CN116165599B - Ultrashort wave direction finding system and integrated ultrashort wave direction finding equipment - Google Patents
Ultrashort wave direction finding system and integrated ultrashort wave direction finding equipment Download PDFInfo
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- CN116165599B CN116165599B CN202310442875.6A CN202310442875A CN116165599B CN 116165599 B CN116165599 B CN 116165599B CN 202310442875 A CN202310442875 A CN 202310442875A CN 116165599 B CN116165599 B CN 116165599B
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention relates to the technical field of radio direction finding, in particular to an ultrashort wave direction finding system and integrated ultrashort wave direction finding equipment. The ultrashort wave direction finding system can evaluate signal intensity and quality in different directions of environments by means of the ultrashort wave antenna array module, the 4D millimeter wave group module and the heterogeneous signal fusion module, so that an area with excellent signals can be quickly found, and the direction finding task can be conducted by guiding a motion platform to go to the area with more excellent signal quality; the radar of the 4D millimeter wave group module is combined with the direction information and the speed information of the direction-finding target signal area, and then the reference is provided for the ultrashort wave antenna array module through the fusion of the positioning information, the direction information and the speed information of the positioning module, so that the influence of the Doppler effect is calculated more accurately and the corresponding compensation is carried out, the Doppler effect of ultrashort wave signals in the moving process of a moving platform is eliminated, the signal interference can be effectively reduced, and the direction-finding precision of the signals is improved.
Description
Technical Field
The invention relates to the technical field of radio direction finding, in particular to an ultrashort wave direction finding system and integrated ultrashort wave direction finding equipment.
Background
An ultrashort wave direction finding system (Ultra High Frequency Direction Finding System) is a radio direction finding system for determining the direction and position of a signal source. The radio signal of the ultra-short wave frequency band is used for direction finding, and the radio signal is widely applied to the fields of military, information and safety. It is furthermore used to locate the source of radio interference in order to take measures to reduce the influence of radio interference on other communications.
The ultrashort wave direction finding system is generally composed of two or more antennas positioned at different positions, and the direction and the position of a signal source are positioned by measuring the arrival directions of signals received by the antennas, but ultrashort waves are easily shielded by a shielding object and greatly interfered by the environment. The existing scheme does not consider a more flexible and convenient deployment method and a more detailed and effective signal disturbance resistant technical scheme. Two main approaches for resisting signal disturbance exist, namely, more advanced algorithms and signal processing technologies are researched and developed to improve the precision and efficiency of a direction finding system; if multiple technical means such as adaptive filtering and multi-antenna interference elimination are adopted, the influence of interference on the direction finding result is reduced, but the calculation resources are required to be consumed and the effect is limited; secondly, a motion ultrashort wave direction finding system with better anti-interference performance is designed, but the motion ultrashort wave direction finding system can only work by random motion and searching for a position with a better signal according to the visual signal condition; the stronger signal interference can influence the direction-finding precision and speed in the operation process, and severely restricts the exertion of the motion platform in the operation, so that the ultra-short wave direction-finding system which can be deployed on the motion platform, improve the direction-finding precision speed and guide the motion platform to move to a high-quality signal area is lacking at present.
Disclosure of Invention
In order to solve the above-mentioned prior art problems, the present invention provides an ultrashort wave direction-finding system, including:
the system comprises an ultrashort wave antenna array module, a 4D millimeter wave group module, a signal processing module, a positioning module, a heterogeneous signal fusion module and a motion platform control module; the system comprises an ultrashort wave antenna array module, a signal processing module, a positioning module, a heterogeneous signal fusion module, a motion platform control module and a motion platform control module, wherein the ultrashort wave antenna array module is used for acquiring ultrashort wave analog signals of a plurality of wave bands, the 4D millimeter wave group module is used for acquiring direction information and speed information of a signal area, the signal processing module is used for carrying out digital processing on the ultrashort wave analog signals acquired by the ultrashort wave antenna array module to obtain ultrashort wave digital signals, the positioning module is used for fusing acquired visual information and inertial navigation information to acquire high-precision positioning information, the heterogeneous signal fusion module is used for carrying out heterogeneous fusion on the ultrashort wave digital signals, the direction information, the speed information and the positioning information to acquire gradient of signal intensity, and the motion platform control module is used for controlling a motion platform to move to a corresponding signal area according to the gradient of the signal intensity.
Further, the system further comprises a short-term memory storage module, wherein the short-term memory storage module is used for storing and analyzing the multiband ultrashort wave signals acquired by the ultrashort wave antenna array module to form independent data sets.
Further, the positioning module comprises at least one binocular camera, a plurality of GPS units and at least one IMU sensing unit.
Further, the step of the signal processing module performing digital processing on the ultrashort wave analog signals acquired by the ultrashort wave antenna array module to obtain ultrashort wave digital signals includes:
converting the ultrashort wave analog signal into a digital signal;
filtering, self-adaptive equalizing and gain processing are carried out on the digital signals;
modulating and demodulating the digital signal;
amplifying and isolating the digital signals, identifying and separating interference signals, and obtaining ultrashort wave digital signals.
Further, the heterogeneous signal fusion module backtracks the direction-finding signal intensity in a short time according to the data set provided by the short-term memory storage module.
Furthermore, the heterogeneous signal fusion module quantifies the signal intensity and fuses the direction information and the speed information of the 4D millimeter wave group module and the positioning information of the positioning module to solve the signal intensity gradient.
Further, the ultrashort wave antenna array module comprises an L-band ultrashort wave antenna, an S-band ultrashort wave antenna and a C-band ultrashort wave antenna.
In order to solve the problems in the prior art, the invention also provides integrated ultrashort wave direction-finding equipment, which comprises an ultrashort wave direction-finding system, a main direction-finding device, a lifting device and a moving device, wherein the ultrashort wave direction-finding system is arranged on the moving device, and the main direction-finding device and the lifting device are movably connected and installed on the moving device.
Further, a plurality of ultrashort wave antennas of an ultrashort wave antenna array module and a plurality of radars of a 4D millimeter wave group module of the ultrashort wave direction finding system are uniformly distributed on the motion device in a circular shape.
Further, the device also comprises a cradle head which is arranged between the main direction-finding device and the lifting device to adjust the direction of the main direction-finding device.
The beneficial effects of the invention are as follows:
1. the ultrashort wave direction finding system can evaluate signal intensity and quality in different directions of environments by means of the ultrashort wave antenna array module, the 4D millimeter wave group module and the heterogeneous signal fusion module, so that an area with excellent signals can be quickly found, and the direction finding task can be conducted by guiding a motion platform to go to the area with more excellent signal quality;
2. combining the direction information and the speed information of the direction-finding target signal area acquired by the radar of the 4D millimeter wave group module, and then providing a reference for the ultra-short wave antenna array module through fusion of the positioning information, the direction information and the speed information of the positioning module so as to calculate the influence of Doppler effect more accurately and compensate correspondingly, thereby eliminating the Doppler effect of ultra-short wave signals in the moving process of a motion platform, effectively reducing signal interference and improving the accuracy of signal direction finding;
3. according to the integrated ultrashort wave direction finding equipment, the plurality of ultrashort wave antennas of the ultrashort wave antenna array module of the ultrashort wave direction finding system and the plurality of radars of the 4D millimeter wave group module are uniformly and circularly arranged on the motion device, and the advantages of better directivity, stronger multipath interference resistance and stronger interference resistance can be achieved by combining the characteristics of high resolution, high speed and strong interference resistance of the 4D millimeter wave radars;
4. the main direction-finding device deployed on the lifting device can prevent the ultrashort wave antenna signal interference of the ultrashort wave antenna array module in a lifting and rotating mode, and can realize rapid movement and deployment by means of the motion device, so that the integrated ultrashort wave direction-finding device has the advantages of high flexibility, high response speed, wide coverage range and low interference degree.
Drawings
FIG. 1 is a schematic diagram of an ultrashort wave direction-finding system according to the present invention;
fig. 2 is a flowchart of digital processing of an ultrashort wave analog signal collected by an ultrashort wave antenna array module through a signal processing module;
fig. 3 is a schematic structural diagram of an integrated ultrashort wave direction-finding device provided by the invention.
Reference numerals: 1. the system comprises an ultrashort wave antenna array module, a 2D millimeter wave group module, a 4D millimeter wave group module, a 3 signal processing module, a 4 positioning module, a 5 heterogeneous signal fusion module, a 6 motion platform control module, a 7 short-term memory storage module, a 100 ultrashort wave direction finding system, a 101 main direction finding device, a 102 lifting device, a 103 motion device, a 104 and a cloud deck.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
Example 1:
referring to fig. 1-2, in order to solve the above-mentioned problems in the prior art, the present invention provides an ultrashort wave direction-finding system 100, the ultrashort wave direction-finding system 100 includes:
the system comprises an ultrashort wave antenna array module 1, a 4D millimeter wave group module 2, a signal processing module 3, a positioning module 4, a heterogeneous signal fusion module 5 and a motion platform control module 6; the ultra-short wave antenna array module 1 is used for collecting ultra-short wave analog signals of a plurality of wave bands, the 4D millimeter wave group module 2 is used for obtaining direction information and speed information of a signal area, the signal processing module 3 is used for carrying out digital processing on the ultra-short wave analog signals collected by the ultra-short wave antenna array module 1 to obtain ultra-short wave digital signals, the positioning module 4 is used for fusing collected visual information and inertial navigation information to obtain high-precision positioning information, the heterogeneous signal fusion module 5 is used for carrying out heterogeneous fusion on the ultra-short wave digital signals, the direction information, the speed information and the positioning information to obtain gradient of signal intensity, and the motion platform control module 6 is used for controlling the motion platform to move to a corresponding signal area according to the gradient of the signal intensity.
The ultrashort wave antenna array module 1 comprises an L-wave band ultrashort wave antenna, an S-wave band ultrashort wave antenna and a C-wave band ultrashort wave antenna, ultrashort wave analog signals of multiple wave bands of L wave, S wave and C wave are respectively collected, and the ultrashort wave antenna of each wave band can be one or more, so that ultrashort waves of multiple wave bands in multiple directions can be collected. Then, the collected multiple L wave signals, S wave signals and C wave signals are further input into the signal processing module 3, and the ultrashort wave analog signals collected by the ultrashort wave antenna array module 1 are digitally processed by the signal processing module 3, so that corresponding ultrashort wave digital signals are obtained, and the processing flow is shown in fig. 2, and specifically includes the following steps:
s1, converting each ultrashort wave analog signal into a digital signal;
s2, filtering, self-adaptive equalization and gain processing are carried out on the digital signals;
s3, modulating and demodulating the digital signal;
s4, amplifying and isolating the digital signals, and identifying and separating interference signals to obtain ultrashort wave digital signals. The digital signals are input into the isolation amplifier to amplify and isolate the signals, so that the signal-to-noise ratio and accuracy of the signals can be improved, and then the signals can be input into the bidirectional transceiver to be rapidly switched and routed, so that the signals collected by the ultrashort wave antennas are combined, and the direction-finding target signals can be rapidly and accurately obtained. The radar of the 4D millimeter wave group module 2 is further combined with the direction information and the speed information of the direction-finding target signal area, and then the fusion of the positioning information, the direction information and the speed information of the positioning module 4 can be used for sensing a moving point to provide a reference for the ultrashort wave antenna array module 1 so as to calculate the influence of Doppler effect more accurately and perform corresponding compensation, thereby eliminating the Doppler effect of ultrashort wave signals in the moving process of a moving platform, effectively reducing signal interference, improving the accuracy of signal direction finding, acquiring richer multimodal data, and being beneficial to accurately finding out the area with excellent signals through the analysis of the multimodal data.
Further, the positioning module 4 includes at least one binocular camera, a plurality of GPS units, and at least one IMU sensing unit. Wherein the image information of the binocular camera is used only as a calculation of the visual odometer, and the pose change of the camera is calculated by calculating the displacement and rotation between adjacent frames, thereby estimating the position and pose of the vehicle; since the visual odometer is susceptible to factors such as illumination, scene changes, etc., fusion with other sensors is required.
The GPS unit calculates the position of the object by receiving satellite signals, so that more accurate position information can be obtained, but in areas with poor GPS signals such as urban canyons, high-rise dense areas and the like, the positioning accuracy can be limited; therefore, in the embodiment of the invention, by using a plurality of GPS units, such as 2 GPS units, not only the positioning position precision can be improved and signal dead zones can be avoided, but also the orientation of the motion platform can be determined according to the front-back position relation of the GPS.
The IMU is used for estimating the posture change of the object by measuring the acceleration and the angular velocity of the object, and because of errors such as drift and the like in the measurement of the IMU, the IMU needs to be combined with other sensors for correction.
The positioning module 4 performs visual odometer positioning and inertial navigation information acquisition by means of the sensors of the binocular camera, the GPS unit and the IMU sensing unit, and completes fusion of positioning information through multi-sensor point cloud registration, time synchronization and space synchronization, so that high-precision positioning and attitude information can be obtained, and a moving platform can be guided to accurately move to a target signal area by combining other information.
Further, the ultrashort wave direction finding system further comprises a short-term memory storage module 7, and the short-term memory storage module 7 is used for storing and analyzing the multiband ultrashort wave signals collected by the ultrashort wave antenna array module 1 to form independent data sets. The short-term memory storage module 7 is a micro control unit with storage and operation functions, and the short-term memory storage module 7 stores and analyzes each independent signal collected by the ultrashort wave antenna array module 1 to form a plurality of groups of independent data sets S in the past (tn-t 1) time range.
Furthermore, the heterogeneous signal fusion module 5 backtracks the direction-finding signal intensity in the past (tn-t 1) short time according to the data set S provided by the short-term memory storage module 7; and the heterogeneous signal fusion module 5 quantifies the signal intensity and fuses the direction information, the speed information and the positioning information of the 4D millimeter wave group module to solve the signal intensity gradient. The gradient of the target signal intensity in the past (tn-t 1) time is acquired and transmitted to the motion platform control module 6 by carrying out gradient calculation on the data set S and fusing the direction and speed information provided by the 4D millimeter wave group, and the motion platform control module 6 sends a command for moving towards the direction of increasing the signal intensity gradient to the motion platform according to the gradient of the target signal intensity, so that the motion platform is guided and controlled to move to a corresponding signal area. Particularly when facing task scenes with uncertain environments, the ultrashort wave direction finding system can evaluate signal intensity and quality in different directions of environments by means of the ultrashort wave antenna array module 1, the 4D millimeter wave group module 2 and the heterogeneous signal fusion module 5, so that an area with excellent signals can be quickly found, and further the direction finding task can be conducted by guiding a motion platform to the area with more excellent signal quality.
Example 2:
as shown in fig. 3, to solve the above-mentioned problems in the prior art, the present invention further provides an integrated ultrashort wave direction-finding device, which includes the ultrashort wave direction-finding system 100, a main direction-finding device 101, a lifting device 102, and a moving device 103, where the ultrashort wave direction-finding system 100 is disposed on the moving device 103, and the main direction-finding device 101 and the lifting device 102 are movably connected and mounted on the moving device 103. The integrated ultrashort wave direction-finding device further comprises a cradle head 104 arranged between the main direction-finding device 101 and the lifting device 102 to adjust the direction of the main direction-finding device 101. The main direction-finding device deployed on the lifting device can prevent the ultrashort wave antenna signal interference of the ultrashort wave antenna array module in a lifting and rotating mode, and can realize rapid movement and deployment by means of the motion device, so that the integrated ultrashort wave direction-finding device has the advantages of high flexibility, high response speed, wide coverage range and low interference degree.
The main direction-finding device 101 is deployed on a Yaw shaft holder 104 at the top end of the lifting device 102; the main direction-finding device 101 is used as an ultrashort wave direction-finding task, and can rely on the Yaw axis holder 104 to adjust the direction so as to obtain a better signal. In addition, the lifting device 102 may change the height of the main direction-finding device 101, and may be further away from the circular ultrashort wave antenna array of the ultrashort wave direction-finding system 100 to some extent, besides being able to adjust the position to obtain a better signal. The ultra-short wave wavelength range is between 10 cm and 100 cm, that is, the distance between the main direction-finding device 101 and the circular ultra-short wave antenna array of the ultra-short wave direction-finding system 100 exceeds more than half a wavelength (about 50 cm), so that signal interference to the main direction-finding device 101 can be reduced. The motion device 103 is also a load platform.
Referring to fig. 3, the plurality of ultrashort antennas of the ultrashort antenna array module 1 and the plurality of radars of the 4D millimeter wave group module 2 of the ultrashort wave direction-finding system 100 are uniformly arranged on the motion device 103 in a circular shape.
Specifically, in this embodiment, the number of ultrashort wave antenna arrays of the ultrashort wave antenna array module 1 of the ultrashort wave direction finding system 100 may be set to 5, the number of radars of the 4D millimeter wave group module 2 may be set to 3, the radars of the 5 ultrashort wave antennas and the 3 4D millimeter wave group modules are uniformly arranged on the motion device 103 in a circular shape, and compared with the rectangular, linear and other layout modes, the circular layout has the advantages of better directivity, stronger multipath interference resistance and stronger interference resistance; the depth binocular camera of the positioning module 4 of the ultrashort wave direction-finding system 100 may be disposed at one side of the 4D millimeter wave group module 2, and the 2 GPS units of the positioning module 4 may be disposed at two sides of the movement device 103, respectively; in addition, the scattered ultrashort wave antennas can be not of the same type, and each ultrashort wave antenna array comprises an L-band ultrashort wave antenna, an S-band ultrashort wave antenna and a C-band ultrashort wave antenna which are arranged at intervals; the circular array formed by various antennas enables the frequency band of the coverage signal to be wider, and in the circular layout, the distances between the antennas are equal, and the phase difference of the signals reaching different antennas is larger, so that the phase difference of the signals is easier to measure and calculate.
The 3 radars of the 4D millimeter wave group module 2 form an included angle of 45 degrees, the measuring precision of the 4D millimeter wave radar can reach the level of sub-millimeter, the position, the speed and the acceleration information of a target can be accurately measured, and a signal generated by a stationary object can be used for estimating the speed and the direction of the stationary object. The reason for using the 4D millimeter wave radar is that the common GNSS modules such as GPS, RTK and the like are easy to lose signals in the field, mountain forest and other areas, and the wheel type odometer, the inertial navigation, the laser odometer and the visual odometer have great errors on a repeatedly-vibrated moving platform. The 4D millimeter wave radar has the characteristics of high resolution, high speed, strong anti-interference performance and the like, and is very suitable for acquiring high-precision heterogeneous sensing information in the scene and assisting in eliminating the influence caused by Doppler effect so as to acquire more accurate direction-finding signals.
In describing embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "inner", "outer", "inside", "outside", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Wherein "inside" refers to an interior or enclosed area or space. "peripheral" refers to the area surrounding a particular component or region.
In the description of embodiments of the present invention, the terms "first," "second," "third," "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", "a third" and a fourth "may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In describing embodiments of the present invention, it should be noted that the terms "mounted," "connected," and "assembled" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, unless otherwise specifically indicated and defined; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of embodiments of the invention, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.
In describing embodiments of the present invention, it will be understood that the terms "-" and "-" are intended to be inclusive of the two numerical ranges, and that the ranges include the endpoints. For example, "A-B" means a range greater than or equal to A and less than or equal to B. "A-B" means a range of greater than or equal to A and less than or equal to B.
In the description of embodiments of the present invention, the term "and/or" is merely an association relationship describing an association object, meaning that three relationships may exist, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An ultrashort wave direction finding system, comprising:
the system comprises an ultrashort wave antenna array module, a 4D millimeter wave group module, a signal processing module, a positioning module, a heterogeneous signal fusion module and a motion platform control module; the system comprises an ultrashort wave antenna array module, a signal processing module, a positioning module, a heterogeneous signal fusion module, a motion platform control module and a motion platform control module, wherein the ultrashort wave antenna array module is used for acquiring ultrashort wave analog signals of a plurality of wave bands, the 4D millimeter wave group module is used for acquiring direction information and speed information of a signal area, the signal processing module is used for carrying out digital processing on the ultrashort wave analog signals acquired by the ultrashort wave antenna array module to obtain ultrashort wave digital signals, the positioning module is used for fusing acquired visual information and inertial navigation information to acquire high-precision positioning information, the heterogeneous signal fusion module is used for carrying out heterogeneous fusion on the ultrashort wave digital signals, the direction information, the speed information and the positioning information to acquire gradient of signal intensity, and the motion platform control module is used for controlling a motion platform to move to a corresponding signal area according to the gradient of the signal intensity.
2. The ultrashort wave direction finding system according to claim 1, wherein: the system also comprises a short-term memory storage module, wherein the short-term memory storage module is used for storing and analyzing the multiband ultrashort wave signals acquired by the ultrashort wave antenna array module to form independent data sets.
3. The ultrashort wave direction finding system according to claim 1, wherein: the positioning module comprises at least one binocular camera, a plurality of GPS units and at least one IMU sensing unit.
4. The ultrashort wave direction finding system according to claim 1, wherein: the step that the signal processing module carries out digital processing on the ultrashort wave analog signals acquired by the ultrashort wave antenna array module to obtain ultrashort wave digital signals comprises the following steps:
converting the ultrashort wave analog signal into a digital signal;
filtering, self-adaptive equalizing and gain processing are carried out on the digital signals;
modulating and demodulating the digital signal;
amplifying and isolating the digital signals, identifying and separating interference signals, and obtaining ultrashort wave digital signals.
5. The ultrashort wave direction finding system according to claim 2, wherein: and the heterogeneous signal fusion module backtracks the direction finding signal intensity in a short time according to the data set provided by the short-term memory storage module.
6. The ultrashort wave direction-finding system according to claim 5, wherein: and the heterogeneous signal fusion module quantifies the signal intensity and fuses the direction information and the speed information of the 4D millimeter wave group module and the positioning information of the positioning module to solve the signal intensity gradient.
7. The ultrashort wave direction-finding system according to any one of claims 1 to 6, wherein: the ultra-short wave antenna array module comprises an L-band ultra-short wave antenna, an S-band ultra-short wave antenna and a C-band ultra-short wave antenna.
8. An integrated ultrashort wave direction finding device, comprising an ultrashort wave direction finding system, a main direction finding device, a lifting device and a movement device according to any one of claims 1-7, wherein the ultrashort wave direction finding system is arranged on the movement device, and the main direction finding device and the lifting device are movably connected and mounted on the movement device.
9. The integrated ultrashort wave direction-finding device of claim 8, wherein: the multiple ultrashort wave antennas of the ultrashort wave antenna array module of the ultrashort wave direction finding system and the multiple radars of the 4D millimeter wave group module are uniformly distributed on the motion device in a circular shape.
10. The integrated ultrashort wave direction-finding device of claim 9, wherein: the device also comprises a cradle head which is arranged between the main direction-finding device and the lifting device to adjust the direction of the main direction-finding device.
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