completed.
Eight flight tests were conducted. In all of the tests, the system was able to re-establish
communication between “Son” and “Mini GCS” through the relay of “Mom”. When “Mom” reached
the designated relaying position, the communication connection between “Son” and “Mini GCS” was
Sensors 2016, 16, 1696 18 of 21

SensorsEight flight
2016, 16, tests were conducted. In all of the tests, the system was able to re-establish
1696 18 of 20
communication between “Son” and “Mini GCS” through the relay of “Mom”. When “Mom” reached
adequately stable
the designated for mission
relaying operations.
position, The successful
the communication rate of the
connection communication
between “Son” and re-establishment
“Mini GCS” was
is 100%. The
adequately tests
stable fordemonstrated that: (1)
mission operations. Thethe system rate
successful is capable of maintainingre-establishment
of the communication uninterrupted
communication
is 100%. The testsbetween GCS and anthat:
demonstrated end node once
(1) the the relaying
system nodeofismaintaining
is capable properly deployed; and (2)
uninterrupted
connectivity
communication between
betweenGCSGCS
and and
the end node
an end can once
node be automatically
the relaying re-established when
node is properly the relaying
deployed; and
node
(2) reaches the
connectivity properGCS
between relaying position,
and the evencan
end node if it
behas been previously
automatically lost duewhen
re-established to an the
inadequate
relaying
relay.
node reaches the proper relaying position, even if it has been previously lost due to an inadequate relay.

6. Conclusions
Conclusionsand
andFuture
FutureDevelopment
Development
In this
thisstudy,
study,major
major attention
attentionwaswasgiven to implementing
given to implementing a functional and reliable
a functional proof-of-concept
and reliable proof-of-
UAV communication
concept relay system
UAV communication relaythat uses that
system commercially available hardware
uses commercially components
available hardware combined
components
with customized
combined software. In
with customized the prototype
software. system, two
In the prototype quadrotors,
system, each mounted
two quadrotors, with a Pixhawk
each mounted with a
flight controller and a Raspberry Pi 2 Model B microcomputer were used
Pixhawk flight controller and a Raspberry Pi 2 Model B microcomputer were used as the aerial as the aerial platforms.
The onboard
platforms. Therelay controlrelay
onboard protocol and protocol
control program and wereprogram
developed to realize
were UAV to
developed communication
realize UAV
extension and cross-obstacle
communication extension andcommunication. The GSC software
cross-obstacle communication. wassoftware
The GSC also developed
was alsoto facilitate
developed
thefacilitate
to two-UAV therelay operations.
two-UAV A series ofAindoor
relay operations. and
series of outdoor
indoor and tests were
outdoor carried
tests wereout. Theout.
carried indoor
The
tests aimed
indoor teststoaimed
determine the suitable
to determine thedata transmission
suitable rate, while the
data transmission outdoor
rate, while tests
the demonstrated
outdoor tests
reliable communication
demonstrated performance performance
reliable communication in two proposed in two application
proposed scenarios
applicationinscenarios
Hong Kong and
in Hong
one BLOS
Kong and mission
one BLOS simulation
mission in Taiwan. All
simulation the outdoor
in Taiwan. testsoutdoor
All the showedteststhe system’s
showed thecapability
system’sof
maintaining
capability ofgood quality real-time
maintaining communication
good quality through relays, through
real-time communication and automatically
relays, and recovering from
automatically
communication
recovering from losses.
communication losses.
The current work focused only on communicationcommunication relay relay through
through aa single
single relaying
relaying node
node (UAV
(UAV
“Mom”).
“Mom”). Relays through multiple relaying nodes, although although feasible,
feasible, will
will be conducted
conducted in the near
The current
future. The current configuration
configuration of of the
the system
system allows
allows the
the system
system to be extended by adding more
relaying nodes. A possible configuration is illustrated in Figure 23, in which multiple relaying nodes
(“Mom 1” to “Mom N”) are connected connected in series,
series, forming
forming a bidirectional
bidirectional relay
relay system.
system. The current
design of the data frame permits, at most, 13 relaying nodes between “Son” and the GCS. When the
format of the data frames was designed, four binary bits were assigned to represent the “ID” of the
UAV. With
UAV. With four
four bits
bits to
to use,
use, atat most
most 16 unique IDs could be represented, among among whichwhich UAV
UAV “Son”,
“Son”,
broadcasting ID occupied
GCS, and a special broadcasting occupied three places.
places. Therefore,
Therefore, there
there were
were 1313 unique
unique IDs
IDs left,
left,
which could then be taken up by 13 multiple UAV “Moms”, theoretically. However, the maximum
number of relaying nodes in practice may also be subjected to the constraint of the data rate. With
more UAVs in the system, more information will be exchanged. If If the
the data
data rate
rate is kept
kept unchanged,
unchanged,
communication between UAVs and GCS might experience longer
UAVs and GCS might experience longer delays. delays.

Figure
Figure 23.
23. Extending
Extending the
the relay
relay system
system by
by adding
adding relaying nodes.
relaying nodes.

Supplementary Materials: The following is available online at https://www.youtube.com/watch?v=HxN0oafNmzw,

Video S1: Multiple UAVs Telecommunication Demonstration. https://github.com/YifanJiangPolyU/UAV-
communication-relay, Source code 1: Mission control software source code. https://github.com/HKPolyU-
UAV/Mini_GCS, Source code 2: Mini-GSC source code.

Acknowledgments: This work is sponsored by Innovation and Technology Commission, Hong Kong under
Contract No. ITS/334/15FP. We also appreciate Hiu Fung Wan for his help in mechanical parts of this work.
Sensors 2016, 16, 1696 19 of 21

Supplementary Materials: The following is available online at https://www.youtube.com/watch?v=HxN0oafNmzw,

Video S1: Multiple UAVs Telecommunication Demonstration. https://github.com/YifanJiangPolyU/UAV-
communication-relay, Source code 1: Mission control software source code. https://github.com/HKPolyU-UAV/
Mini_GCS, Source code 2: Mini-GSC source code.
Acknowledgments: This work is sponsored by Innovation and Technology Commission, Hong Kong under
Contract No. ITS/334/15FP. We also appreciate Hiu Fung Wan for his help in mechanical parts of this work.
Author Contributions: Y.J. and J.S. conceived the relay system. B.L. built up the hardware platform. Y.J. developed
the protocol and onboard software. L.C. developed the G.C.S. software. B.L. and Y.J. performed the tests and
wrote the paper. C.W. was in charge of the whole project management.
Conflicts of Interest: The authors declare no conflict of interest.

Abbreviations
The following abbreviations are used in this manuscript:
BLOS Beyond-Line-of-Sight
UAV Unmanned Aerial Vehicle
GCS Ground Control Station
RSSI Received Signal Strength Indication
FHSS Frequency-Hopping Spread Spectrum
TDM Time Division Multiplex
UART Universal Asynchronous Receiver and Transmitter
CRC Cyclic Redundancy Checking
BER Bit Error Rate
GUI Graphic User Interface

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