CN113641186B - Unmanned aerial vehicle formation radio frequency compatibility design method - Google Patents
Unmanned aerial vehicle formation radio frequency compatibility design method Download PDFInfo
- Publication number
- CN113641186B CN113641186B CN202110905183.1A CN202110905183A CN113641186B CN 113641186 B CN113641186 B CN 113641186B CN 202110905183 A CN202110905183 A CN 202110905183A CN 113641186 B CN113641186 B CN 113641186B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- formation
- radio frequency
- equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 97
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000013461 design Methods 0.000 title claims abstract description 39
- 238000001228 spectrum Methods 0.000 claims abstract description 53
- 230000008878 coupling Effects 0.000 claims abstract description 15
- 238000010168 coupling process Methods 0.000 claims abstract description 15
- 238000005859 coupling reaction Methods 0.000 claims abstract description 15
- 238000004590 computer program Methods 0.000 claims description 21
- 238000010586 diagram Methods 0.000 claims description 18
- 230000006870 function Effects 0.000 claims description 17
- 238000004088 simulation Methods 0.000 claims description 17
- 238000004458 analytical method Methods 0.000 claims description 10
- 230000035945 sensitivity Effects 0.000 claims description 8
- 238000005755 formation reaction Methods 0.000 description 74
- 238000005516 engineering process Methods 0.000 description 10
- 238000005259 measurement Methods 0.000 description 10
- 239000011159 matrix material Substances 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The application relates to the technical field of aircraft overall design, in particular to a radio frequency compatibility design method for unmanned aerial vehicle formation, which comprises the following steps of S1, acquiring radio frequency spectrums of signal receiving and transmitting equipment used by a plurality of unmanned aerial vehicle platforms in formation, and determining the signal receiving and transmitting equipment with interference; s2, determining the minimum influence distance and the angle limit value of the sensor of the transceiver of each unmanned aerial vehicle platform according to the sensor characteristics of the transceiver of each unmanned aerial vehicle platform in the formation; step S3, determining the sensor service condition of the signal transceiver equipment of each unmanned aerial vehicle platform in a given task mode; and S4, determining the interference coupling condition of the antenna ends of the signal receiving and transmitting equipment of each unmanned aerial vehicle platform under the current position condition according to the established unmanned aerial vehicle formation configuration. The application can effectively improve the spectrum utilization rate of the airplane based on each task mode and solve the radio frequency compatibility of the formation system.
Description
Technical Field
The application relates to the technical field of aircraft overall design, in particular to an unmanned aerial vehicle formation radio frequency compatibility design method.
Background
The formation cooperative execution task of the unmanned aerial vehicle is a main working mode of a subsequent unmanned aerial vehicle platform, the radio frequency compatibility design technology between the cooperative formation systems of the unmanned aerial vehicle in China does not have related technology accumulation and technology description at present, and the existing civil unmanned aerial vehicle is basically a demonstration type. The military unmanned aerial vehicle is only a reconnaissance type or a reconnaissance and beating integrated aircraft, formation cooperation of homogeneous monomers is not involved, and no related technical research is provided for formation cooperation radio frequency compatibility design of the unmanned aerial vehicle.
Aiming at other miniature or handheld unmanned aerial vehicles, sliding rail type launching unmanned aerial vehicles and other photography or cluster demonstration unmanned aerial vehicles, the time division multiple access measurement and control (TDMA) technology of a single frequency point measurement and control link is generally not related to the frequency spectrum management and control and radio frequency compatible comprehensive design technology of various navigation, communication, measurement and control and other task loads between a single platform and formation, and the prior art is insufficient for supporting the development and the use of a medium-sized and large-sized unmanned aerial vehicle.
Disclosure of Invention
The unmanned aerial vehicle formation radio frequency compatible technology based on the task mode is mainly solved, and is one of technologies which must be solved by engineering development practice. Aiming at unmanned aerial vehicle formation coordination, the application provides a frequency spectrum compatibility design technology based on a task mode, and the use requirements of radio frequency equipment sensors of each unmanned aerial vehicle platform among formations are combined with equipment frequency spectrum conflict of tasks at each stage in the use process of an airplane, so that the radio frequency compatibility design and frequency spectrum dynamic allocation design of frequency spectrum conflict equipment are developed, the frequency spectrum management and control design based on isomorphic equipment (same equipment) of each platform is developed, and further, the same-frequency wide-spectrum receiving and transmitting radio frequency compatibility comprehensive design of a multi-unmanned aerial vehicle formation system is realized.
The application provides a radio frequency compatibility design method for unmanned aerial vehicle formation, which mainly comprises the following steps:
step S1, acquiring radio frequency spectrums of signal receiving and transmitting equipment used by a plurality of unmanned aerial vehicle platforms in formation, and determining signal receiving and transmitting equipment with interference;
s2, determining the minimum influence distance and the angle limit value of the sensor of the transceiver of each unmanned aerial vehicle platform according to the sensor characteristics of the transceiver of each unmanned aerial vehicle platform in the formation;
step S3, determining the sensor service condition of the signal transceiver equipment of each unmanned aerial vehicle platform in a given task mode;
and S4, determining the interference coupling condition of the antenna ends of the signal receiving and transmitting equipment of each unmanned aerial vehicle platform under the current position condition according to the established unmanned aerial vehicle formation configuration.
Preferably, the method further comprises:
and S5, redesigning the signal receiving and transmitting equipment or redesigning a task mode of the signal receiving and transmitting equipment of the unmanned aerial vehicle platform with interference coupling.
Preferably, in step S1, the signal transceiver device with interference is determined by constructing a device spectrum distribution characteristic diagram, where the device spectrum distribution characteristic diagram uses a spectrum as an abscissa and uses device power or sensitivity as an ordinate, and areas where the spectrums of the transmitter and the receiver are located are marked up and down on the abscissa, and the signal transceiver device with interference is determined by overlapping the areas.
Preferably, in step S2, the sensor characteristics include antenna pattern, polarity, transmit power, and receiver sensitivity.
Preferably, in step S2, the minimum influence distance and the angle limit of the sensor of the transceiver device of each unmanned aerial vehicle platform are determined through the formation system spectrum compatibility simulation and the antenna coupling simulation.
Preferably, in step S3, the task mode includes a takeoff and climb phase, a formation phase, a voyage phase, a formation configuration phase based on a task, a task execution phase, a voyage phase, and a landing phase of the unmanned aerial vehicle.
Preferably, in step S4, further comprising:
according to the formation configuration, establishing an electromagnetic model of the transmitting and receiving sensor according to a method corresponding to an actual electromagnetic parameter numerical model and a theoretical model of the equipment;
simulation analysis of the interference coupling condition of the antenna ends of all the different common spectrum devices under the condition of the space position of the formation configuration of the airplane;
the method comprises the steps of simulating and analyzing a directional diagram and receiving and transmitting influences of each isomorphic equipment sensor in a formation system under the condition of formation space positions;
a signal transceiver device in which interference is present is determined.
Preferably, in step S5, the redesigning of the signal transceiver device includes: and coding the signal receiving and transmitting equipment of a plurality of unmanned aerial vehicle platforms in the formation in a frequency division multiple access and code division multiple access mode.
Preferably, in step S5, the redesigning of the task mode includes:
and determining the equipment corresponding to the relatively important function in the task mode, and closing other equipment except the equipment.
In another aspect, the application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, the processor implementing the unmanned aerial vehicle formation radio frequency compatibility design method as described above when executing the computer program.
In another aspect, the present application provides a computer readable storage medium storing a computer program, where the computer program when executed by a processor can implement the unmanned aerial vehicle formation radio frequency compatibility design method as above.
The application provides a brand-new radio frequency compatibility design method based on a task mode in an unmanned plane formation system, aiming at a task mode stage, the use requirement of equipment sensors in the formation system is simulated and an interference matrix is determined, isomorphic and heterogeneous compatibility design methods are adopted, so that the problem of limited equipment functions, particularly partial loss of the performance of broadband working equipment caused by hard locking or closing of a time domain is effectively solved, and the working performance of the aircraft communication, navigation, measurement and control and the working frequency domain of task load equipment in each frequency band can be fully released.
The application can effectively improve the spectrum utilization rate of the airplane based on each task mode. The radio frequency compatibility of the formation system is solved. The full play of unmanned aerial vehicle formation task performance is ensured. The design method improves the overall design level of electromagnetic compatibility of the unmanned aerial vehicle system.
Drawings
Fig. 1 is a flow chart of a method of designing radio frequency compatibility for unmanned aerial vehicle formation of the present application.
Fig. 2 is a diagram of the spectral distribution characteristics of the transmitting and receiving devices of the present application.
Fig. 3 is a graph showing the comparison of the signal strengths of the antennas of the present application.
Fig. 4 is a schematic diagram of a preferred embodiment of the electronic device of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application become more apparent, the technical solutions in the embodiments of the present application will be described in more detail with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the application. The embodiments described below by referring to the drawings are exemplary and intended to illustrate the present application and should not be construed as limiting the application. All other embodiments, based on the embodiments of the application, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The application provides a radio frequency compatibility design method for unmanned aerial vehicle formation, as shown in fig. 1, mainly comprising the following steps:
step S1, acquiring radio frequency spectrums of signal receiving and transmitting equipment used by a plurality of unmanned aerial vehicle platforms in formation, and determining signal receiving and transmitting equipment with interference;
s2, determining the minimum influence distance and the angle limit value of the sensor of the transceiver of each unmanned aerial vehicle platform according to the sensor characteristics of the transceiver of each unmanned aerial vehicle platform in the formation;
step S3, determining the sensor service condition of the signal transceiver equipment of each unmanned aerial vehicle platform in a given task mode;
and S4, determining the interference coupling condition of the antenna ends of the signal receiving and transmitting equipment of each unmanned aerial vehicle platform under the current position condition according to the established unmanned aerial vehicle formation configuration.
In some optional embodiments, the unmanned aerial vehicle formation radio frequency compatibility design method further comprises:
and S5, redesigning the signal receiving and transmitting equipment or redesigning a task mode of the signal receiving and transmitting equipment of the unmanned aerial vehicle platform with interference coupling.
In some optional embodiments, in step S1, the signal transceiver device with interference is determined by constructing a device spectrum distribution characteristic diagram, where the device spectrum distribution characteristic diagram uses a spectrum as an abscissa and uses a device power or sensitivity as an ordinate, and areas where the spectrums of the transmitter and the receiver are located are marked up and down on the abscissa, and the signal transceiver device with interference is determined by overlapping the areas.
Firstly, analyzing and characterizing the distribution characteristics of the radio frequency spectrum in the formation system. The method comprises the steps of carrying out spectrum characterization on the working frequency bands and the radio frequency electromagnetic parameters of all radio frequency devices of an aircraft platform, determining the spectrums of all transmitting devices and the spectrums of radio frequency receiving devices (shown in tables 1 and 2), drawing an aircraft transmitting and receiving spectrum distribution characteristic diagram, and overlapping the spectrums of the receiving devices of the device 1, the device 2 and the device 3 and the receiving spectrums of the transmitting devices, wherein the receiving spectrums of the measuring and controlling 1 and the receiving spectrums of the measuring and controlling 2 are overlapped. In alternative embodiments, a matrix map designation may also be employed; and analyzing the frequency spectrum incompatible receiving and transmitting devices (receiving or transmitting devices overlapped in the same frequency spectrum or working frequency band in the same period) in all the radio frequency devices according to the frequency spectrum distribution characteristics, and representing the frequency spectrum interference characteristics of the receiving and transmitting devices in the formation system.
Table 1 transmitter radio frequency parameters
Table 2 receiver radio frequency parameters
In some alternative embodiments, in step S2, the sensor characteristics include antenna pattern, polarity, transmit power, and receiver sensitivity.
In some alternative embodiments, in step S2, the minimum impact distance and the angle limit of the sensor of the transceiver device of each unmanned aerial vehicle platform are determined through formation system spectrum compatibility simulation and antenna coupling simulation.
In this embodiment, an analysis of the impact design of unmanned aerial vehicle formation configuration on formation compatibility is required. Forming a plausible unmanned aerial vehicle, such as a forming configuration: for example, 2 frames or 4 frames are formed into groups, and analysis can be performed in a mode of multi-group collaborative cluster formation.
The method mainly analyzes the distance, the height and the angle of each plane platform between formation, particularly when the formation is densely formed and the formation configuration is changed and is re-formed, and the antenna pattern, the polarity, the transmitting power and the receiver sensitivity of each platform transceiver device are combined, so that the influence of each platform device transmitting and receiving device antenna on other platforms is analyzed, the minimum influence distance and the angle limit value of each platform multi-source sensor (receiving or transmitting device) of the formation configuration in multiple angles are given according to the spatial positioning and the shared frequency spectrum of each plane in the formation system, and the interference is prevented from being caused by the fact that the receiving device of one plane in the formation receives the frequency spectrum transmitted by the transmitting device of the other plane in the formation, which has the same working frequency band with the receiving device. The content of the part can be further developed by combining the spectrum compatible simulation of the formation system and the antenna coupling simulation.
In some optional embodiments, in step S3, the task mode includes a takeoff and climb phase of the unmanned aerial vehicle, a formation phase, a voyage phase, a formation configuration phase based on a task, a task execution phase, a voyage phase, and a landing phase.
In the embodiment, according to the formation configuration, a sensor use requirement analysis based on a task mode and a use stage is carried out, and the sensor use requirements of isomorphic equipment and heterogeneous equipment of each platform in a typical task mode are determined (the receiving or transmitting condition of each stage/each equipment is determined); a spectrum access requirements matrix is listed for each platform transceiver device sensor usage requirement based on the mission pattern as shown in table 3.
Table 3 spectrum access requirement matrix illustration of the use requirements of each device
In some alternative embodiments, in step S4, further comprising:
according to the formation configuration, establishing an electromagnetic model of the transmitting and receiving sensor according to a method corresponding to an actual electromagnetic parameter numerical model and a theoretical model of the equipment;
simulation analysis of the interference coupling condition of the antenna ends of all the different common spectrum devices under the condition of the space position of the formation configuration of the airplane;
the method comprises the steps of simulating and analyzing a directional diagram and receiving and transmitting influences of each isomorphic equipment sensor in a formation system under the condition of formation space positions;
a signal transceiver device in which interference is present is determined.
In this embodiment, a predetermined formation configuration is acquired, and a design analysis of spectral compatibility in the formation system is performed according to the formation configuration. And (5) carrying out frequency spectrum compatibility simulation design analysis. According to the formation configuration, an electromagnetic model of the transmitting and receiving sensor is established according to a method corresponding to an actual electromagnetic parameter numerical model and a theoretical model of the equipment, and frequency spectrum compatibility simulation design analysis is carried out; simulation analysis is carried out on the interference coupling condition of the antenna ends of the different types of common spectrum equipment under the condition of the space position of the formation configuration of the airplane, and whether interference exists or not; and (3) analyzing the direction diagram and the receiving and transmitting influence of each isomorphic equipment sensor in the formation system under the condition of the formation space position in a simulation way, and analyzing whether interference exists. The number of the aircraft/receiving transmitting device for which interference is present is determined.
For example, the antenna on the device No. 2 machine measurement and control device 1 is used as a receiving end, the antenna on the device No. 1 machine measurement and control device 1 is used as a lower right antenna, and simulation results show that, as shown in fig. 3, the transmitted signal of the lower right antenna of the device No. 1 machine measurement and control device 1 exceeds the sensitivity of the receiver of the antenna on the device No. 2 machine measurement and control device 1, so that the antenna on the device No. 2 machine measurement and control device 1 receives the transmitted signal of the lower right antenna of the device No. 1 machine measurement and control device 1, and intra-formation co-channel interference exists.
And then, according to the radio frequency spectrum compatibility simulation result, combining the working states (transmitting and receiving) of each radio frequency device of the airplane to execute tasks, and establishing an interference association matrix in the formation system. As shown in table 4.
TABLE 4 formation of inter-system heterogeneous device interference correlation matrices
In table 4, "1" indicates interference, and "0" indicates no interference.
In some alternative embodiments, in step S5, the redesigning of the signaling device includes: and coding the signal receiving and transmitting equipment of a plurality of unmanned aerial vehicle platforms in the formation in a frequency division multiple access and code division multiple access mode.
In some alternative embodiments, in step S5, the redesigning the task mode includes:
and determining the equipment corresponding to the relatively important function in the task mode, and closing other equipment except the equipment.
Specifically, as isomorphic devices (the same device of different airplanes) among formation systems are more, the use requirements of isomorphic device sensors of each platform based on a task mode are basically overlapped, and the main technical method for designing the compatibility among the isomorphic devices is described as follows:
the cooperative formation system is used as an integral system, for the equipment which can adopt frequency division multiple access and code division multiple access, the method of adopting multiple access avoids isomorphic interference, and for the isomorphic equipment which can not adopt the measures, especially must be used when executing certain tasks, the function reassignment design can be carried out according to the spatial orientation of the formation aircraft. If the same equipment of a plurality of aircrafts with co-channel interference is determined, the use of equipment with important functions is ensured when a certain task mode is based, other equipment is closed, or the equipment of other platforms is replaced with the same function, namely, the integrated function design of the formation system is realized by adopting the technical method of functional closing and on duty in the system, so that isomorphic interference is avoided.
For example, in the dequeuing stage, only one aircraft empty pipe response device is set to work, and the functions of other 3 aircraft can be temporarily closed, so that interference caused by simultaneous emission is avoided.
The application also provides electronic equipment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the unmanned aerial vehicle formation radio frequency compatibility design method when executing the computer program.
The application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program can realize the unmanned aerial vehicle formation radio frequency compatibility design method when being executed by a processor.
Fig. 2 is an exemplary block diagram of an electronic device capable of being provided in accordance with one embodiment of the application. As shown in fig. 2, the electronic device includes an input device 501, an input interface 502, a central processor 503, a memory 504, an output interface 505, and an output device 506. The input interface 502, the central processing unit 503, the memory 504, and the output interface 505 are connected to each other through a bus 507, and the input device 501 and the output device 506 are connected to the bus 507 through the input interface 502 and the output interface 505, respectively, and further connected to other components of the electronic device. Specifically, the input device 504 receives input information from the outside, and transmits the input information to the central processor 503 through the input interface 502; the central processor 503 processes the input information based on computer executable instructions stored in the memory 504 to generate output information, temporarily or permanently stores the output information in the memory 504, and then transmits the output information to the output device 506 through the output interface 505; the output device 506 outputs the output information to the outside of the electronic device for use by the user.
That is, the electronic device shown in fig. 2 may also be implemented to include: a memory storing computer-executable instructions; and one or more processors that, when executing the computer-executable instructions, may implement the unmanned aerial vehicle autonomous tracking model training method described in connection with fig. 1.
In one embodiment, the electronic device shown in FIG. 2 may be implemented to include: a memory 504 configured to store executable program code; the one or more processors 503 are configured to execute the executable program code stored in the memory 504 to perform the unmanned aerial vehicle formation radio frequency compatibility design method in the above-described embodiments.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer-readable media include both permanent and non-permanent, removable and non-removable media, and the media may be implemented in any method or technology for storage of information. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Furthermore, it is evident that the word "comprising" does not exclude other elements or steps. A plurality of units, modules or means recited in the apparatus claims can also be implemented by means of software or hardware by means of one unit or total means. The terms first, second, etc. are used to identify names, and not any particular order.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The processor referred to in this embodiment may be a central processing unit (Central Processing Unit, CPU), or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be used to store computer programs and/or modules, and the processor may perform various functions of the apparatus/terminal device by executing or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
In this embodiment, the modules/units of the apparatus/terminal device integration may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a separate product. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of each method embodiment described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the legislation and the practice of the patent in the jurisdiction. While the application has been described in terms of preferred embodiments, it is not intended to limit the application thereto, and any person skilled in the art can make variations and modifications without departing from the spirit and scope of the present application, and therefore the scope of the application is to be determined from the appended claims.
While the application has been described in detail in the foregoing general description and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the application and are intended to be within the scope of the application as claimed.
Claims (7)
1. The unmanned aerial vehicle formation radio frequency compatibility design method is characterized by comprising the following steps of:
step S1, acquiring radio frequency spectrums of signal receiving and transmitting equipment used by a plurality of unmanned aerial vehicle platforms in formation, and determining signal receiving and transmitting equipment with interference;
s2, determining the minimum influence distance and the angle limit value of the sensor of the transceiver of each unmanned aerial vehicle platform according to the sensor characteristics of the transceiver of each unmanned aerial vehicle platform in the formation;
step S3, determining the sensor service condition of the signal transceiver equipment of each unmanned aerial vehicle platform in a given task mode;
s4, determining the interference coupling condition of the antenna ends of the signal transceiver equipment of each unmanned aerial vehicle platform under the current position condition according to the established unmanned aerial vehicle formation configuration;
s5, redesigning the signal receiving and transmitting equipment or redesigning a task mode of the signal receiving and transmitting equipment of the unmanned aerial vehicle platform with interference coupling;
in step S5, the redesigning of the signal transceiver device includes: coding signal receiving and transmitting equipment of a plurality of unmanned aerial vehicle platforms in a formation in a frequency division multiple access and code division multiple access mode, and redesigning a task mode comprises the following steps: and determining the equipment corresponding to the relatively important function in the task mode, and closing other equipment except the equipment.
2. The unmanned aerial vehicle formation radio frequency compatibility design method according to claim 1, wherein in step S1, a signal receiving and transmitting device with interference is determined by constructing a device spectrum distribution characteristic diagram, the device spectrum distribution characteristic diagram uses a frequency spectrum as an abscissa, uses device power or sensitivity as an ordinate, marks areas where the frequency spectrums of a transmitter and a receiver are located on the upper and lower sides of the abscissa, and determines the signal receiving and transmitting device with interference through area overlapping.
3. The unmanned aerial vehicle formation radio frequency compatibility design method of claim 1, wherein in step S2, the sensor characteristics include antenna pattern, polarity, transmit power, and receiver sensitivity.
4. The unmanned aerial vehicle formation radio frequency compatibility design method according to claim 1, wherein in step S2, the minimum influence distance and the angle limit of the sensor of the transceiver device of each unmanned aerial vehicle platform are determined through formation system spectrum compatibility simulation and antenna coupling simulation.
5. The unmanned aerial vehicle formation radio frequency compatibility design method according to claim 1, wherein in step S3, the task mode includes an unmanned aerial vehicle take-off and climb phase, a formation phase, a voyage phase, a formation configuration phase based on a task, a task execution phase, a voyage phase and a landing phase.
6. The unmanned aerial vehicle formation radio frequency compatibility design method of claim 1, wherein in step S4, further comprising:
according to the formation configuration, establishing an electromagnetic model of the transmitting and receiving sensor according to a method corresponding to an actual electromagnetic parameter numerical model and a theoretical model of the equipment;
simulation analysis of the interference coupling condition of the antenna ends of all the different common spectrum devices under the condition of the space position of the formation configuration of the airplane;
the method comprises the steps of simulating and analyzing a directional diagram and receiving and transmitting influences of each isomorphic equipment sensor in a formation system under the condition of formation space positions;
a signal transceiver device in which interference is present is determined.
7. An electronic device comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, the processor implementing the unmanned aerial vehicle formation radio frequency compatibility design method of any one of claims 1-6 when the computer program is executed by the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110905183.1A CN113641186B (en) | 2021-08-08 | 2021-08-08 | Unmanned aerial vehicle formation radio frequency compatibility design method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110905183.1A CN113641186B (en) | 2021-08-08 | 2021-08-08 | Unmanned aerial vehicle formation radio frequency compatibility design method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113641186A CN113641186A (en) | 2021-11-12 |
| CN113641186B true CN113641186B (en) | 2023-11-28 |
Family
ID=78419992
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110905183.1A Active CN113641186B (en) | 2021-08-08 | 2021-08-08 | Unmanned aerial vehicle formation radio frequency compatibility design method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113641186B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115189788A (en) * | 2022-07-04 | 2022-10-14 | 中国舰船研究设计中心 | Frequency spectrum allocation method for frequency use behavior, electronic equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102098680A (en) * | 2011-03-16 | 2011-06-15 | 北京邮电大学 | Dynamic frequency spectrum management method and system |
| CN107172704A (en) * | 2017-05-10 | 2017-09-15 | 叶仕通 | Cognitive heterogeneous network power distribution method based on collaborative spectrum sensing and interference constraints |
| CN109412715A (en) * | 2018-09-06 | 2019-03-01 | 中国航空工业集团公司沈阳飞机设计研究所 | Airborne communication radio frequency reception equipment quantizating index electromagnetic interference test system and method |
| CN110401932A (en) * | 2019-07-26 | 2019-11-01 | 北京邮电大学 | A kind of unmanned aerial vehicle group collaborative perception system and method |
| CN110581730A (en) * | 2019-08-30 | 2019-12-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Electromagnetic spectrum distribution diagram and generation method and device thereof |
| CN111713129A (en) * | 2019-10-17 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Channel detection method and device |
| CN211979869U (en) * | 2020-05-22 | 2020-11-20 | 山东首景辉光电科技有限公司 | Airborne unmanned aerial vehicle formation flight communication system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060067381A1 (en) * | 2004-09-23 | 2006-03-30 | Chakravarthy Vasu D | Spectrum re-use employing transfer domain communications systems |
| US10582401B2 (en) * | 2016-03-08 | 2020-03-03 | Aurora Insight Inc. | Large scale radio frequency signal information processing and analysis system |
| US11150654B2 (en) * | 2016-06-30 | 2021-10-19 | Skydio, Inc. | Dynamically adjusting UAV flight operations based on radio frequency signal data |
| GB2559475A (en) * | 2016-09-19 | 2018-08-08 | Citadel Defense Company | Radio control transmissions |
-
2021
- 2021-08-08 CN CN202110905183.1A patent/CN113641186B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102098680A (en) * | 2011-03-16 | 2011-06-15 | 北京邮电大学 | Dynamic frequency spectrum management method and system |
| CN107172704A (en) * | 2017-05-10 | 2017-09-15 | 叶仕通 | Cognitive heterogeneous network power distribution method based on collaborative spectrum sensing and interference constraints |
| CN109412715A (en) * | 2018-09-06 | 2019-03-01 | 中国航空工业集团公司沈阳飞机设计研究所 | Airborne communication radio frequency reception equipment quantizating index electromagnetic interference test system and method |
| CN110401932A (en) * | 2019-07-26 | 2019-11-01 | 北京邮电大学 | A kind of unmanned aerial vehicle group collaborative perception system and method |
| CN110581730A (en) * | 2019-08-30 | 2019-12-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Electromagnetic spectrum distribution diagram and generation method and device thereof |
| CN111713129A (en) * | 2019-10-17 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Channel detection method and device |
| CN211979869U (en) * | 2020-05-22 | 2020-11-20 | 山东首景辉光电科技有限公司 | Airborne unmanned aerial vehicle formation flight communication system |
Non-Patent Citations (2)
| Title |
|---|
| RF performance of lightweight multi horn switched beam antennas made of injection molded plastics for unmanned systems;Adam M. Kroening 等;《IEEE Xplore》;第1-4页 * |
| 复杂电磁环境下机载电子设备的电磁兼容仿真研究;孙荣平 等;《装备环境工程》;第9卷(第2期);第57-60页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113641186A (en) | 2021-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE102020201015A1 (en) | TECHNOLOGIES FOR DISTRIBUTING ITERATIVE CALCULATIONS IN HETEROGENIC COMPUTER ENVIRONMENTS | |
| CN111867049B (en) | Positioning method, positioning device and storage medium | |
| CN112218330B (en) | Positioning method and communication device | |
| CN113641186B (en) | Unmanned aerial vehicle formation radio frequency compatibility design method | |
| US20220353637A1 (en) | Method, apparatus and computer program for supporting location services requirements | |
| US20240031846A1 (en) | System and method for large-scale radio frequency signal collection and processing | |
| CN114916057A (en) | Method and apparatus for NR positioning enhancement and resource aggregation | |
| WO2022085315A1 (en) | Radio map generation device, radio map provision device, radio map acquisition and utilization device, and probe information transmission device | |
| CN108924789A (en) | Car networking communication pattern selection method and device | |
| CN116669180A (en) | Interference positioning method and device, electronic equipment and storage medium | |
| Suchanski et al. | Electronic warfare systems supporting the database of the radio environment maps | |
| CN102571288B (en) | Method for determining channel performance and apparatus thereof | |
| US11284272B2 (en) | Interference-aware autonomous vehicle routing among CBSDs | |
| CN114980194A (en) | Interference detection method, device and storage medium | |
| CN112153679B (en) | Network switching method and device | |
| US11868910B2 (en) | Device and method for generating training data sets for signal type recognition as well as training data set | |
| CN112364845A (en) | Signal-to-noise ratio evaluation method and device, electronic equipment and storage medium | |
| CN113115254A (en) | Unmanned aerial vehicle positioning method and server | |
| EP4352995A1 (en) | Transmitter detection in shared spectrum band | |
| CN114125715A (en) | Path planning method and device and computer readable storage medium | |
| JP2022054331A (en) | Probe information transmission device, radio wave map update device, radio wave map providing device, and radio wave map acquisition and utilization device | |
| Poe et al. | Optimal spectrum planning and management with coalition joint spectrum management planning tool (CJSMPT) | |
| WO2023193787A1 (en) | Perceptual blurring processing method and apparatus, device and storage medium | |
| CN111181583B (en) | Method and device for compensating strength of transmitting and receiving signal, transmitting and receiving equipment | |
| US20240104007A1 (en) | Code analysis device and code analysis method using mcdc method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |