CN109462445B - Method and device for separating unmanned aerial vehicle from multiple targets in same frequency band in urban environment - Google Patents
Method and device for separating unmanned aerial vehicle from multiple targets in same frequency band in urban environment Download PDFInfo
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- CN109462445B CN109462445B CN201811520391.4A CN201811520391A CN109462445B CN 109462445 B CN109462445 B CN 109462445B CN 201811520391 A CN201811520391 A CN 201811520391A CN 109462445 B CN109462445 B CN 109462445B
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Abstract
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method and a device for separating multiple targets in the same frequency band of an unmanned aerial vehicle in an urban environment. Sampling at least two unmanned aerial vehicles in a space for a set number of times to obtain received signals, and constructing a blocking matrix and carrying out blocking processing on the same-frequency unmanned aerial vehicle signals to obtain processed same-frequency unmanned aerial vehicle signals when coherent same-frequency unmanned aerial vehicle signals exist in the received signals; the method comprises the steps of obtaining covariance matrixes of processed same-frequency unmanned aerial vehicle signals by adopting a beam forming method, separating the covariance matrixes according to full-array optimal beam formers corresponding to optimal weight vectors to obtain spatially separated same-frequency unmanned aerial vehicle signals, blocking the same-frequency coherent signals through a constructed blocking matrix, filtering expected signals in the same-frequency coherent signals, restraining multipath interference, recovering the processed signals through full-array beam forming to realize separation of same-frequency-band multi-target signals, and is suitable for unmanned aerial vehicle reconnaissance operation existing in same-frequency-band multi-target signal sources.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method and a device for separating multiple targets in the same frequency band of an unmanned aerial vehicle in an urban environment.
Background
In unmanned aerial vehicle bee colony battle, unmanned aerial vehicle signal generally adopts code division multiple access form, has a plurality of target signal in the same frequency channel. In addition, in an urban environment, the reflection of the signal by buildings and the like causes multipath effect, so that the expected signal is related to interference and even coherent in reconnaissance, and the factors adversely affect the detection and identification of the unmanned aerial vehicle.
The existing unmanned aerial vehicle detection device mostly adopts amplitude comparison method direction finding and interferometer direction finding, the two systems can not process the co-frequency band or multiple unmanned aerial vehicle signals of similar frequency bands, and the target identification accuracy is low. Some unmanned aerial vehicle detection devices adopting an array system lack algorithms capable of effectively realizing separation of multiple unmanned aerial vehicle signals and multipath signals thereof in the same frequency band. Therefore, the existing unmanned aerial vehicle reconnaissance method has the obvious defects that the multipath interference cannot be inhibited and the method is not suitable for the same-frequency-band multi-target signal source.
Disclosure of Invention
The invention aims to provide a method and a device for separating multiple targets in the same frequency band of an unmanned aerial vehicle in an urban environment, which are used for solving the problems that the existing unmanned aerial vehicle for detection cannot inhibit multipath interference and is not suitable for multiple target signal sources in the same frequency band.
In order to realize the separation of the same-frequency-band multi-target signals of the unmanned aerial vehicle, the problem that the existing unmanned aerial vehicle for detection cannot inhibit multipath interference and is not suitable for the same-frequency-band multi-target signal source during detection is solved. The invention provides a method for separating multiple targets in the same frequency band of an unmanned aerial vehicle in an urban environment, which comprises the following steps:
1) sampling at least two unmanned aerial vehicles in the space for a set number of times to obtain received signals;
2) when coherent common-frequency unmanned aerial vehicle signals exist in the received signals, constructing a blocking matrix and carrying out blocking processing on the common-frequency unmanned aerial vehicle signals for expected signals to obtain processed common-frequency unmanned aerial vehicle signals;
3) and obtaining a full-array optimal beam former corresponding to the optimal weight vector by adopting a minimum variance distortionless response beam forming method according to the covariance matrix of the processed co-frequency unmanned aerial vehicle signals, and separating the processed co-frequency unmanned aerial vehicle signals according to the full-array optimal beam former to obtain the spatially separated co-frequency unmanned aerial vehicle signals.
The method has the advantages that the constructed blocking matrix is used for blocking the same-frequency coherent signals, the expected signals in the same-frequency coherent signals are filtered, multi-path interference is restrained, the processed signals are recovered through full-array beam forming, separation of the same-frequency-band multi-target signals is achieved, and the method is suitable for unmanned aerial vehicle reconnaissance operation existing in the same-frequency-band multi-target signal source.
Further, in order to improve the robustness of the signal separation method to the estimation error of the angle of arrival of the desired signal, the blocking matrix at any stage is:
where k is the number of blocking stages, θ0The value of k is the minimum value of k when the following equation holds,
| · | represents the modulo, M is the number of array elements, d is the array element spacing, and λ is the wavelength of the received signal.
Further, in order to ensure that the sampled data is accurate, the sampling of the received signal in step 1) is performed by a multichannel digital uniform linear array device with an array element number of M and an interval of half wavelength, and then the vector of the received signal is:
in the formula sd(t) representing the desired signal for the angle of arrival of the desired signal, sq(t) the angle of arrival of the interference signal represents the interference waveform, θqQ is 1 … Q, the direction of the interference waveform, n (t) is the noise vector,
is a steering vector for the incoming signal.
Further, in order to keep the spatial characteristics of the interference signals unchanged, the blocking matrix B of k-level blocking is BkMultiplication by multiplication:
B＝BkBk-1…B1
vector x of co-frequency unmanned aerial vehicle signal subjected to k-level blocking processingk(t)＝Bx(t)。
Furthermore, in order to reduce the loss of array gain and simultaneously reduce the loss of output signal-to-interference-and-noise ratio, a complex weighting value vector w of each array element is obtained according to a minimum variance distortionless response beam forming method0：
In the formula RkIs a covariance matrix of the preprocessed signal and has
According to the phase relation between the sub-arrays, increasing progressively, for w0Performing full array beamforming to obtain w ═ Tw0Wherein the full matrix transformation matrix is:
in the formula
L is for samplingThe number of times of setting.
The invention provides an unmanned aerial vehicle same-frequency-band multi-target space separation device in an urban environment, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the program to realize the following steps:
1) sampling at least two unmanned aerial vehicles in the space for a set number of times to obtain received signals;
2) when coherent common-frequency unmanned aerial vehicle signals exist in the received signals, constructing a blocking matrix and carrying out blocking processing on the common-frequency unmanned aerial vehicle signals for expected signals to obtain processed common-frequency unmanned aerial vehicle signals;
3) the method comprises the steps of obtaining a full-array optimal beam former corresponding to an optimal weight vector by adopting a minimum variance distortionless response beam forming method according to a covariance matrix of processed same-frequency unmanned aerial vehicle signals, separating the processed same-frequency unmanned aerial vehicle signals according to the full-array optimal beam former to obtain spatially separated same-frequency unmanned aerial vehicle signals, blocking the same-frequency coherent signals through a constructed blocking matrix, filtering out expected signals in the signals, achieving multi-path interference suppression, recovering the processed signals through full-array beam forming, achieving separation of same-frequency-band multi-target signals, and being suitable for unmanned aerial vehicle reconnaissance operation existing in same-frequency-band multi-target signal sources.
Further, in order to improve the robustness of the signal separation method to the estimation error of the angle of arrival of the desired signal, the blocking matrix of any stage in the apparatus is:
where k is the number of blocking stages, θ0The value of k is the minimum value of k when the following equation holds,
| · | represents the modulo, M is the number of array elements, d is the array element spacing, and λ is the wavelength of the received signal.
Further, in order to ensure the sampled data to be accurate, in step 1) of the apparatus, the sampling of the received signal is performed by a multi-channel digital uniform linear array device with an array element number of M and an interval of half wavelength, and then the vector of the received signal is:
in the formula sd(t) representing the desired signal for the angle of arrival of the desired signal, sq(t) the angle of arrival of the interference signal represents the interference waveform, θqQ is 1 … Q, the direction of the interference waveform, n (t) is the noise vector,
is a steering vector for the incoming signal.
Further, in order to keep the space characteristics of the interference signals unchanged, the blocking matrix B of k-level blocking in the device is BkMultiplication by multiplication:
B＝BkBk-1…B1
vector x of co-frequency unmanned aerial vehicle signal subjected to k-level blocking processingk(t)＝Bx(t)。
Further, in order to reduce the array gain loss and simultaneously reduce the loss of the output signal-to-interference-and-noise ratio, the device obtains a complex weight value vector w of each array element according to a minimum variance distortionless response beam forming method0：
In the formula RkIs a covariance matrix of the preprocessed signal and has
According to the phase relation between the sub-arrays, increasing progressively, for w0Performing full array beamforming to obtain w ═ Tw0Wherein the full matrix transformation matrix is:
in the formula
L is the set number of times the sample is taken.
Drawings
FIG. 1 is a flow chart of a method for separating multiple targets in the same frequency band of an unmanned aerial vehicle in an urban environment according to the invention;
fig. 2 is a signal receiving schematic diagram of a channel digital uniform linear array device of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The method comprises the following steps:
the invention provides a method for separating multiple targets in the same frequency band of an unmanned aerial vehicle in an urban environment, which comprises the following steps as shown in figure 1:
1) and sampling at least two unmanned aerial vehicles in the space for a set number of times to obtain a received signal.
The multi-channel digital uniform linear array equipment is arranged to perform multi-fast-beat sampling on multiple unmanned aerial vehicle signals in space, as shown in fig. 2, the number of array elements arranged in the multi-channel digital uniform linear array equipment is M, the array element interval is d, the array element interval adopted by the invention is half wavelength, and the multi-channel digital uniform linear array equipment is OUTPUT through OUTPUT.
Sampling at least two unmanned aerial vehicles in space for a set number of times through multichannel digital uniform linear array equipment to obtain received signals, establishing a model of the received signals under the array equipment, wherein vectors of the received signals are as follows:
in the formula sd(t) representing the desired signal for the angle of arrival of the desired signal, sq(t) the angle of arrival of the interference signal represents the interference waveform, θ0To the desired signal direction of arrival, θqQ1 … Q is the origin of the interference waveformTo, n (t) is a noise vector,
is a steering vector for the incoming signal.
2) When coherent common-frequency unmanned aerial vehicle signals exist in the received signals, a blocking matrix is constructed, and blocking processing of expected signals is carried out on the common-frequency unmanned aerial vehicle signals, so that the processed common-frequency unmanned aerial vehicle signals are obtained.
Firstly, selecting a proper blocking level k according to the maximum value delta theta of the system wave arrival angle error. In principle, the larger Δ θ, the larger k is, and the minimum value of k is the value of k when the following expression is satisfied empirically.
In the formula, |, represents the modulus.
Suppose the k-th blocking matrix is BkStructure B ofkAs follows
Representing the k blocking processing as the product of the blocking matrix and the input signal, and setting the signal after the k blocking as xk(t) is provided with
xk(t)＝Bkxk-1(t)
The blocking matrix for k-level blocking is denoted as BkMultiplication by multiplication:
B＝BkBk-1…B1
by preprocessing the digital array received signal, blocking the desired signal therein, and keeping the spatial characteristics of the interference signal unchanged, the following results are obtained
xk(t)＝Bx(t)。
3) And according to the covariance matrix of the processed co-frequency unmanned aerial vehicle signals, obtaining a full-array optimal beam former corresponding to the optimal weight vector by adopting a minimum variance distortionless response beam forming method, and separating the processed co-frequency unmanned aerial vehicle signals according to the full-array optimal beam former to obtain the spatially separated co-frequency unmanned aerial vehicle signals.
In order to reduce the array gain loss and simultaneously reduce the output signal-to-interference-and-noise ratio loss, a complex weighting value vector w of each array element is obtained according to a Minimum Variance Distortionless Response (MVDR) beam forming method0：
In the formula RkIs a covariance matrix of the preprocessed signal and has
Signal x is blocked for each stage of desired signal in signal preprocessingk(t) is reduced in dimension by one dimension, thus obtaining an array element complex weight value vector w0Is smaller than the array dimension M, belongs to partial beamforming, and there is an array aperture loss. According to the phase relation between the sub-arrays, increasing progressively, for w0Carrying out full-array beam forming to obtain the equivalent optimal weight vector w ═ Tw of the full-array optimal beam former0Wherein the full matrix transformation matrix is:
in the formula
L is the set number of times the sample is taken.
The constructed blocking matrix is used for blocking the same-frequency coherent signals, filtering the expected signals in the same-frequency coherent signals, realizing multi-path interference suppression, and simultaneously recovering the processed signals through full-array beam forming to realize separation of the same-frequency-band multi-target signals, so that the method is suitable for unmanned aerial vehicle reconnaissance operation existing in the same-frequency-band multi-target signal source.
The embodiment of the device is as follows:
the invention provides an unmanned aerial vehicle same-frequency-band multi-target space separation device in an urban environment, which comprises a memory, a processor and a computer program, wherein the computer program is stored in the memory and can run on the processor, and the method in the embodiment of the method is realized when the processor executes the program.
The present invention has been described in relation to particular embodiments thereof, but the invention is not limited to the described embodiments. The technical means in the above embodiments are changed, replaced, modified in a manner that will be easily imaginable to those skilled in the art, and the functions of the technical means are substantially the same as those of the corresponding technical means in the present invention, and the objectives of the invention are also substantially the same, so that the technical solution formed by fine tuning the above embodiments still falls into the protection scope of the present invention.
Claims (8)
1. A method for separating unmanned aerial vehicles from multiple targets in the same frequency band in an urban environment is characterized by comprising the following steps:
1) sampling at least two unmanned aerial vehicles in the space for a set number of times to obtain received signals;
2) when coherent common-frequency unmanned aerial vehicle signals exist in the received signals, constructing a blocking matrix and carrying out blocking processing on the common-frequency unmanned aerial vehicle signals for expected signals to obtain processed common-frequency unmanned aerial vehicle signals;
3) obtaining a full-array optimal beam former corresponding to an optimal weight vector by adopting a minimum variance distortionless response beam forming method according to a covariance matrix of the processed co-frequency unmanned aerial vehicle signals, and separating the processed co-frequency unmanned aerial vehicle signals according to the full-array optimal beam former to obtain spatially separated co-frequency unmanned aerial vehicle signals;
the blocking matrix at any level is:
where k is the number of blocking stages, θ0Selecting proper blocking series k according to the maximum value delta theta of the system angle of arrival error for the expected signal direction, wherein the k value is large or smallIs the minimum value of k when the following equation holds,
| is a modulus, M is the number of array elements, d is the spacing of the array elements, and λ is the wavelength of the received signal;
the blocking matrix B of k-level blocking is BkMultiplication by multiplication: b ═ BkBk-1…B1。
2. The method for separating the multiple targets in the same frequency band of the unmanned aerial vehicle in the urban environment according to claim 1, wherein the sampling of the received signals in the step 1) is performed by multi-channel digital uniform linear array equipment with an array element number of M and an interval of half wavelength, and then the vectors of the received signals are as follows:
in the formula sd(t) representing the desired signal for the angle of arrival of the desired signal, sq(t) the angle of arrival of the interference signal represents the interference waveform, θqQ is 1 … Q, the direction of the interference waveform, n (t) is the noise vector,
is a steering vector for the incoming signal.
3. The method for separating multiple targets in the same frequency band of unmanned aerial vehicle in urban environment according to claim 2, characterized in that,
vector x of co-frequency unmanned aerial vehicle signal subjected to k-level blocking processingk(t)＝Bx(t)。
4. The method according to claim 3, wherein the complex weighting value vector w of each array element is obtained according to a minimum variance distortionless response beamforming method0：
In the formula RkIs a covariance matrix of the preprocessed signal and has
According to the phase relation between the sub-arrays, increasing progressively, for w0Performing full array beamforming to obtain w ═ Tw0Wherein the full matrix transformation matrix is:
in the formula
K is the total number of occlusion processes and L is the set number of samplings.
5. An unmanned aerial vehicle same-frequency-band multi-target space separation device in an urban environment comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and is characterized in that the processor executes the program to realize the following steps:
1) sampling at least two unmanned aerial vehicles in the space for a set number of times to obtain received signals;
2) when coherent common-frequency unmanned aerial vehicle signals exist in the received signals, constructing a blocking matrix and carrying out blocking processing on the common-frequency unmanned aerial vehicle signals for expected signals to obtain processed common-frequency unmanned aerial vehicle signals;
3) obtaining a full-array optimal beam former corresponding to an optimal weight vector by adopting a minimum variance distortionless response beam forming method according to a covariance matrix of the processed co-frequency unmanned aerial vehicle signals, and separating the processed co-frequency unmanned aerial vehicle signals according to the full-array optimal beam former to obtain spatially separated co-frequency unmanned aerial vehicle signals;
the blocking matrix at any level is:
where k is the number of blocking stages, θ0Selecting a proper blocking stage number k according to the maximum value delta theta of the system angle-of-arrival error, wherein the value of k is the minimum value of k when the following formula is satisfied,
| is a modulus, M is the number of array elements, d is the spacing of the array elements, and λ is the wavelength of the received signal;
the blocking matrix B of k-level blocking is BkMultiplication by multiplication: b ═ BkBk-1…B1。
6. The unmanned aerial vehicle same-frequency-band multi-target space separation device in the urban environment according to claim 5, wherein the sampling of the received signals in the step 1) is sampling by a multi-channel digital uniform linear array device with an array element number of M and an interval of half wavelength, and then the vectors of the received signals are as follows:
in the formula sd(t) representing the desired signal for the angle of arrival of the desired signal, sq(t) the angle of arrival of the interference signal represents the interference waveform, θqQ is 1 … Q, the direction of the interference waveform, n (t) is the noise vector,
is a steering vector for the incoming signal.
7. The device for separating multiple targets in the same frequency band of unmanned aerial vehicle in urban environment according to claim 6, wherein,
vector x of co-frequency unmanned aerial vehicle signal subjected to k-level blocking processingk(t)＝Bx(t)。
8. The device for separating multiple targets in the same frequency band of unmanned aerial vehicle in urban environment according to claim 7, wherein the complex weighting value vector w of each array element is obtained according to a minimum variance distortionless response beam forming method0：
In the formula RkIs a covariance matrix of the preprocessed signal and has
According to the phase relation between the sub-arrays, increasing progressively, for w0Performing full array beamforming to obtain w ═ Tw0Wherein the full matrix transformation matrix is:
in the formula
K is the total number of occlusion processes and L is the set number of samplings.
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