CN113777640B - Beidou coherent system and equipment aiming at unmanned aerial vehicle detection and positioning - Google Patents
Beidou coherent system and equipment aiming at unmanned aerial vehicle detection and positioning Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention provides a Beidou coherent system and equipment aiming at unmanned aerial vehicle detection and positioning, comprising the following steps: the satellite receiving module is used for demodulating and analyzing the Beidou satellite signals and generating original Beidou second pulse signals and Beidou time length signals; the operation modeling module is used for optimizing the Beidou satellite constellation model and generating a Beidou second pulse signal; the rubidium atomic clock module is used for providing an original frequency signal; the power division frequency multiplication output module is used for outputting a main vibration frequency source signal; the phase-locked module is used for locking the phase of the original frequency signal and the phase of the Beidou second pulse signal; the frequency division pulse output module is used for outputting a timing pulse signal which is related to the phase of the main vibration frequency signal; and the central control module is used for carrying out state monitoring and coordination control on each module. The invention can generate the timing pulse signal and the phase-dependent main vibration frequency source signal which are synchronous with the Beidou second signal, shortens the detection and positioning time of the unmanned aerial vehicle and improves the detection and positioning precision of the unmanned aerial vehicle.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicle detection and positioning, in particular to a Beidou coherent system and device aiming at unmanned aerial vehicle detection and positioning.
Background
In recent years, unmanned technologies and platforms have been extended to a plurality of fields such as sea, land, air, and sky, wherein unmanned aerial vehicles are the most rapidly developed unmanned platforms, and with wide application of unmanned aerial vehicles and gradual opening of national policies to low airspace, unmanned aerial vehicles are potentially harmful to personal safety of the public and the public due to 'black flight' and abuse of unmanned aerial vehicles. At present, detection and positioning of unmanned aerial vehicles are realized mainly by radar and by adopting a signal arrival time difference estimation (TDOA) method, and the TDOA needs to have a stable main vibration frequency source and time timing pulse. With a great deal of applications of Beidou navigation systems, a traditional mode of using Beidou signal to tame an atomic clock to provide a main vibration frequency source and using Beidou synchronous seconds as time timing pulses is adopted as a main method of TDOA, and because the main vibration frequency source phase and the timing pulse phase are considered independently, the requirements on detection locking duration and detection accuracy cannot be met under the conditions that the size of an unmanned aerial vehicle is smaller and the navigational speed is faster. Therefore, developing a Beidou coherent system and device for unmanned aerial vehicle detection and positioning can effectively overcome the defects in the related technology, and becomes a technical problem to be solved in the industry.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a Beidou coherent system and equipment aiming at unmanned aerial vehicle detection and positioning.
In a first aspect, an embodiment of the present invention provides a beidou coherent system for detecting and positioning an unmanned aerial vehicle, including: the satellite receiving module is used for demodulating and analyzing the Beidou satellite signals and generating original Beidou second pulse signals and Beidou time length signals; the operation modeling module is used for optimizing the Beidou satellite constellation model and generating a Beidou second pulse signal; the rubidium atomic clock module is used for providing an original frequency signal; the power division frequency multiplication output module is used for outputting a main vibration frequency source signal; the phase-locked module is used for locking the phase of the original frequency signal and the phase of the Beidou second pulse signal; the frequency division pulse output module is used for outputting a timing pulse signal which is related to the phase of the main vibration frequency signal; and the central control module is used for carrying out state monitoring and coordination control on each module.
Based on the content of the embodiment of the system, the Beidou coherent system for unmanned aerial vehicle detection and positioning provided by the embodiment of the invention further comprises: and the key display module is used for displaying the state of the device and controlling keys through the control of the central control module.
Based on the content of the embodiment of the system, the Beidou coherent system for unmanned aerial vehicle detection and positioning provided by the embodiment of the invention further comprises: the unmanned aerial vehicle detection positioning system is used for carrying out state monitoring on the Beidou coherent system aiming at unmanned aerial vehicle detection positioning through the central control module.
Based on the content of the system embodiment, the Beidou coherent system for unmanned aerial vehicle detection and positioning provided by the embodiment of the invention outputs a main vibration frequency source signal, and comprises the following components: and carrying out power distribution and frequency multiplication on the original frequency signal output by the rubidium atomic clock module, and outputting a main vibration frequency source signal which is related to the phase of the original frequency signal.
Based on the content of the system embodiment, the Beidou coherent system for unmanned aerial vehicle detection and positioning provided by the embodiment of the invention locks the phase of the original frequency signal and the phase of the Beidou second pulse signal, and comprises the following steps: and carrying out phase detection on the Beidou second pulse signal output by the operation modeling module and the main vibration frequency source signal output by the power division frequency multiplication output module, outputting a frequency adjusting code to the rubidium atomic clock module, and locking the phase of the original frequency signal output by the rubidium atomic clock module and the phase of the Beidou second pulse signal output by the operation modeling module.
Based on the content of the embodiment of the system, the Beidou coherent system for unmanned aerial vehicle detection and positioning provided by the embodiment of the invention outputs a timing pulse signal coherent with the phase of a main vibration frequency signal, and the timing pulse signal comprises: and directly dividing the frequency of the main vibration frequency signal output by the power division frequency multiplication output module, and outputting a timing pulse signal which is related to the phase of the main vibration frequency signal.
Based on the embodiment of the system, the Beidou coherent system for unmanned aerial vehicle detection and positioning is further used for receiving timing pulse output of the frequency division pulse output module and coherent main vibration frequency output of the power division frequency multiplication output module.
Based on the content of the embodiment of the system, the Beidou coherent system for unmanned aerial vehicle detection and positioning provided by the embodiment of the invention further comprises: and the satellite antenna module is used for receiving the Beidou satellite signals.
In a second aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor invokes the program instructions to execute the Beidou coherent system for unmanned aerial vehicle detection positioning provided by any one of the various implementation manners of the first aspect.
In a third aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to implement the beidou coherent system for unmanned aerial vehicle detection positioning provided by any one of the various implementations of the first aspect.
According to the Beidou coherent system and device for unmanned aerial vehicle detection and positioning, disclosed by the embodiment of the invention, the satellite receiving module, the operation modeling module, the rubidium atomic clock module, the power division frequency multiplication output module, the coherent phase locking module, the frequency division pulse output module and the central control module are integrated in a system manner, so that a timing pulse signal synchronous with a Beidou second signal and a coherent main vibration frequency source signal can be generated, the detection and positioning duration of the unmanned aerial vehicle is shortened, and the detection and positioning precision of the unmanned aerial vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without any inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a beidou coherent system aiming at unmanned aerial vehicle detection and positioning provided by an embodiment of the present invention;
fig. 2 is a schematic diagram of an entity structure of an electronic device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another beidou coherent system aiming at unmanned aerial vehicle detection and positioning according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another beidou coherent system for unmanned aerial vehicle detection positioning according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a Beidou coherent system for unmanned aerial vehicle detection and positioning according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In addition, the technical features of each embodiment or the single embodiment provided by the invention can be combined with each other at will to form a feasible technical scheme, and the combination is not limited by the sequence of steps and/or the structural composition mode, but is necessarily based on the fact that a person of ordinary skill in the art can realize the combination, and when the technical scheme is contradictory or can not realize, the combination of the technical scheme is not considered to exist and is not within the protection scope of the invention claimed.
Locking a rubidium atomic clock frequency signal to a Beidou second signal in a phase locking mode, generating a main vibration frequency signal with stable phase relation in a phase locking frequency multiplication mode, and finally directly dividing the main vibration frequency signal into a timing pulse signal, thereby outputting the timing pulse signal and a coherent main vibration frequency source signal which are synchronous with the Beidou second signal with high precision. Based on the idea, the embodiment of the invention provides a Beidou coherent system aiming at unmanned aerial vehicle detection and positioning, and referring to fig. 1, the system comprises: the satellite receiving module is used for demodulating and analyzing the Beidou satellite signals and generating original Beidou second pulse signals and Beidou time length signals; the operation modeling module is used for optimizing the Beidou satellite constellation model and generating a Beidou second pulse signal; the rubidium atomic clock module is used for providing an original frequency signal; the power division frequency multiplication output module is used for outputting a main vibration frequency source signal; the phase-locked module is used for locking the phase of the original frequency signal and the phase of the Beidou second pulse signal; the frequency division pulse output module is used for outputting a timing pulse signal which is related to the phase of the main vibration frequency signal; and the central control module is used for carrying out state monitoring and coordination control on each module.
Referring specifically to fig. 3, based on the content of the embodiment of the system, as an optional embodiment, the beidou coherent system for detecting and positioning a unmanned aerial vehicle provided in the embodiment of the present invention further includes: and the key display module is used for displaying the state of the device and controlling keys through the control of the central control module. The key display module is controlled by the central control module to display the state of the device and control keys.
Referring specifically to fig. 4, based on the content of the embodiment of the system, as an optional embodiment, the beidou coherent system for detecting and positioning a unmanned aerial vehicle provided in the embodiment of the present invention further includes: the unmanned aerial vehicle detection positioning system is used for carrying out state monitoring on the Beidou coherent system aiming at unmanned aerial vehicle detection positioning through the central control module. The unmanned aerial vehicle detection positioning system receives timing pulse output of the frequency division pulse output module and phase-dependent main vibration frequency output of the power division frequency multiplication output module, and monitors the state of the device through the central control module.
Based on the content of the above system embodiment, as an optional embodiment, the beidou coherent system for unmanned aerial vehicle detection positioning provided in the embodiment of the present invention, the outputting the main vibration frequency source signal includes: and carrying out power distribution and frequency multiplication on the original frequency signal output by the rubidium atomic clock module, and outputting a main vibration frequency source signal which is related to the phase of the original frequency signal.
Based on the content of the above system embodiment, as an optional embodiment, the beidou coherent system for unmanned aerial vehicle detection positioning provided in the embodiment of the present invention locks the phase of the original frequency signal with the phase of the beidou second pulse signal, including: and carrying out phase detection on the Beidou second pulse signal output by the operation modeling module and the main vibration frequency source signal output by the power division frequency multiplication output module, outputting a frequency adjusting code to the rubidium atomic clock module, and locking the phase of the original frequency signal output by the rubidium atomic clock module and the phase of the Beidou second pulse signal output by the operation modeling module.
Based on the content of the above system embodiment, as an optional embodiment, the beidou coherent system for unmanned aerial vehicle detection positioning provided in the embodiment of the present invention outputs a timing pulse signal coherent with a phase of a main vibration frequency signal, including: and directly dividing the frequency of the main vibration frequency signal output by the power division frequency multiplication output module, and outputting a timing pulse signal which is related to the phase of the main vibration frequency signal.
Based on the content of the system embodiment, as an optional embodiment, the Beidou coherent system for unmanned aerial vehicle detection positioning provided by the embodiment of the invention is also used for receiving timing pulse output of the frequency division pulse output module and coherent main vibration frequency output of the power division frequency multiplication output module.
Specifically, the satellite receiving module is used for demodulating and analyzing Beidou satellite signals and generating original Beidou second pulse signals and Beidou time signals; the operation modeling module is used for optimizing the Beidou satellite constellation model and generating a high-precision Beidou second pulse signal; the rubidium atomic clock module provides an original frequency signal; the power division frequency multiplication output module is used for carrying out power distribution and frequency multiplication according to the original frequency signal output by the rubidium atomic clock module and outputting multiple paths of main vibration frequency source signals with stable phase relation with the original frequency signal; the phase-locked module performs phase detection and outputs a frequency adjustment code to the rubidium atomic clock module according to the high-precision Beidou second pulse signal output by the operation modeling module and the main vibration frequency source signal output by the power division frequency multiplication output module, so that the phase of the original frequency signal output by the rubidium atomic clock module is locked to the high-precision Beidou second pulse signal output by the operation modeling module; the frequency division pulse output module directly divides the frequency of the main vibration frequency signal output by the power division frequency multiplication output module and outputs a timing pulse signal which is related to the phase of the main vibration frequency signal; the central control module is connected with each module for carrying out state monitoring and coordination control of each module.
Referring specifically to fig. 5, based on the content of the embodiment of the system, as an optional embodiment, the beidou coherent system for detecting and positioning a unmanned aerial vehicle provided in the embodiment of the present invention further includes: and the satellite antenna module is used for receiving the Beidou satellite signals.
According to the Beidou coherent system and device for unmanned aerial vehicle detection and positioning, disclosed by the embodiment of the invention, the satellite receiving module, the operation modeling module, the rubidium atomic clock module, the power division frequency multiplication output module, the coherent phase locking module, the frequency division pulse output module and the central control module are integrated in a system manner, so that a timing pulse signal synchronous with a Beidou second signal and a coherent main vibration frequency source signal can be generated, the detection and positioning duration of the unmanned aerial vehicle is shortened, and the detection and positioning precision of the unmanned aerial vehicle is improved.
According to the Beidou coherent system and the Beidou coherent device aiming at unmanned aerial vehicle detection and positioning, which are provided by the embodiment of the invention, the frequency high-stability characteristic of a rubidium atomic clock is adopted to generate a timing pulse signal with extremely small jitter; the problem that a rubidium atomic clock in the prior art can only lock frequencies and cannot lock phases is solved by adopting an out-of-loop phase locking method; the problem that the output frequency is not related to the timing pulse in the prior art is solved by a direct frequency division method; generating a timing pulse signal and a coherent main vibration frequency source signal which are synchronous with the Beidou second in high precision, and providing the timing pulse signal and the coherent main vibration frequency source signal for a detection positioning system of the unmanned aerial vehicle, so that the detection positioning time is shortened and the detection positioning precision is improved; the device is applicable to single base station, double base station and multi-base station systems, and is applicable to static systems and dynamic systems.
Among the positioning detection technologies, the radio detection and positioning technology is widely applied to the fields of communication reconnaissance, aerospace, electronic countermeasure and other engineering, and the current unmanned aerial vehicle detection and positioning system also adopts the radio detection and positioning technology in a large number. The unmanned aerial vehicle detection positioning system generally comprises a transmitting radar station and a plurality of receiving radar stations, unmanned aerial vehicle targets are detected through the radar, and the radar utilizes electromagnetic waves to detect targets and extract target parameters so as to position the targets. Specifically, electromagnetic waves are intensively transmitted to a certain range through a radar antenna of a bistatic radar or a multistatic radar, and are received by the radar after being transmitted by a target, and positioning is realized by utilizing a Time Difference (TDOA) of the electromagnetic waves from the transmitting radar to the target to the receiving radar. In order to improve the accuracy of TDOA detection positioning, most importantly, the timing accuracy, that is, the accuracy of timing pulse and carrier frequency phase is considered, and the acquired phase time error is directly converted into the error of distance measurement to finally determine the positioning error. These errors are roughly divided into two parts: first, the uncertainty in the time recorded by each radar station of the positioning system is detected, depending on the accuracy of the timing pulses used by each station; second, the carrier frequency phase synchronization accuracy between each station depends on the phase synchronization accuracy of the main oscillation frequency of each station.
Because a plurality of radar stations of the unmanned aerial vehicle detection positioning system are distributed in a long distance, each station uses an independent time-frequency device, the main vibration frequency and the timing pulse cannot be completely homologous as the single-base radar, each independent time-frequency device can only realize quasi-homology by receiving Beidou satellite signals and directly synchronizing the timing pulse to the Beidou second pulse, the timing pulse precision of the quasi-homology directly influences the positioning precision, and the synchronization process is not related to the main vibration frequency; furthermore, in order to improve quasi-homologous accuracy and obtain better time keeping accuracy in a satellite signal loss state, a time-frequency device needs to be internally provided with a rubidium atomic clock, and the rubidium atomic clock provides an original frequency output for a main vibration frequency, but the rubidium atomic clock cannot directly achieve phase synchronization of an output frequency to Beidou seconds due to limitation of a physical mechanism, namely, the phase of the main vibration frequency and a timing pulse are not related. The method for uncorrelated synchronization of the timing pulse and the main vibration frequency causes difficulty in improving the TDOA positioning accuracy and accelerating the positioning time when the unmanned aerial vehicle detection positioning system performs signal level data processing.
The Beidou coherent system and the Beidou coherent device aiming at unmanned aerial vehicle detection and positioning, which are provided by the embodiment of the invention, are the biggest difference with the prior art in that the timing pulse is obtained by directly dividing and shifting the frequency of the main vibration frequency, but not directly locking the timing pulse to the Beidou second pulse, the defect that the rubidium atomic clock cannot carry out frequency phase locking coherent is overcome, the output frequency phase of the rubidium atomic clock is locked to the high-precision Beidou second pulse by adopting an out-of-loop phase locking method, and then the output frequency of the rubidium atomic clock is directly divided and shifted, so that the timing pulse synchronous with the Beidou second pulse and the coherent main vibration frequency signal are obtained.
The system of the embodiment of the invention is realized by the electronic equipment, so that the related electronic equipment is necessary to be described. To this end, an embodiment of the present invention provides an electronic device, as shown in fig. 2, including: at least one processor (processor), a communication interface (Communications Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication interface, and the at least one memory communicate with each other via the communication bus. The at least one processor may invoke logic instructions in the at least one memory to implement the various systems provided in the system embodiments.
Further, the logic instructions in at least one of the memories described above may be implemented in the form of a software functional unit and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or a part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the system or the system according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to implement the method or system described in the various embodiments or some parts of the embodiments.
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 invention. Based on this knowledge, 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.
In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. Beidou coherent system for unmanned aerial vehicle detection and positioning, which is characterized by comprising: the satellite receiving module is used for demodulating and analyzing the Beidou satellite signals and generating original Beidou second pulse signals and Beidou time length signals; the operation modeling module is used for optimizing the Beidou satellite constellation model and generating a Beidou second pulse signal; the rubidium atomic clock module is used for providing an original frequency signal; the power division frequency multiplication output module is used for outputting a main vibration frequency source signal and comprises the following components: performing power distribution and frequency multiplication on an original frequency signal output by a rubidium atomic clock module, and outputting a main vibration frequency source signal which is related to the phase of the original frequency signal; the phase-locked module is used for locking the phase of the original frequency signal and the phase of the Beidou second pulse signal; the frequency division pulse output module is used for outputting a timing pulse signal which is related to the phase of the main vibration frequency signal, and comprises the following components: directly dividing the frequency of the main vibration frequency signal output by the power division frequency multiplication output module, and outputting a timing pulse signal which is related to the phase of the main vibration frequency signal; the central control module is used for carrying out state monitoring and coordination control on each module;
the locking the phase of the original frequency signal and the phase of the Beidou second pulse signal comprises the following steps: and carrying out phase detection on the Beidou second pulse signal output by the operation modeling module and the main vibration frequency source signal output by the power division frequency multiplication output module, outputting a frequency adjusting code to the rubidium atomic clock module, and locking the phase of the original frequency signal output by the rubidium atomic clock module and the phase of the Beidou second pulse signal output by the operation modeling module.
2. The beidou coherent system for unmanned aerial vehicle detection positioning of claim 1, further comprising: and the key display module is used for displaying the state of the device and controlling keys through the control of the central control module.
3. The beidou coherent system for unmanned aerial vehicle detection positioning of claim 2, further comprising: the unmanned aerial vehicle detection positioning system is used for carrying out state monitoring on the Beidou coherent system aiming at unmanned aerial vehicle detection positioning through the central control module.
4. The Beidou coherent system for unmanned aerial vehicle detection and positioning according to claim 1, wherein the unmanned aerial vehicle detection and positioning system is further used for receiving timing pulse output of a frequency division pulse output module and coherent main vibration frequency output of a power division frequency multiplication output module.
5. The Beidou coherent system for unmanned aerial vehicle detection and positioning of claim 4, further comprising: and the satellite antenna module is used for receiving the Beidou satellite signals.
6. An electronic device, comprising:
at least one processor, at least one memory, a communication interface, and a bus; wherein,
the processor, the memory and the communication interface complete the communication with each other through the bus;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to implement the system of any of claims 1-5.
7. A non-transitory computer readable storage medium storing computer instructions that cause the computer to implement the system of any one of claims 1 to 5.
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