CN108806336B - Monitoring and controlling device for micro unmanned aerial vehicle - Google Patents
Monitoring and controlling device for micro unmanned aerial vehicle Download PDFInfo
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- CN108806336B CN108806336B CN201810552009.1A CN201810552009A CN108806336B CN 108806336 B CN108806336 B CN 108806336B CN 201810552009 A CN201810552009 A CN 201810552009A CN 108806336 B CN108806336 B CN 108806336B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0043—Traffic management of multiple aircrafts from the ground
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/82—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K2203/00—Jamming of communication; Countermeasures
- H04K2203/10—Jamming or countermeasure used for a particular application
- H04K2203/22—Jamming or countermeasure used for a particular application for communication related to vehicles
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Abstract
The invention discloses a micro unmanned aerial vehicle monitoring and controlling device, and relates to a device for discovering and identifying measurement and control signals of a black flying micro unmanned aerial vehicle and controlling a communication link in the fields of national defense, public safety and radio monitoring. The device consists of a monitoring direction-finding antenna array, a monitoring and interference generation integrated machine, a power amplifier, a control antenna, a display and control computer and the like. This device has adopted unmanned aerial vehicle to observe and control signal detection identification technology, the relevant interferometer direction finding technique of two dimension, single-station location technique, dexterous control signal production technique, can realize that unmanned aerial vehicle observes and controls quick discovery and the model discernment of signal, to unmanned aerial vehicle and flight control hand's direction finding location to can block unmanned aerial vehicle and observe and control the link, realize making unmanned aerial vehicle compel to land or the effect of returning a voyage. The device has the characteristics of high integration level, high detection speed, high identification accuracy rate and the like, and solves the problems of early discovery and high-efficiency control of the 'black flying' unmanned aerial vehicle.
Description
Technical Field
The invention relates to a device for discovering and identifying measurement and control signals of a black flying micro unmanned aerial vehicle and controlling a communication link in the fields of national defense, public safety and radio monitoring, which is mainly suitable for discovering and early warning, disposing striking and positioning a flying control hand of an illegal unmanned aerial vehicle. The method is particularly suitable for ground protection and illegal unmanned aerial vehicle monitoring control in the fields of national defense, public safety and radio monitoring, and ensures the safety of airspace and frequency domain in a protection area.
Background
In recent years, micro unmanned aerial vehicles are more and more popular, but no effective management measures exist. The traditional radio monitoring direction-finding equipment can monitor the occurrence of signals in a frequency domain, but cannot clearly identify whether the unmanned aerial vehicle measures and controls the signals or not according to the signal attributes; the device can only carry out azimuth direction finding, does not have azimuth and pitching two-dimensional direction finding capabilities, and does not have positioning capability on a flight control hand; traditional control equipment and monitoring direction-finding equipment are independent respectively, can not link in real time with high efficiency. Therefore, the problem of 'black flying' of the micro unmanned aerial vehicle cannot be effectively solved.
Disclosure of Invention
The invention aims to avoid the defects in the background technology and provide a monitoring and controlling device for a micro unmanned aerial vehicle. The device make full use of unmanned aerial vehicle observes and controls signal characteristic and accomplishes detection and discernment, abandons original one-dimensional direction finding design theory, adopts two-dimentional direction finding and single station location technique based on relevant interferometer to realize unmanned aerial vehicle and the location of flying the control hand, utilizes dexterous control signal to block its and observes and controls the link, reaches the effect that makes unmanned aerial vehicle compel to land or return a voyage.
The purpose of the invention is realized as follows:
the utility model provides a miniature unmanned aerial vehicle monitoring control device, produces all-in-one (2), control antenna (3), power amplifier (4), apparent accuse computer (5) including monitoring direction finding antenna array (1), monitoring and interference, its characterized in that: the display and control computer (5) is connected with the monitoring and interference generating all-in-one machine (2) through a network port and is used for giving an instruction to the monitoring and interference generating all-in-one machine (2) by the display and control computer (5) and transmitting the monitoring and direction-finding positioning results of the monitoring and interference generating all-in-one machine (2) to the display and control computer (5) for processing and displaying; the radio frequency signal input port of the monitoring and interference generating integrated machine (2) is connected with the radio frequency output port of the monitoring direction-finding antenna array (1), and the monitoring and interference generating integrated machine (2) carries out frequency conversion, A/D sampling, signal detection and identification and direction-finding positioning on the radio frequency signal sent by the monitoring direction-finding antenna array (1) and generates a flexible control signal; the monitoring direction-finding antenna array (1) inducts and receives the electromagnetic wave energy of the space signal, and converts the electromagnetic wave energy into an electric signal to be output after matching; the TTL level control port of the monitoring and interference generating all-in-one machine (2) is connected with the TTL level control port of the power amplifier (4) and used for issuing a power amplifier switch instruction; a radio-frequency signal output port of the monitoring and interference generating all-in-one machine (2) is connected with a radio-frequency signal input port of a power amplifier (4), and the power amplifier (4) amplifies a radio-frequency signal sent by the monitoring and interference generating all-in-one machine (2); two cradle head control interfaces of the monitoring and interference generating integrated machine (2) are respectively connected with the monitoring direction-finding antenna array (1) and the control antenna (3) and are used for controlling the rotation of the antenna cradle head; the radio frequency signal output port of the power amplifier (4) is connected with the radio frequency signal input port of the control antenna (3), and the control antenna (3) transmits the input radio frequency control signal to the outside.
The monitoring direction-finding antenna array (1) adopts a circularly polarized receiving antenna, so that horizontal or vertical polarized signals of an unmanned aerial vehicle data chain can be conveniently received, and the antenna passes through a five-array element group cross array;
the monitoring and interference generating integrated machine (2) is composed of a down-conversion amplifying unit (6), a sampling processing unit (7), a monitoring and identifying unit (8), an up-conversion amplifying unit (9), a control signal generating unit (10) and a communication and control interface (11).
Compared with the background technology, the invention has the following advantages:
1. the invention adopts the special miniature unmanned aerial vehicle measurement and control signal monitoring technology, can detect, identify and accurately measure signal parameters even in a complex electromagnetic environment, completes the identification of the model of the unmanned aerial vehicle, has the advantages of high detection speed, high identification reliability and multiple identifiable models, and is ahead of the background technology in the field of the detection and identification of the measurement and control signals;
2. the invention adopts the two-dimensional correlation interferometer direction finding technology and the single station positioning technology to realize the direction finding and pitching direction finding of the micro unmanned aerial vehicle and the flight control hand and the distance measurement of the unmanned aerial vehicle and the flight control hand, and has the advantages of high direction finding precision, strong positioning capability and two-dimensional direction finding;
3. the invention adopts a smart control signal generation technology, can accurately aim in time and frequency according to a monitoring result, can guide a control antenna to accurately aim in space according to the direction information of the unmanned aerial vehicle, realizes blocking of a measurement and control link of the micro unmanned aerial vehicle under the condition of low interference-to-signal ratio, and has the advantages of wide control range, low control power and high control efficiency;
4. the invention adopts the integrated design technology of monitoring and control and the highly integrated technology, realizes the functions of monitoring, identifying, direction finding and positioning and control signal generation in a case, reduces the equipment amount, leads the control equipment automatically by the monitoring result, improves the automation degree and reduces the system cost.
Drawings
Fig. 1 shows a monitoring and controlling device for a micro unmanned aerial vehicle, which comprises a monitoring and direction-finding antenna array (1), a monitoring and interference generating integrated machine (2), a controlling antenna (3), a power amplifier (4) and a display and control computer (5).
Fig. 2 shows an integrated monitoring and interference generating machine according to the present invention, which includes a down-conversion amplifying unit (6), a sampling processing unit (7), a monitoring and identifying unit (8), an up-conversion amplifying unit (9), a control signal generating unit (10), and a communication and control interface (11).
Fig. 3 shows a monitoring and identifying unit (8) in the present invention, which includes a direction-finding unit (12), a single-station positioning unit (13), a signal detection and parameter estimation unit (14), and an unmanned aerial vehicle model identifying unit (15).
Fig. 4 is a control signal generating unit (10) in the present invention, which includes a baseband signal generating unit (16), a modulating unit (17), a digital-to-analog converting unit (18), a time amplitude control unit (19), and an output switch unit (20).
Detailed Description
The invention will be further described with reference to fig. 1 and 2.
Referring to fig. 1 to 2, the invention is composed of a monitoring direction-finding antenna array (1), a monitoring and interference generation integrated machine (2), a control antenna (3), a power amplifier (4) and a display control computer (5). FIG. 1 is an electrical schematic block diagram of the present invention, with an embodiment connecting the lines according to FIG. 1.
The monitoring direction-finding antenna array (1) adopts a circularly polarized receiving antenna, so that horizontal or vertical polarized signals of an unmanned aerial vehicle data chain can be conveniently received, and the antenna realizes signal monitoring and direction finding through a five-array element cross array. A flat spiral antenna is adopted, the diameter is 50mm, and the height is about 30 mm. The gain above 2.4G can be above 0dBm, with a maximum of about 4 dBm.
In the embodiment, the monitoring and interference generating integrated machine (2) is used for carrying out down-conversion, A/D sampling, signal detection and identification and direction-finding positioning on radio-frequency signals sent by the monitoring direction-finding antenna array 1 and generating smart control signals. The down-conversion, the detection and the like are realized by adopting a latest 7 series FPGA chip XC7K325T of Xilinx company, and the identification and the direction finding positioning are realized by adopting a DSP chip TMS320C6678 of TI company.
In the embodiment, the control antenna (3) adopts a cylindrical spiral circularly polarized directional antenna, so that interference to the unmanned aerial vehicle is facilitated, the antenna consists of three parts, namely 1.1G-1.7G cylindrical spiral with the height of 500mm, a square reflecting plate with the gain of 13-14dBm and the diameter of 90mm, the side length of the reflecting plate is 200mm, and the 3dB beam width is about 35 degrees. 2.4G-2.5G cylindrical spiral with height of 500mm, square reflecting plate with gain of 16-17dBm, spiral diameter of 40mm, reflecting plate side length of 100mm and 3dB beam width of 28 deg. 5.7G-6G cylindrical spiral with height of 500mm, square reflecting plate with gain of 19-20dBm, spiral diameter of 17mm, reflecting plate side length of 40mm and 3dB beam width of 21 deg.
In the embodiment, the power amplifier (4) amplifies the signal sent by the monitoring and interference generating integrated machine (2) and sends the amplified signal to the control antenna.
In the embodiment, the display control computer (5) adopts a commercially available notebook computer to realize the control of other equipment by sending instructions through a network interface, and receives and displays the processing result of the other equipment.
Claims (4)
1. The utility model provides a miniature unmanned aerial vehicle monitoring control device, produces all-in-one (2), control antenna (3), power amplifier (4) and apparent accuse computer (5) including monitoring direction finding antenna array (1), monitoring and interference, its characterized in that: the monitoring and interference generating integrated machine (2) is connected with the display and control computer (5) through a network port, and is used for giving a control instruction to the monitoring and interference generating integrated machine (2), the monitoring direction-finding antenna array (1), the control antenna (3) and the power amplifier (4) through the network port by the display and control computer (5), and transmitting the equipment state and the processing result of the monitoring and interference generating integrated machine (2), the monitoring direction-finding antenna array (1), the control antenna (3) and the power amplifier (4) to the display and control computer (5) through the network port for processing and displaying; the radio frequency signal input end of the monitoring and interference generating integrated machine (2) is connected with the radio frequency output port of the monitoring direction-finding antenna array (1), and the monitoring and interference generating integrated machine (2) carries out frequency conversion, A/D sampling, signal detection and identification and direction-finding positioning on the radio frequency signal sent by the monitoring direction-finding antenna array (1) and generates a flexible control signal; a holder control interface of the monitoring and interference generating all-in-one machine (2) is respectively connected with a holder control interface of the monitoring direction-finding antenna array (1) and a holder control interface of the control antenna (3), a control instruction is sent to the monitoring direction-finding antenna array (1) and the control antenna (3), and the equipment state is transmitted to the monitoring and interference generating all-in-one machine (2); the TTL level control port of the monitoring and interference generating all-in-one machine (2) is connected with the TTL level control port of the power amplifier (4) and used for issuing a power amplifier switch instruction; a radio-frequency signal output port of the monitoring and interference generation integrated machine (2) is connected with a radio-frequency signal input port of the power amplifier (4), and the control signal is sent to the power amplifier (4) for power amplification; the radio frequency signal output port of the power amplifier (4) is connected with the radio frequency signal input port of the control antenna (3), and the control antenna (3) transmits the input radio frequency control signal to the outside.
2. The monitoring and control device for the micro unmanned aerial vehicle as claimed in claim 1, wherein: the monitoring and interference generating integrated machine (2) consists of a down-conversion amplifying unit (6), a sampling processing unit (7), a monitoring and identifying unit (8), an up-conversion amplifying unit (9), a control signal generating unit (10) and a communication and control interface (11), wherein the down-conversion amplifying unit (6) is used for carrying out frequency conversion amplification on a radio frequency signal and then sending the radio frequency signal to the sampling processing unit (7); the sampling processing unit (7) converts the signals after frequency conversion and amplification into digital signals through AD sampling and then sends the digital signals to the monitoring and identifying unit (8); the monitoring and identifying unit (8) carries out signal detection and identification on the digital signal and sends the signal detection and identification result to the display and control computer (5) through a network port of the communication and control interface (11); the control signal generating instruction is issued by the display and control computer (5) through a network port of the communication and control interface (11), the control signal generating unit (10) generates an intermediate frequency control signal according to the control signal generating instruction and then sends the intermediate frequency control signal to the up-conversion amplifying unit (9), and the up-conversion amplifying unit (9) converts the intermediate frequency signal into a radio frequency signal and outputs the radio frequency signal to the power amplifier (4).
3. The monitoring and control device for the micro unmanned aerial vehicle as claimed in claim 2, wherein: the monitoring and identifying unit (8) consists of a direction finding unit (12), a single-station positioning unit (13), a signal detection and parameter estimation unit (14) and an unmanned aerial vehicle model identifying unit (15), wherein the direction finding unit (12) receives the sampling data of the sampling processing unit (7) and then calculates the azimuth and the pitch angle of the unmanned aerial vehicle and the remote controller by adopting a two-dimensional interferometer direction finding technology; the single-station positioning unit (13) calculates the positions of the unmanned aerial vehicle and the remote controller by using the direction finding result of the direction finding unit (12), and sends the positions to the display control computer (5) through a network port of the communication and control interface (11); the signal detection and parameter estimation unit (14) receives the sampling data of the sampling processing unit (7), completes the detection of the signals in the broadband and the parameter estimation, outputs the signal frequency, the bandwidth and the time result and sends the result to the unmanned aerial vehicle model identification unit (15); the unmanned aerial vehicle model identification unit (15) receives the output result of the signal detection and parameter estimation unit (14) to judge the model of the unmanned aerial vehicle, and the model is sent to the display control computer (5) through a network port of the communication and control interface (11).
4. The monitoring and control device for the micro unmanned aerial vehicle as claimed in claim 2, wherein: the control signal generating unit (10) consists of a baseband signal generating unit (16), a modulating unit (17), a digital-analog converting unit (18), a time amplitude control unit (19) and an output switch unit (20), wherein the baseband signal generating unit (16) receives an instruction issued by the display and control computer (5) through a communication and control interface (11), generates a baseband signal according to instruction information and sends the baseband signal to the modulating unit (17); the modulation unit (17) modulates the baseband signal and sends the modulated baseband signal to the digital-analog conversion unit (18); a digital-analog conversion unit (18) converts the digital signal into an analog signal and sends the analog signal to a time amplitude control unit (19); the time amplitude control unit (19) adjusts the time and amplitude of the signal and then sends the signal to the output switch unit (20); the output switch unit (20) controls the output of the signal and sends the output signal to the up-conversion amplifying unit (9).
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| CN201810552009.1A CN108806336B (en) | 2018-05-31 | 2018-05-31 | Monitoring and controlling device for micro unmanned aerial vehicle |
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| CN201810552009.1A CN108806336B (en) | 2018-05-31 | 2018-05-31 | Monitoring and controlling device for micro unmanned aerial vehicle |
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| CN110231594A (en) * | 2019-05-23 | 2019-09-13 | 北京航空航天大学 | A kind of unmanned plane interference counter system |
| CN110233695A (en) * | 2019-07-12 | 2019-09-13 | 成都能通科技有限公司 | A kind of jamming equipment and its implementation of anti-unmanned plane |
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| CN103617750B (en) * | 2013-12-05 | 2015-05-06 | 中国航空无线电电子研究所 | Hybrid monitoring collision avoidance warning method and system for multiplex omni-directional antennas |
| US9601022B2 (en) * | 2015-01-29 | 2017-03-21 | Qualcomm Incorporated | Systems and methods for restricting drone airspace access |
| CN105099577B (en) * | 2015-06-11 | 2018-05-04 | 中国电子科技集团公司第三十六研究所 | A kind of radio monitoring equipment and wireless monitoring method, device |
| CN105243877B (en) * | 2015-10-18 | 2018-07-06 | 上海圣尧智能科技有限公司 | A kind of unmanned plane blank pipe module and unmanned plane |
| CN106330356A (en) * | 2016-08-26 | 2017-01-11 | 成都华创电科信息技术有限公司 | Radio monitoring and direction finding system |
| CN106504588B (en) * | 2016-10-25 | 2019-09-27 | 中国民航大学 | Multi-platform low latitude domain monitoring system and method based on Beidou II and mobile network |
| CN107507461A (en) * | 2017-09-27 | 2017-12-22 | 中国科学院云南天文台 | A kind of unmanned plane quickly identifies system of defense |
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