CN212723339U - Low-altitude microminiature unmanned aerial vehicle monitoring system for complex urban environment - Google Patents
Low-altitude microminiature unmanned aerial vehicle monitoring system for complex urban environment Download PDFInfo
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- CN212723339U CN212723339U CN202021434869.4U CN202021434869U CN212723339U CN 212723339 U CN212723339 U CN 212723339U CN 202021434869 U CN202021434869 U CN 202021434869U CN 212723339 U CN212723339 U CN 212723339U
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Abstract
The utility model discloses a low empty microminiature unmanned aerial vehicle monitored control system of complicated urban environment belongs to unmanned aerial vehicle control technical field, and aim at provides a low empty microminiature unmanned aerial vehicle monitored control system of complicated urban environment, solves the inconvenient problem of current low empty unmanned aerial vehicle of microminiature in complicated urban environment control. The system comprises a plurality of transmitter systems, a plurality of receiver systems, a plurality of communication devices and a plurality of processing terminals, wherein the transmitter systems are in signal connection with the receiver systems, the communication devices are in signal connection with the transmitter systems, the communication devices are in signal connection with the receiver systems, the communication devices are in signal connection with the processing terminals, the receiver systems are arranged at the center or one side of a monitoring area, and the transmitter systems are arranged around the monitoring area. The utility model is suitable for a complicated urban environment low latitude microminiature unmanned aerial vehicle monitoring system.
Description
Technical Field
The utility model belongs to the technical field of the unmanned aerial vehicle control, concretely relates to low latitude microminiature unmanned aerial vehicle monitoring system of complicated urban environment.
Background
Because the microminiature low-altitude unmanned aerial vehicle belongs to low-speed small targets, the traditional radar system cannot economically and effectively detect, the existing microminiature low-altitude unmanned aerial vehicle detection system mainly comprises means such as communication detection, radar detection and photoelectric monitoring, the communication detection cannot directly measure and position, the detection probability is low, the environment requirement is high, the system is not suitable for complex urban environments, the radar detection has high detection probability under wide environments, the system is not suitable for complex urban environments, and the photoelectric monitoring is greatly influenced by weather.
In complicated urban environment, the high-rise building crowd shelters from is the biggest problem of restriction detection low latitude microminiature unmanned aerial vehicle, and traditional single station receiving and dispatching radar system can't survey the unmanned aerial vehicle that is sheltered from by the high-rise building crowd, and this is the non-line of sight problem, adopts many radars to distribute and can solve this problem in the defence area, but the expense is too high, still can't survey some non-line of sight.
In addition, the existing passive radar of the external radiation source has the problems of short detection distance, easy interference, location limitation on defense and the like, and cannot be generally used for microminiature low altitude unmanned aerial vehicle control of urban environment.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: the utility model provides a complicated urban environment low latitude microminiature unmanned aerial vehicle monitoring system, solves the inconvenient problem of current microminiature low latitude unmanned aerial vehicle in complicated urban environment control.
The utility model adopts the technical scheme as follows:
the utility model provides a complicated urban environment low latitude microminiature unmanned aerial vehicle monitoring system, includes a plurality of transmitter systems, receiver system, communications facilities, processing terminal, transmitter system and receiver system signal connection, communications facilities and transmitter system signal connection, communications facilities and receiver system signal connection, communications facilities and processing terminal signal connection, receiver system installation is in the center or one side of monitoring area, transmitter system installation is around monitoring area.
Furthermore, the receiver system comprises a receiver and a direction-finding antenna, the receiver comprises a dual-channel microwave receiving module electrically connected with the direction-finding antenna, the dual-channel microwave receiving module is electrically connected with a dual-channel digital receiving module, and the dual-channel digital receiving module is electrically connected with a timing and time-service positioning unit.
Furthermore, the direction-finding antenna is a multi-array element uniform circular array antenna with more than four array elements.
Further, the transmitter system includes a signal source and a transmit antenna.
Furthermore, the signal source is electrically connected with a power amplifier, the power amplifier is electrically connected with the transmitting antenna, and the signal source is also electrically connected with a timing and time service positioning unit.
Further, the communication device adopts 4G mobile communication and TCP/IP Ethernet router communication.
Furthermore, the processing terminal is a portable computer, and unmanned aerial vehicle monitoring terminal software is installed and operated in the portable computer.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. the utility model discloses in, based on two base receiving and dispatching unmanned aerial vehicle reflection signal and electric wave monitoring method, realize spontaneous self-receiving, can avoid appearing that detection distance is close when low latitude microminiature unmanned aerial vehicle monitors like this, easily disturbed, to the restricted problem in defence area position, adopt technologies such as electric wave propagation model, time arrival difference and high resolution beam direction finding, solved city high-rise building crowd and sheltered from the non-line of sight detection problem that unmanned aerial vehicle caused.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and that for those skilled in the art, other relevant drawings can be obtained according to the drawings without inventive effort, wherein:
fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural diagram of a receiver system according to the present invention;
fig. 3 is a schematic structural diagram of the transmitter system of the present invention;
fig. 4 is a schematic view of the transmitting-receiving double-base detection unmanned aerial vehicle under the line-of-sight condition of the utility model;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that: reference numerals and letters designate similar items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; mechanical connection or electrical connection can be realized; the two original pieces can be directly connected or indirectly connected through an intermediate medium, or the two original pieces can be communicated with each other. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The utility model provides a complicated urban environment low latitude microminiature unmanned aerial vehicle monitoring system, includes a plurality of transmitter systems, receiver system, communications facilities, processing terminal, transmitter system and receiver system signal connection, communications facilities and transmitter system signal connection, communications facilities and receiver system signal connection, communications facilities and processing terminal signal connection, receiver system installation is in the center or one side of monitoring area, transmitter system installation is around monitoring area.
Furthermore, the receiver system comprises a receiver and a direction-finding antenna, the receiver comprises a dual-channel microwave receiving module electrically connected with the direction-finding antenna, the dual-channel microwave receiving module is electrically connected with a dual-channel digital receiving module, and the dual-channel digital receiving module is electrically connected with a timing and time-service positioning unit.
Furthermore, the direction-finding antenna is a multi-array element uniform circular array antenna with more than four array elements.
Further, the transmitter system includes a signal source and a transmit antenna.
Furthermore, the signal source is electrically connected with a power amplifier, the power amplifier is electrically connected with the transmitting antenna, and the signal source is also electrically connected with a timing and time service positioning unit.
Further, the communication device adopts 4G mobile communication and TCP/IP Ethernet router communication.
Furthermore, the processing terminal is a portable computer, and unmanned aerial vehicle monitoring terminal software is installed and operated in the portable computer.
The utility model discloses in the implementation process, the stadia is during operation under the broad condition, and the transmitter both can two base receiving and dispatching also can single-station receiving and dispatching with the receiver, and the transmitter is according to control time sequence to empty transmitting signal, and the receiver receives transmitter direct signal, ground target and building reflection signal, establishes background frequency spectrum template. When an unmanned aerial vehicle exists, the unmanned aerial vehicle reflects the transmitted signal, and the receiver receives the reflected signal of the unmanned aerial vehicle, the direct signal of the transmitter, the ground target and the reflected signal of the building. The method comprises the steps of comparing micro Doppler frequency shift of reflected signals of the unmanned aerial vehicle with a background frequency spectrum template, filtering interference such as direct signals of a transmitter, signals of ground and building reflected transmitters and the like, extracting reflected signals of the unmanned aerial vehicle, signals of ground and building reflected unmanned aerial vehicle, filtering reflected signals of ground and building reflected unmanned aerial vehicle by adopting a amplitude comparison method and a time arrival difference method, extracting reflected signals of the unmanned aerial vehicle, and measuring arrival time, incoming wave azimuth and pitch angle of the signals. The satellite navigation positioning and timing system configured by the transceiving station can measure the arrival time of the transceiving signal, determine the direct distance and indirect distance (namely the sum of the direct distances between the transceiving station and the unmanned aerial vehicle) of the transceiving station, and directly perform three-dimensional positioning on the target or the reflection point based on the four-station arrival time difference technology. The azimuth angle alpha and the pitch angle beta of the unmanned aerial vehicle can be determined through two-dimensional direction finding of the receiving station. The height of the unmanned aerial vehicle can be determined through geometric relation calculation, then the three-dimensional coordinate of the unmanned aerial vehicle is determined, the unmanned aerial vehicle point track is obtained, and the unmanned aerial vehicle track is processed by adopting a tracking technology.
When the system works under the non-line-of-sight conditions such as dense shielding of urban high-rise buildings, according to accurate high-resolution three-dimensional map data of a monitored environment, physical actual measurement is carried out by adopting transmitter and receiver drive tests, and a radio wave propagation model aiming at the monitored environment is established by combining a physical model and a radio wave propagation theory and comprises primary reflection, secondary reflection and tertiary reflection of radio waves. When an unmanned aerial vehicle exists, according to a sight distance widening processing method, extracting a signal of a reflection signal of the unmanned aerial vehicle, which reaches a receiver after being reflected for a plurality of times, measuring the arrival time of the signal, the direction and the pitch angle of an incoming wave, then calculating and inverting a propagation path of the signal according to a pre-established non-sight distance environment electric wave propagation model, and further determining the three-dimensional coordinate of a point trace of the unmanned aerial vehicle.
The receiver system comprises a receiver, a direction-finding antenna and the like. The receiver adopts the dual-channel to receive the transmitted signal, adopts high-speed AD to collect intermediate frequency signals, adopts FPGA and DSP to carry out digital signal processing, analyzes the micro Doppler frequency shift of the signals, extracts the transmitted signal reflected by the unmanned aerial vehicle, and carries out timing and two-dimensional direction finding on the signals, wherein the direction finding comprises an azimuth direction and a pitching direction. The direction finding adopts a correlation interferometer system and a Doppler direction finding system. The direction-finding antenna adopts a multi-array element uniform circular array antenna with four or more array elements.
The transmitter system includes a signal source and a directional transmit antenna. The signal source generates continuous wave frequency modulation signals according to control requirements, and the unmanned aerial vehicle irradiates a designated area through power amplification and antenna directional radiation.
The GPS/BDS positioning time service unit realizes the positioning and timing of the receiving and transmitting station, and adopts an RTK system, so that the positioning precision can be in centimeter level, and the time precision can be 10 nanoseconds. The GPS/BDS positioning time service unit is communicated with the receiving and transmitting station through a serial port and improves the clock for the receiving and transmitting station. The communication equipment adopts 4G mobile communication and a TCP/IP Ethernet router, and the transceiving equipment and the processing terminal are both provided with the communication equipment, so that networking communication between the transceiving equipment and the processing terminal is realized.
The processing terminal realizes the functions of data processing, information display, system control and management and the like. The processing terminal adopts a portable computer, unmanned aerial vehicle monitoring terminal software is operated, and a GPU processing module is arranged in the processing terminal to realize high-speed parallel computation.
The unmanned aerial vehicle monitoring terminal software comprises a data processing function, an information display function, a control function and other functions,
wherein the content of the first and second substances,
the data processing functions include the functions of,
1) filtering and condensing the trace points;
2) constant false alarm processing and clutter map processing;
3) processing a flight path;
4) processing information of a receiving and transmitting station;
5) processing non-line-of-sight information;
6) and (4) processing the BIT information.
The information display function includes the functions of,
1) the trace point display can display target amplitude information in a windowing display A mode;
2) the track and track label is displayed, the track label can completely or independently select and display track parameters such as track batch number, height, speed, course, listing or descending and the like, and the track label is movable and telescopic;
3) PPI scans a base line, displays a target, displays a distance mark, and can store a PPI picture;
4) background (two-dimensional and three-dimensional maps, sector marks, artificial area marks, etc.) display;
5) header (including date, time) display;
6) system state information (including BIT information);
7) displaying a target parameter table;
8) system control, display control, admission control and networking control floating window display;
9) keyboard input display;
10) A/R display (rough display, fine display and storage display);
11) accessing and displaying information of the north seeker;
12) video signal recording and playback, capable of recording and replaying a target track for a specified time period or a specified lot number.
The control and other functions include, among others,
1) the system control is used for correspondingly setting, storing and calling functions of a radar working mode and working parameters according to different environmental conditions or requirements such as sight distance/non-sight distance and the like;
2) display control;
3) admission control;
4) networking control;
5) the system date and time are synchronous with the time service system time, and can also be manually bound;
6) online and offline BIT control;
7) data recording and playback and control thereof;
8) outputting and reporting information and controlling the information;
9) processing an electronic map and making an artificial background;
10) performing analog simulation;
11) automatic recording of starting time, receiving time, transmitting time, working mode, manual intervention command, BIT historical information and the like;
12) post-processing function: the distance curve, the azimuth curve, the elevation (pitching) curve, the non-line-of-sight diffraction curve, the residual error curve in the filtering process and the like can be drawn for any recorded target with a specified batch number;
13) the system has an on-line electronic interactive manual help function.
Example 1
The utility model provides a complicated urban environment low latitude microminiature unmanned aerial vehicle monitoring system, includes a plurality of transmitter systems, receiver system, communications facilities, processing terminal, transmitter system and receiver system signal connection, communications facilities and transmitter system signal connection, communications facilities and receiver system signal connection, communications facilities and processing terminal signal connection, receiver system installation is in the center or one side of monitoring area, transmitter system installation is around monitoring area.
Example 2
On the basis of the embodiment 1, the receiver system comprises a receiver and a direction-finding antenna, wherein the receiver comprises a dual-channel microwave receiving module electrically connected with the direction-finding antenna, the dual-channel microwave receiving module is electrically connected with a dual-channel digital receiving module, and the dual-channel digital receiving module is electrically connected with a timing and time-service positioning unit.
Example 3
On the basis of the above embodiment, the direction-finding antenna is a multi-array element uniform circular array antenna with more than four array elements.
Example 4
On the basis of the above embodiment, the transmitter system includes a signal source and a transmitting antenna.
Example 5
On the basis of the embodiment, the signal source is electrically connected with a power amplifier, the power amplifier is electrically connected with the transmitting antenna, and the signal source is also electrically connected with a timing and timing positioning unit.
Example 6
On the basis of the embodiment, the communication device adopts 4G mobile communication and TCP/IP Ethernet router communication.
Example 7
On the basis of the above embodiment, the processing terminal is a portable computer, and unmanned aerial vehicle monitoring terminal software is installed and operated in the portable computer.
The above is the embodiment of the present invention. The foregoing is the preferred embodiments of the present invention, and if the preferred embodiments in the preferred embodiments are not obviously contradictory or are based on a certain preferred embodiment, the preferred embodiments can be combined and used by being superimposed at will, and the specific parameters in the embodiments and examples are only for the purpose of clearly describing the verification process of the present invention, and are not used to limit the patent protection scope of the present invention, which is still based on the claims, and all the equivalent structural changes made by applying the contents of the specification and the drawings of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a complicated urban environment low latitude microminiature unmanned aerial vehicle monitoring system which characterized in that, includes a plurality of transmitter systems, a plurality of receiver system, communications facilities, processing terminal, transmitter system and receiver system signal connection, communications facilities and transmitter system signal connection, communications facilities and receiver system signal connection, communications facilities and processing terminal signal connection, receiver system installation is in the center or one side of monitoring the region, transmitter system installation is around monitoring the region.
2. The surveillance system for the unmanned aerial vehicle in the low altitude environment of a complex city as claimed in claim 1, wherein the receiver system comprises a receiver and a direction-finding antenna, the receiver comprises a dual-channel microwave receiving module electrically connected to the direction-finding antenna, the dual-channel microwave receiving module is electrically connected to a dual-channel digital receiving module, and the dual-channel digital receiving module is electrically connected to a timing and positioning unit.
3. A complex urban environment low altitude microminiature unmanned aerial vehicle monitoring system as claimed in claim 2, wherein said direction-finding antenna is a multi-element uniform circular array antenna with more than four elements.
4. A complex urban environment low altitude microminiature unmanned aerial vehicle monitoring system according to claim 1, wherein said transmitter system comprises a signal source and a transmitting antenna.
5. The system according to claim 4, wherein the signal source is electrically connected to a power amplifier, the power amplifier is electrically connected to the transmitting antenna, and the signal source is further electrically connected to a timing and time-service positioning unit.
6. A complex urban environment low altitude microminiature unmanned aerial vehicle monitoring system as claimed in claim 1, wherein said communication device employs 4G mobile communication and TCP/IP ethernet router communication.
7. The system of claim 1, wherein the processing terminal is a portable computer, and the portable computer is installed with unmanned aerial vehicle monitoring terminal software.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113867391A (en) * | 2021-10-11 | 2021-12-31 | 南京航空航天大学 | Unmanned aerial vehicle low-altitude safety early warning and monitoring method and system based on digital twins |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113867391A (en) * | 2021-10-11 | 2021-12-31 | 南京航空航天大学 | Unmanned aerial vehicle low-altitude safety early warning and monitoring method and system based on digital twins |
| CN113867391B (en) * | 2021-10-11 | 2023-10-31 | 南京航空航天大学 | Unmanned aerial vehicle low-altitude safety early warning and monitoring method and system based on digital twinning |
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