CN104320208A

CN104320208A - Air radio monitoring method

Info

Publication number: CN104320208A
Application number: CN201410630828.5A
Authority: CN
Inventors: 马方立; 崔铠韬; 裴峥; 白宇军; 何永东; 邱承跃; 孔明明
Original assignee: CHENGDU DIANZHEN TECHNOLOGY CO LTD; Xihua University
Current assignee: CHENGDU DIANZHEN TECHNOLOGY CO LTD; Xihua University
Priority date: 2014-11-11
Filing date: 2014-11-11
Publication date: 2015-01-28

Abstract

The invention discloses an air radio monitoring method. The air radio monitoring method is characterized by comprising the following steps that firstly, monitoring positioning parameters are input; secondly, the direction-finding height is found out; thirdly, the route planning and radio signal source positioning are carried out. A radio monitoring intelligent robot measures the direction where a radio signal source is located in the air H away from the ground, the air radio monitoring intelligent robot automatically plans the flying track according to the measured direction where the radio signal source is located, and the position of the radio signal source is calculated according to the data measured in the continuous flying process. Professional operators are not needed, operation is easy, risks are low, the intelligent level is high, the air radio monitoring intelligent robot automatically plans the flying track to position the position of the signal source according to the direction-finding result, and intelligent air radio monitoring is achieved better.

Description

A kind of on-air radio pyroelectric monitor method

Technical field

The present invention relates to on-air radio pyroelectric monitor technical field, particularly relate to a kind of on-air radio pyroelectric monitor intelligent robot and utilize direction finding result contexture by self flight path to carry out the on-air radio pyroelectric monitor method of positioning signal source.

Background technology

On-air radio pyroelectric monitor supplements as the one of traditional monitoring pattern, existing monitoring net can be formed the multi-function modern three-dimensional monitoring nets such as Long-distance Control, associating direction finding, emphasis monitoring, can realize covering institute's administrative area full frequency band, full-service, all the period of time, omnibearing monitoring, thus General Promotion technology management level.Realize maximum different of aerial monitoring and monitoring mode be in the past to need to be applicable to monitor in the air the carrier flown with the use of, and different monitorings also has different requirements from the demand of the task of monitoring, character and budget front to used monitoring bearer type; According to monitor in the air at present the task application scene born can by monitoring that task division is occasion support mission in the air, emergency response task and dailyly patrol prison task.

On-air radio pyroelectric monitor has huge advantage because radio wave is when overland propagation, can because the refraction of all media, reflection, diffraction and become disorderly and unsystematic; And airborne spread does not almost reflect, there is through property, so by monitoring the radio-signal source direction that obtains and position in the air often very accurately; Secondly, aerial monitoring location change is fast, and can be switched to rapidly another point by a point, carry out crossings on different level multipoint positioning, the position precision obtained like this is very high, so get more and more to the demand of aerial platform radio monitoring.

At present, also little in domestic device, the method utilizing air-robot to monitor radio of China.Mostly rested on ground station's Remote stage to the control of air-robot, existing on-air radio pyroelectric monitor platform has: someone drives fixed wing aircraft, someone drives single-rotor helicopter, single rotor unmanned helicopter, four kinds, dirigible, all cannot realize autonomous DF and location signal source aloft.

The each hub of the U.S. is equipped with someone for a long time and drives fixed wing aircraft and carry radio monitoring system, and also coming into operation in 2010 of China, cost is more than tens million of RMB.More than each hundreds thousand of unit of flight cost, and can not hover and wait for; Not only manufacturing cost is very high to make this fixed wing aircraft, and flight cost is also very high, and as relatively large aircraft, needs to apply for air route in advance, be not easy to carry out an urgent task.

Shenzhen in 2007 occurs that the have people of cost more than millions of RMB drives single-rotor helicopter lift-launch radio monitoring system, and the flight cost of single-rotor helicopter is higher is more than 3,000 yuan per hour; Manufacturing cost is higher, and flight cost is also higher.

2011 there is dirigible radio monitoring system in Yunnan, although dirigible fail safe is good, flight cost is higher, fill helium expense usually more than 10,000 yuans at every turn.

2012 there is the single rotor unmanned helicopter of cost more than hundreds thousand of RMB in China, although single rotor unmanned helicopter compares manufacturing cost with single-rotor helicopter above, fixed wing aircraft and dirigible radio monitoring system and flight cost is lower, but its technical requirement for operating personnel is higher, be unfavorable for popularizing, and easily occur falling machine accident, there is larger potential safety hazard.

But still there is common technical problem in existing on-air radio pyroelectric monitor technology:

1, existing on-air radio pyroelectric monitor system, manufacturing cost is high, and flight cost is high;

2, existing on-air radio pyroelectric monitor Dynamic System difficulty, needs well-trained technical flight person or operator, is unfavorable for popularizing;

3, operationally, fail safe is low, and is difficult to the flexibility needed for compromise between security and radio monitoring for existing on-air radio pyroelectric monitor system, once there is accident, loses very large;

4, existing on-air radio pyroelectric monitor system configuration is complicated, and body is huge, deposits with maintenance cost also high.

Applicant on June 30th, 2014 applied for application number be 201410303894.1 Chinese invention patent " a kind of on-air radio pyroelectric monitor system of the ground remote control based on many rotors robot " and application number be the Chinese invention patent " the on-air radio pyroelectric monitor system based on many rotors robot " of 201410304041.X, although solve the problems referred to above, also there is following problem:

A, still need ground remote control unit to control many rotors robot to perform various flight attitude, complete radio monitoring task aloft, higher to the requirement of operating personnel;

B, the radio monitoring based on air-robot in recent years, the deficiencies such as ubiquity manipulation difficulty is large, risk is high and intelligent level is low, particularly aloft from main direction finder station contexture by self flight path aspect, lack effective means;

C, existing on-air radio pyroelectric monitor system still adopt ground remote control device to control the flight track of unmanned plane, cannot realize many rotors robot and also be positioned radio-signal source by Monitoring Data further on flight track according to direction finding result contexture by self flight track.

Summary of the invention

The object of the invention is to the problems referred to above overcoming prior art existence, propose a kind of on-air radio pyroelectric monitor method.The present invention does not need professional operator, and manipulation is simple, and risk is low, and intelligent level is high, achieves on-air radio pyroelectric monitor intelligent robot and utilizes direction finding result contexture by self flight path to come the position of positioning signal source, more achieve intelligentized on-air radio pyroelectric monitor.

The present invention realizes by the following technical solutions:

A kind of on-air radio pyroelectric monitor method, is characterized in that comprising the following steps:

1) Input Monitor Connector positional parameter: Monitoring and Positioning parameter comprises the Radio signal parameters, maximum flying distance Dmax, the monitoring starting point height Hmin and ceiling altitude Hmax that preset needs monitoring;

2) find out direction finding height: after lift-off, on-air radio pyroelectric monitor intelligent robot carries out radio signal strength detection continuously, until the height H that the maximum measuring radio signal strength is corresponding between monitoring starting point height Hmin and ceiling altitude Hmax;

3) trajectory planning and location radio signals source: direction, radio-signal source place first measured by on-air radio pyroelectric monitor intelligent robot at height H place, on-air radio pyroelectric monitor intelligent robot utilizes direction, the radio-signal source place contexture by self flight track measured, and calculates the position of radio-signal source according to the data continuing to measure in flight course.

In described trajectory planning and location radio signals source step, radio signal strength level S0 and direction, radio-signal source place is measured at height H, P0 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot along direction, the radio-signal source place flying distance D1 in-position P1 measured, measures radio signal strength level S1 and direction at height H, P1 place, position on-air radio pyroelectric monitor intelligent robot again; On-air radio pyroelectric monitor intelligent robot, according to the variable quantity S1-S0 of radio signal strength level and distance D1, extrapolates the position PS of radio-signal source according to radio waves propagation model.

If the radio-signal source direction of measuring at P1 place is constant, then:

Under the free space model of radio wave propagation, the distance=D1/{ [10 (S1-S0)/20]-1 of the position of P1 and radio-signal source }

Under the plane earth model of radio wave propagation, the distance=D1/{ [10 (S1-S0)/40]-1 of the position of P1 and radio-signal source }

If the radio-signal source direction of measuring at P1 place changes 180 degree, then:

Under free space model, the distance of the position of P1 and radio-signal source

=?D1/{?[10(S1-S0)/20]+1?}

Under plane earth model, the distance of the position of P1 and radio-signal source

=?D1/{?[10(S1-S0)/40]+1?}

When flying height is far longer than monitored electric wave wavelength, adopt the free space model of radio wave propagation; Otherwise press plane earth model.

In described trajectory planning and location radio signals source step, direction, radio-signal source place I is first measured at height H, P0 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot, along flying distance D2 in-position, the direction P3 with I one-tenth, direction, radio-signal source place angle theta 1, measures direction, radio-signal source place II at height H, P3 place, position on-air radio pyroelectric monitor intelligent robot; On-air radio pyroelectric monitor intelligent robot hands over according to position P0, direction I and position P3, direction II the position PS drawing radio-signal source.

Described 0 degree of < ︱ θ 1 ︱ < 90 degree.

In described trajectory planning and location radio signals source step, first measure radio signal strength level S0 and direction, signal source place I at height H, P0 place, position on-air radio pyroelectric monitor intelligent robot; On-air radio pyroelectric monitor intelligent robot is again along direction I, radio-signal source place flying distance D3 in-position P4, measure radio signal strength level S4 and direction, signal source place II at height H, P4 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot extrapolates the position PS1 of radio-signal source according to the variable quantity S4-S0 of radio signal strength level and distance D3 according to radio waves propagation model again; On-air radio pyroelectric monitor intelligent robot is again along flying distance D4 in-position, the direction P5 with I one-tenth, direction, radio-signal source place angle theta 2, measure direction, radio-signal source place III again at height H, P5 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot hands over according to position P0, direction I and position P5, direction III the position PS2 drawing radio-signal source again; The position PS1 of radio-signal source and the position PS2 of radio-signal source is drawn radio signal source position PS more accurately by weighted calculation by on-air radio pyroelectric monitor intelligent robot.

Preferably, on-air radio pyroelectric monitor intelligent robot estimates the angular range of angle theta 2 by the position PS1 of the radio-signal source extrapolated, and can improve the precision handed over and paint location, obtain the position PS2 of radio-signal source more accurately.

Described 30 degree of < ︱ θ 2 ︱ < 60 degree, the air line distance between P0 and P5 is D5.

If the radio-signal source direction of measuring at P4 place is constant, then

Under the free space model of radio wave propagation, the distance=D3/{ [10 (S4-S0)/20]-1 of the position PS1 of P4 and radio-signal source }

Under the plane earth model of radio wave propagation, the distance=D3/{ [10 (S4-S0)/40]-1 of the position PS1 of P4 and radio-signal source }

If the radio-signal source direction of measuring at P4 place changes 180 degree, then

Under free space model, the distance of the position PS1 of P4 and radio-signal source

=?D3/{?[10(S4-S0)/20]+1?}

Under plane earth model, the distance of the position PS1 of P4 and radio-signal source

=?D3/{?[10(S4-S0)/40]+1?}。

In described trajectory planning and location radio signals source step, direction, radio-signal source place is first measured at height H, P0 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot flies and direction finding along direction, radio-signal source place again, until on-air radio pyroelectric monitor intelligent robot measures direction, radio-signal source place when changing, judge that the position PS of radio-signal source is positioned at below the position that direction, radio-signal source place changes.

Described on-air radio pyroelectric monitor method also comprises the intelligent barrier avoiding step that on-air radio pyroelectric monitor intelligent robot carries out after lift-off, described intelligent barrier avoiding step refers to that aerial radio monitoring intelligent robot by organizing distance measuring sensor more when flying, distance between real-time calculating on-air radio pyroelectric monitor intelligent robot and spatial obstacle thing, and judge whether spatial obstacle thing is positioned on current course line; When on-air radio pyroelectric monitor intelligent robot calculate barrier be positioned on the line of flight time, on-air radio pyroelectric monitor intelligent robot perform avoid the flare maneuver of obstacle after, turn back on course line.On-air radio pyroelectric monitor intelligent robot effectively can be avoided to knock spatial obstacle thing, cause on-air radio pyroelectric monitor intelligent robot to damage, affect on-air radio pyroelectric monitor task, ensure that the safe flight of on-air radio pyroelectric monitor intelligent robot.

Described on-air radio pyroelectric monitor method also comprises the electric power detection step that on-air radio pyroelectric monitor intelligent robot carries out after lift-off, described electric power detection step refers to that aerial radio monitoring intelligent robot continues to detect the current residual electricity of on-air radio pyroelectric monitor intelligent robot by piezoelectricity quantity sensor when flying, and judges whether current electric quantity enough continues flight; When on-air radio pyroelectric monitor intelligent robot calculate current residual electricity only enough return to one's starting point or make preparation for dropping some time, on-air radio pyroelectric monitor intelligent robot automatically makes a return voyage or makes preparation for dropping.Can safeguard in the very first time and regain on-air radio pyroelectric monitor intelligent robot, effectively avoid on-air radio pyroelectric monitor intelligent robot to occur the situation generation that electricity is not enough and lose.

Described on-air radio pyroelectric monitor method also comprises the parachute unlatching step that on-air radio pyroelectric monitor intelligent robot carries out after lift-off, and described parachute is opened step and referred to that aerial radio monitoring intelligent robot is released a parachute by parachute unlatching unit when flying.Parachute set up can when aloft radio monitoring intelligent robot generation mechanical breakdown falls, electricity is when exhausting whereabouts or when being hit whereabouts by unknown object, release a parachute and its sinking speed is reduced, safe falling, thus prevent it from breaking, be convenient to recovery and the Data Collection of on-air radio pyroelectric monitor intelligent robot, effectively prevent loss of data, aerial monitoring cost can also be saved.

Described on-air radio pyroelectric monitor intelligent robot, comprising:

For the body flown;

For controlling the flight control modules of body flight;

For obtaining the reception antenna of radio signal;

For obtaining reception antenna direction, azimuthal electronic compass that this direction of Real-time Obtaining is corresponding;

For the radio monitoring receiving element received radio signals;

For the CPU to direction finding task scheduling, Analysis on monitoring data and record Monitoring Data;

For navigating and the navigation module of self poisoning;

Described reception antenna, electronic compass, radio monitoring receiving element, CPU, flight control modules and navigation module are installed on body, described CPU is connected with flight control modules, navigation module, electronic compass and radio monitoring receiving element respectively, described reception antenna is connected with radio monitoring receiving element, and described CPU controls body by flight control modules; Described CPU first measures direction, radio-signal source place by direction finding, and recycling direction finding result controls the flight track of body by flight control modules, finally calculate the position of radio-signal source according to the data continuing to measure in flight course.

Described on-air radio pyroelectric monitor intelligent robot, comprising:

For the body flown;

For controlling the flight control modules of body flight;

For obtaining the reception antenna of radio signal;

For the radio monitoring receiving element received radio signals;

For navigating and the navigation module of self poisoning;

Described reception antenna, electronic compass, radio monitoring receiving element, CPU, flight control modules and navigation module are installed on body, described CPU is connected with flight control modules, electronic compass and radio monitoring receiving element respectively, described navigation module is connected with flight control modules, described reception antenna is connected with radio monitoring receiving element, and described CPU controls body by flight control modules; Described CPU first measures direction, radio-signal source place by direction finding, and recycling direction finding result controls the flight track of body by flight control modules, finally calculate the position of radio-signal source according to the data continuing to measure in flight course.

Described on-air radio pyroelectric monitor intelligent robot, comprising:

For the body flown;

For obtaining the reception antenna of radio signal;

For the radio monitoring receiving element received radio signals;

For controlling body flight, CPU to direction finding task scheduling, Analysis on monitoring data and record Monitoring Data;

Described reception antenna, electronic compass, radio monitoring receiving element, CPU and navigation module are installed on body, described CPU is connected with navigation module, electronic compass and radio monitoring receiving element respectively, described reception antenna is connected with radio monitoring receiving element, described CPU first measures direction, radio-signal source place by direction finding, recycling direction finding result controls the flight track of body by flight control modules, finally calculate the position of radio-signal source according to the data continuing to measure in flight course.

Described on-air radio pyroelectric monitor intelligent robot also comprises at least one for hiding the distance measuring sensor of obstacle, described distance measuring sensor is connected with CPU, CPU by the real-time computer memory barrier of distance measuring sensor whether on the flight track of body, when CPU calculate spatial obstacle thing on the flight track of body time, CPU will be hidden complaint message and send to flight control modules, and avoid spatial obstacle thing by flight control modules control body.On-air radio pyroelectric monitor intelligent robot effectively can be avoided to knock spatial obstacle thing, cause on-air radio pyroelectric monitor intelligent robot to damage, affect on-air radio pyroelectric monitor task, ensure that the safe flight of on-air radio pyroelectric monitor intelligent robot.

Described distance measuring sensor is ultrasonic distance-measuring sensor, laser range sensor or infrared distance measuring sensor.

Described on-air radio pyroelectric monitor intelligent robot also comprises barometer, gyroscope and acceleration transducer, described CPU is connected with barometer, gyroscope and acceleration transducer respectively, and CPU is by the flight attitude of barometer, gyroscope and acceleration transducer autonomous calibration body.Barometer for measuring the flying height of on-air radio pyroelectric monitor intelligent robot, for control unit provides height parameter; Gyroscope is used for preventing on-air radio pyroelectric monitor intelligent robot there is deviation by heading during external force, can be used for keeping heading, keeps flight stability; Acceleration transducer controls the flying speed of on-air radio pyroelectric monitor intelligent robot, controls flight stability.

Described on-air radio pyroelectric monitor intelligent robot also comprises the electrical quantity sensor for carrying out electric power detection, described on-air radio pyroelectric monitor intelligent robot comprises the power supply for powering for on-air radio pyroelectric monitor intelligent robot, described power supply is connected with CPU and electrical quantity sensor respectively, described electrical quantity sensor is connected with CPU, described CPU continues by electrical quantity sensor the current residual electricity detecting body, and judges whether current electric quantity enough continues flight; When CPU calculate current residual electricity only enough return to one's starting point or make preparation for dropping some time, CPU will to be maked a return voyage or the information of making preparation for dropping sends to flight control modules automatically, and controls body by flight control modules and perform and automatically make a return voyage or make preparation for dropping.In very first time protection and on-air radio pyroelectric monitor intelligent robot can be regained, effectively avoid on-air radio pyroelectric monitor intelligent robot to occur the situation generation that electricity is not enough and lose.

Described on-air radio pyroelectric monitor intelligent robot also comprises parachute and opens unit, parachute is opened unit and is connected with CPU, described air-robot is provided with parachute, described parachute and parachute are opened unit and are connected, and CPU is opened unit by parachute and released a parachute.Parachute and parachute open unit set up can when aloft radio monitoring intelligent robot generation mechanical breakdown falls, electricity is when exhausting whereabouts or when being hit whereabouts by unknown object, release a parachute and its sinking speed is reduced, safe falling, thus prevent it from breaking, be convenient to recovery and the Data Collection of on-air radio pyroelectric monitor intelligent robot, effectively prevent loss of data, aerial monitoring cost can also be saved.

Described navigation module is satellite navigation module.

Described reception antenna is directional antenna, and directional antenna and electronic compass are connected, and directional antenna and electronic compass rotate with same angular velocity; Or described reception antenna is direction estimation antenna array.

Described radio monitoring receiving element is spectrum analyzer, monitoring receiver.

Described flight control modules is automatic pilot.

Described CPU performs radio monitoring instruction for controlling radio monitoring receiving element, and the microprocessor with flight controlling functions of process and storage Monitoring Data; Or described CPU performs radio monitoring instruction for controlling radio monitoring receiving element, and process and store there is the mobile phone of flight controlling functions or there is the panel computer of flight controlling functions of Monitoring Data.

The weight of described on-air radio pyroelectric monitor intelligent robot is 6-12 kilogram.

The present invention compared with prior art has the following advantages:

1, the present invention does not need professional operator, manipulation is simple, and risk is low, and intelligent level is high, achieving on-air radio pyroelectric monitor intelligent robot utilizes direction finding result contexture by self flight path to come the position of positioning signal source, more achieves intelligentized on-air radio pyroelectric monitor.

2, the present invention adopts described flight track to be continue flight toward the direction, radio-signal source place of measuring, and flying distance is D1; Or flight track is become the direction of angle theta to continue flight toward the direction, radio-signal source place of measuring, flying distance is D2; Again or flight track be first continue flight toward the direction, radio-signal source place of measuring, flying distance is D3, then becomes the direction of angle theta to continue flight toward the direction, radio-signal source place of measuring, and flying distance is D4.The present invention additionally uses 3 kinds of flight tracks, the position of the radio signal strength level change calculations radio-signal source that the change in location of aerial radio monitoring intelligent robot and on-air radio pyroelectric monitor intelligent robot are measured during flight during by monitoring different flight track, achieving on-air radio pyroelectric monitor intelligent robot utilizes direction finding result contexture by self flight path to come the position of positioning signal source, more achieves intelligentized on-air radio pyroelectric monitor.

3, the present invention adopts on-air radio pyroelectric monitor intelligent robot to estimate the angular range of angle theta 2 by the position PS1 of the radio-signal source extrapolated, and can improve the precision handed over and paint location, obtain the position PS2 of radio-signal source more accurately.

4, the present invention adopts described on-air radio pyroelectric monitor intelligent robot also to comprise at least one for hiding the distance measuring sensor of obstacle, described distance measuring sensor is connected with CPU, CPU by the real-time computer memory barrier of distance measuring sensor whether on the flight track of body, when CPU calculate spatial obstacle thing on the flight track of body time, CPU will be hidden complaint message and send to flight control modules, and avoid spatial obstacle thing by flight control modules control body.On-air radio pyroelectric monitor intelligent robot effectively can be avoided to knock spatial obstacle thing, cause on-air radio pyroelectric monitor intelligent robot to damage, affect on-air radio pyroelectric monitor task, ensure that the safe flight of on-air radio pyroelectric monitor intelligent robot.

5, the present invention adopts described on-air radio pyroelectric monitor intelligent robot also to comprise barometer, gyroscope and acceleration transducer, described CPU is connected with barometer, gyroscope and acceleration transducer respectively, and CPU is by the flight attitude of barometer, gyroscope and acceleration transducer autonomous calibration body.Barometer for measuring the flying height of on-air radio pyroelectric monitor intelligent robot, for control unit provides height parameter; Gyroscope is used for preventing on-air radio pyroelectric monitor intelligent robot there is deviation by heading during external force, can be used for keeping heading, keeps flight stability; Acceleration transducer controls the flying speed of on-air radio pyroelectric monitor intelligent robot, controls flight stability.

6, the present invention adopts described on-air radio pyroelectric monitor intelligent robot also to comprise electrical quantity sensor for carrying out electric power detection, described on-air radio pyroelectric monitor intelligent robot comprises the power supply for powering for on-air radio pyroelectric monitor intelligent robot, described power supply is connected with CPU and electrical quantity sensor respectively, described electrical quantity sensor is connected with CPU, described CPU continues by electrical quantity sensor the current residual electricity detecting body, and judges whether current electric quantity enough continues flight; When CPU calculate current residual electricity only enough return to one's starting point or make preparation for dropping some time, CPU will to be maked a return voyage or the information of making preparation for dropping sends to flight control modules automatically, and controls body by flight control modules and perform and automatically make a return voyage or make preparation for dropping.In very first time protection and on-air radio pyroelectric monitor intelligent robot can be regained, effectively avoid on-air radio pyroelectric monitor intelligent robot to occur the situation generation that electricity is not enough and lose.

7, the present invention adopts described on-air radio pyroelectric monitor intelligent robot also to comprise parachute and opens unit, parachute is opened unit and is connected with CPU, described air-robot is provided with parachute, described parachute and parachute are opened unit and are connected, and CPU is opened unit by parachute and released a parachute.Parachute and parachute open unit set up can when aloft radio monitoring intelligent robot generation mechanical breakdown falls, electricity is when exhausting whereabouts or when being hit whereabouts by unknown object, release a parachute and its sinking speed is reduced, safe falling, thus prevent it from breaking, be convenient to recovery and the Data Collection of on-air radio pyroelectric monitor intelligent robot, effectively prevent loss of data, aerial monitoring cost can also be saved.

8, the present invention adopts described reception antenna to be directional antenna, and directional antenna and electronic compass are connected, and directional antenna and electronic compass rotate with same angular velocity; Or described reception antenna is direction estimation antenna array.Structure is simple, easy to operate, and low cost of manufacture.

9, the present invention adopts described radio monitoring receiving system to be spectrum analyzer or monitoring receiver.Described spectrum analyzer is used for the measurement of signal spectrum parameter, in a digital manner measurement result can be sent to data-interface; Described monitoring receiver is for measuring the intensity, frequency, bandwidth etc. of the on-air radio signal of telecommunication.

9, the present invention adopts described CPU to perform radio monitoring instruction for controlling radio monitoring receiving element, and process and store the microprocessor of Monitoring Data, for signal transacting and Parameter analysis very convenient; Or described CPU performs radio monitoring instruction for controlling radio monitoring receiving element, and the mobile phone of process and storage Monitoring Data, personal digital assistant or panel computer, adopt mobile phone, personal digital assistant or panel computer on-air radio pyroelectric monitor intelligent robot can be carried out interaction by network and control centre, current Monitoring Data and environmental information are provided in real time, also facilitate control centre and on-air radio pyroelectric monitor intelligent robot execution on-air radio pyroelectric monitor task is observed.

10, the weight of described on-air radio pyroelectric monitor intelligent robot is 6-12 kilogram, the weight of whole on-air radio pyroelectric monitor intelligent robot is very light compared with the dirigible of prior art, helicopter, and cost is low, light weight ensure that on-air radio pyroelectric monitor intelligent robot can perform on-air radio pyroelectric monitor task smoothly, energy consumption is also low, and the radio monitoring field aloft that is particularly suitable for is popularized.

11, degree of intelligence of the present invention is high, can avoiding obstacles automatically in flight course, can also automatically make a return voyage or make preparation for dropping after task completes.

12, the present invention is different from ground monitoring direction finding, carry out the interference that radio monitoring not only overcomes reflection, refraction etc. aloft, also calculate the position of radio-signal source by contexture by self flight path, provide basis for the radio-signal source searching illegal setting.

13, flexibility of the present invention is high.The present invention adopts and aloft monitors, and not by the stop of ground obstacle, is applicable to the monitoring under the various environment in city or suburb.

14, Monitoring and Positioning efficiency of the present invention is high.Different from ground on-vehicle formula or hand-hold type direction finding, due to on-air radio pyroelectric monitor intelligent robot take off, flying speed is very fast, and automatically can get rid of reflection aloft, refraction is disturbed, and can start the direction finding of other frequency after completing a frequency direction finding.

15, invention increases flight safety and flight efficiency, solve the problems such as prior art ubiquity manipulation difficulty is large, risk is high and intelligent level is low, also solve the difficult problem that the existing unmanned plane for airborne radio monitoring system all cannot be positioned radio-signal source according to monitoring result contexture by self unmanned plane by on-air radio pyroelectric monitor system flight flight path simultaneously.

16, the present invention adopts the on-air radio pyroelectric monitor intelligent robot of 3 kinds of structures, all can realize utilizing direction finding result contexture by self flight path to come the position of positioning signal source.

Accompanying drawing explanation

Fig. 1 is on-air radio pyroelectric monitor intelligent robot embodiment 1 structural representation of the present invention.

Fig. 2 is on-air radio pyroelectric monitor intelligent robot embodiment 3 structural representation of the present invention.

Fig. 3 is on-air radio pyroelectric monitor intelligent robot embodiment 4 structural representation of the present invention.

Embodiment

Below in conjunction with Figure of description, the present invention is further detailed:

Embodiment 1:

A kind of on-air radio pyroelectric monitor method, comprises the following steps:

=?D1/{?[10(S1-S0)/20]+1?}

=?D1/{?[10(S1-S0)/40]+1?}

The present invention is applied in and adopts on a kind of on-air radio pyroelectric monitor intelligent robot of simultaneously applying for of applicant:

A kind of on-air radio pyroelectric monitor intelligent robot, comprising:

For the body flown;

For controlling the flight control modules of body flight;

For obtaining the reception antenna of radio signal;

For the radio monitoring receiving element received radio signals;

For navigating and the navigation module of self poisoning;

In the present invention, described reception antenna is directional antenna, and directional antenna and electronic compass are connected, and directional antenna and electronic compass rotate with same angular velocity.

In the present invention, described flight track comprises direction, the radio-signal source place continuation flight toward measuring, and flying distance is D1.

In the present invention, described radio monitoring receiving element is monitoring receiver.

In the present invention, described CPU performs radio monitoring instruction for controlling radio monitoring receiving element, and the microprocessor of process and storage Monitoring Data.

In the present invention, described flight control modules is automatic pilot.

In the present invention, the weight of described on-air radio pyroelectric monitor intelligent robot is 6 kilograms.

Embodiment 2:

Described 0 degree of < ︱ θ 1 ︱ < 90 degree.

On the on-air radio pyroelectric monitor intelligent robot that the present invention adopts applicant to apply in use simultaneously:

On-air radio pyroelectric monitor intelligent robot, comprising:

For the body flown;

For controlling the flight control modules of body flight;

For obtaining the reception antenna of radio signal;

For the radio monitoring receiving element received radio signals;

For navigating and the navigation module of self poisoning;

Described reception antenna, electronic compass, radio monitoring receiving element, CPU, flight control modules and navigation module are installed on body, described CPU is connected with flight control modules, electronic compass and radio monitoring receiving element respectively, described navigation module is connected with flight control modules, described reception antenna is connected with radio monitoring receiving element, and described CPU controls body by flight control modules; Described CPU first measures direction, radio-signal source place by direction finding, recycling direction finding result controls the flight track of body by flight control modules, calculate the position of radio-signal source finally by Monitoring Data further on flight track.

In the present invention, described navigation module is satellite navigation module.

In the present invention, reception antenna needs the radio signal transmission of monitoring to radio monitoring receiving element at differing heights by receiving; Radio signal strength data from differing heights are sent to CPU by radio monitoring receiving element; CPU measures the height that in the radio signal of differing heights, radio signal is the strongest; Direction finding is carried out again at the height that radio signal strength is the strongest, measure direction, radio-signal source place, CPU recycling direction finding result controls the flight track of body by flight control modules, finally calculate the position of radio-signal source according to the data continuing to measure in flight course.

In the present invention, described on-air radio pyroelectric monitor intelligent robot also comprises five for hiding the distance measuring sensor of obstacle, described each distance measuring sensor is connected with CPU respectively, CPU by five real-time computer memory barriers of distance measuring sensor whether on the flight track of body, when CPU calculate spatial obstacle thing on the flight track of body time, CPU will be hidden complaint message and send to flight control modules, and avoid spatial obstacle thing by flight control modules control body.On-air radio pyroelectric monitor intelligent robot effectively can be avoided to knock spatial obstacle thing, cause on-air radio pyroelectric monitor intelligent robot to damage, affect on-air radio pyroelectric monitor task, ensure that the safe flight of on-air radio pyroelectric monitor intelligent robot.

Described distance measuring sensor is ultrasonic distance-measuring sensor.

In the present invention, described on-air radio pyroelectric monitor intelligent robot also comprises barometer, gyroscope and acceleration transducer, described CPU is connected with barometer, gyroscope and acceleration transducer respectively, and CPU is by the flight attitude of barometer, gyroscope and acceleration transducer autonomous calibration body.Barometer for measuring the flying height of on-air radio pyroelectric monitor intelligent robot, for control unit provides height parameter; Gyroscope is used for preventing on-air radio pyroelectric monitor intelligent robot there is deviation by heading during external force, can be used for keeping heading, keeps flight stability; Acceleration transducer controls the flying speed of on-air radio pyroelectric monitor intelligent robot, controls flight stability.

In the present invention, described on-air radio pyroelectric monitor intelligent robot also comprises the electrical quantity sensor for carrying out electric power detection, described on-air radio pyroelectric monitor intelligent robot comprises the power supply for powering for on-air radio pyroelectric monitor intelligent robot, described power supply is connected with CPU and electrical quantity sensor respectively, described electrical quantity sensor is connected with CPU, described CPU continues by electrical quantity sensor the current residual electricity detecting body, and judges whether current electric quantity enough continues flight; When CPU calculate current residual electricity only enough return to one's starting point or make preparation for dropping some time, CPU will to be maked a return voyage or the information of making preparation for dropping sends to flight control modules automatically, and controls body by flight control modules and perform and automatically make a return voyage or make preparation for dropping.In very first time protection and on-air radio pyroelectric monitor intelligent robot can be regained, effectively avoid on-air radio pyroelectric monitor intelligent robot to occur the situation generation that electricity is not enough and lose.

In the present invention, described reception antenna is directional antenna, and directional antenna and electronic compass are connected, and directional antenna and electronic compass rotate with same angular velocity; Or described reception antenna is direction estimation antenna array.

In the present invention, described flight track is become the direction of angle theta to continue flight toward the direction, radio-signal source place of measuring, and flying distance is D2.

In the present invention, the angle of described angle theta is 0 degree of < ︱ θ ︱ < 90 degree.

In the present invention, described CPU performs radio monitoring instruction for controlling radio monitoring receiving element, and the mobile phone of process and storage Monitoring Data.

In the present invention, described flight control modules is automatic pilot.

In the present invention, the weight of described on-air radio pyroelectric monitor intelligent robot is 7 kilograms.

Embodiment 3:

If the radio-signal source direction of measuring at P4 place is constant, then

=?D3/{?[10(S4-S0)/20]+1?}

=?D3/{?[10(S4-S0)/40]+1?}。

The present invention is applied in the aerial intelligent robot for radio monitoring that applicant applies for simultaneously in use:

For the aerial intelligent robot of radio monitoring, comprising:

For the body flown;

For obtaining the reception antenna of radio signal;

For the radio monitoring receiving element received radio signals;

For navigating and the navigation module of self poisoning;

In the present invention, reception antenna needs the radio signal transmission of monitoring to radio monitoring receiving element at differing heights by receiving; Radio signal strength data from differing heights are sent to CPU by radio monitoring receiving element; CPU measures the height that in the radio signal of differing heights, radio signal is the strongest; Direction finding is carried out again at the height that radio signal strength is the strongest, measure direction, radio-signal source place, the flight track of CPU recycling direction finding output control body, calculates the position of radio-signal source finally by Monitoring Data further on flight track.

In the present invention, the described aerial intelligent robot for radio monitoring also comprises one for hiding the distance measuring sensor of obstacle, described distance measuring sensor is connected with CPU respectively, CPU by the real-time computer memory barrier of distance measuring sensor whether on the flight track of body, when CPU calculate spatial obstacle thing on the flight track of body time, CPU will be hidden complaint message and send to flight control modules, and avoid spatial obstacle thing by flight control modules control body.On-air radio pyroelectric monitor intelligent robot effectively can be avoided to knock spatial obstacle thing, cause on-air radio pyroelectric monitor intelligent robot to damage, affect on-air radio pyroelectric monitor task, ensure that the safe flight of on-air radio pyroelectric monitor intelligent robot.

In the present invention, the described aerial intelligent robot for radio monitoring also comprises barometer, gyroscope and acceleration transducer, described CPU is connected with barometer, gyroscope and acceleration transducer respectively, and CPU is by the flight attitude of barometer, gyroscope and acceleration transducer autonomous calibration body.Barometer for measuring the flying height of on-air radio pyroelectric monitor intelligent robot, for control unit provides height parameter; Gyroscope is used for preventing on-air radio pyroelectric monitor intelligent robot there is deviation by heading during external force, can be used for keeping heading, keeps flight stability; Acceleration transducer controls the flying speed of on-air radio pyroelectric monitor intelligent robot, controls flight stability.

In the present invention, the described aerial intelligent robot for radio monitoring also comprises the electrical quantity sensor for carrying out electric power detection, described on-air radio pyroelectric monitor intelligent robot comprises the power supply for powering for on-air radio pyroelectric monitor intelligent robot, described power supply is connected with CPU and electrical quantity sensor respectively, described electrical quantity sensor is connected with CPU, described CPU continues by electrical quantity sensor the current residual electricity detecting body, and judges whether current electric quantity enough continues flight; When CPU calculate current residual electricity only enough return to one's starting point or make preparation for dropping some time, central processing unit controls body performs and automatically makes a return voyage or make preparation for dropping.In very first time protection and on-air radio pyroelectric monitor intelligent robot can be regained, effectively avoid on-air radio pyroelectric monitor intelligent robot to occur the situation generation that electricity is not enough and lose.

The described aerial intelligent robot for radio monitoring also comprises parachute and opens unit, parachute is opened unit and is connected with CPU, described air-robot is provided with parachute, described parachute and parachute are opened unit and are connected, and CPU is opened unit by parachute and released a parachute.Parachute and parachute open unit set up can when aloft radio monitoring intelligent robot generation mechanical breakdown falls, electricity is when exhausting whereabouts or when being hit whereabouts by unknown object, release a parachute and its sinking speed is reduced, safe falling, thus prevent it from breaking, be convenient to recovery and the Data Collection of on-air radio pyroelectric monitor intelligent robot, effectively prevent loss of data, aerial monitoring cost can also be saved.

In the present invention, described flight track is first continue flight toward the direction, radio-signal source place of measuring, and flying distance is D3, then becomes the direction of angle theta to continue flight toward the direction, radio-signal source place of measuring, and flying distance is D4.

In the present invention, described CPU performs radio monitoring instruction for controlling radio monitoring receiving element, and the panel computer with flight controlling functions of process and storage Monitoring Data.

In the present invention, the weight of described on-air radio pyroelectric monitor intelligent robot is 8 kilograms.

Embodiment 4:

Be with the difference of embodiment 3:

For the aerial intelligent robot of radio monitoring, comprising:

For the body flown;

For obtaining the reception antenna of radio signal;

For the radio monitoring receiving element received radio signals;

For navigating and the navigation module of self poisoning;

Described reception antenna, electronic compass, radio monitoring receiving element, CPU and navigation module are installed on body, described CPU is connected with navigation module, electronic compass and radio monitoring receiving element respectively, described reception antenna is connected with radio monitoring receiving element, described CPU first measures direction, radio-signal source place by direction finding, the flight track of recycling direction finding output control body, finally calculates the position of radio-signal source according to the data continuing to measure in flight course.

In the present invention, the described aerial intelligent robot for radio monitoring also comprises three for hiding the distance measuring sensor of obstacle, described each distance measuring sensor is connected with CPU respectively, CPU by three real-time computer memory barriers of distance measuring sensor whether on the flight track of body, when CPU calculate spatial obstacle thing on the flight track of body time, CPU will be hidden complaint message and send to flight control modules, and avoid spatial obstacle thing by flight control modules control body.On-air radio pyroelectric monitor intelligent robot effectively can be avoided to knock spatial obstacle thing, cause on-air radio pyroelectric monitor intelligent robot to damage, affect on-air radio pyroelectric monitor task, ensure that the safe flight of on-air radio pyroelectric monitor intelligent robot.

Described distance measuring sensor is infrared distance measuring transducer.

In the present invention, the weight of described on-air radio pyroelectric monitor intelligent robot is 12 kilograms.

For the stability of test radio monitoring air-robot and functional, execution mode is as follows:

Case one: Monitoring and Positioning is carried out to the f-m broadcast station that certain frequency is 96.5 megahertzes

Signal source: choose the f-m broadcast station that certain frequency is 96.5 megahertzes, its firing altitude is 86 meters.

Measurement environment: around test point and launching tower, height above sea level is 550 meters, most high constructure is less than 50 meters apart from ground, and housing-group is more.

Measurement parameter: frequency is 96.5 megahertzes, Measurement bandwidth is 200 KHz, and demodulation mode is frequency modulation, and polarization mode is perpendicular polarization, decays to 0 decibel.

Monitoring and Positioning step:

1) Input Monitor Connector positional parameter: frequency 96.5 megahertz, Measurement bandwidth 200 KHz, demodulation mode: frequency modulation, polarization mode: perpendicular polarization, decays 0 decibel.Maximum flying distance 3 km, monitoring starting point height 30 meters, ceiling altitude 100 meters.

2) measure starting position as test point 1, after on-air radio pyroelectric monitor intelligent robot vertically goes up to the air, find out direction finding height 80 meters.

3) on-air radio pyroelectric monitor intelligent robot is in test point 1,80 meters of eminence direction findings, and measuring radio signal strength level is 55.0 decibel microvolts, and deflection is 295 degree (relative direct norths);

4) on-air radio pyroelectric monitor Robot step 3) direction finding direction flight, 1.5 kms that fly are to test point 2.

5) on-air radio pyroelectric monitor intelligent robot is in test point 2,80 meters of eminence direction findings, and measuring radio signal strength level is 57.5 decibel microvolts, and deflection is 293 degree (relative direct norths);

6) the radio-signal source direction of measuring at test point 2 place is constant, and under the free space model of radio wave propagation, calculating test point 2 with the distance of the position of radio-signal source is 6.0 kms.

Case two: to radio-signal source Monitoring and Positioning in certain institution of higher education

Signal source: choose the radio-signal source being erected at teaching roof, its firing altitude 25 meters.

Measurement environment: around test point and launching tower, height above sea level is 550 meters, most high constructure is less than 30 meters apart from ground.

Measurement parameter: frequency is 140.5 megahertzes, Measurement bandwidth is 25 KHz, and demodulation mode is frequency modulation, and polarization mode is perpendicular polarization, decays to 0 decibel.

Monitoring and Positioning step:

1) Input Monitor Connector positional parameter: frequency 140.5 megahertz, Measurement bandwidth 25 KHz, demodulation mode: frequency modulation, polarization mode: perpendicular polarization, decays 0 decibel.Maximum flying distance 1 km, monitoring starting point height 30 meters, ceiling altitude 80 meters.

2) measure starting position as test point 1, after on-air radio pyroelectric monitor intelligent robot vertically goes up to the air, find out direction finding height 50 meters.

3) on-air radio pyroelectric monitor intelligent robot is in test point 1,50 meters of eminence direction findings, and measuring radio signal strength level is 40 decibel microvolts, and deflection is 150 degree (relative direct norths);

4) on-air radio pyroelectric monitor intelligent robot along with step 3 survey direction and become the direction flying distance 600 meters of angle 60 degree to test point 2.

5) on-air radio pyroelectric monitor intelligent robot is in test point 2,50 meters of eminence direction findings, and measuring radio signal strength level is 40 decibel microvolts, and deflection is 220 degree (relative direct norths);

6) on-air radio pyroelectric monitor intelligent robot hands over the position of drawing radio-signal source according to test point 1,2 and twice direction finding direction.

Claims

1. an on-air radio pyroelectric monitor method, is characterized in that comprising the following steps:

1) Input Monitor Connector positional parameter: Monitoring and Positioning parameter comprises Radio signal parameters, maximum flying distance Dmax, the monitoring starting point height Hmin and ceiling altitude Hmax of needs monitoring;

2) direction finding height is found out: after lift-off, on-air radio pyroelectric monitor intelligent robot carries out radio signal strength detection continuously, until the height H that the maximum measuring radio signal strength is corresponding from monitoring starting point height Hmin when ceiling altitude Hmax flies;

3) trajectory planning and location radio signals source: on-air radio pyroelectric monitor intelligent robot first measures direction, radio-signal source place at height H place, recycle direction, the radio-signal source place contexture by self flight track measured, calculate the position of radio-signal source according to the data continuing to measure in flight course.

2. a kind of on-air radio pyroelectric monitor method according to claim 1, it is characterized in that: in described trajectory planning and location radio signals source step, radio signal strength level S0 and direction, radio-signal source place is measured at height H, P0 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot along direction, the radio-signal source place flying distance D1 in-position P1 measured, measures radio signal strength level S1 at height H, P1 place, position on-air radio pyroelectric monitor intelligent robot again; On-air radio pyroelectric monitor intelligent robot, according to the variable quantity S1-S0 of radio signal strength level and distance D1, extrapolates the position PS of radio-signal source according to radio waves propagation model.

3. a kind of on-air radio pyroelectric monitor method according to claim 1, it is characterized in that: in described trajectory planning and location radio signals source step, direction, radio-signal source place I is first measured at height H, P0 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot, along flying distance D2 in-position, the direction P3 with I one-tenth, direction, radio-signal source place angle theta 1, measures direction, radio-signal source place II at height H, P3 place, position on-air radio pyroelectric monitor intelligent robot; On-air radio pyroelectric monitor intelligent robot hands over according to position P0, direction I and position P3, direction II the position PS drawing radio-signal source.

4. a kind of on-air radio pyroelectric monitor method according to claim 1, it is characterized in that: in described trajectory planning and location radio signals source step, first measure radio signal strength level S0 and direction, signal source place I at height H, P0 place, position on-air radio pyroelectric monitor intelligent robot; On-air radio pyroelectric monitor intelligent robot is again along direction I, radio-signal source place flying distance D3 in-position P4, measure radio signal strength level S4 at height H, P4 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot extrapolates the position PS1 of radio-signal source according to the variable quantity S4-S0 of radio signal strength level and distance D3 according to radio waves propagation model again; On-air radio pyroelectric monitor intelligent robot is again along flying distance D4 in-position, the direction P5 with I one-tenth, direction, radio-signal source place angle theta 2, measure direction, radio-signal source place III again at height H, P5 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot hands over according to position P0, direction I and position P5, direction III the position PS2 drawing radio-signal source again; The position PS1 of radio-signal source and the position PS2 of radio-signal source is drawn radio signal source position PS more accurately by weighted calculation by on-air radio pyroelectric monitor intelligent robot.

5. a kind of on-air radio pyroelectric monitor method according to claim 4, it is characterized in that: on-air radio pyroelectric monitor intelligent robot estimates the angular range of angle theta 2 by the position PS1 of the radio-signal source extrapolated, 30 degree of < ︱ θ 2 ︱ < 60 degree.

6. a kind of on-air radio pyroelectric monitor method according to claim 1, it is characterized in that: in described trajectory planning and location radio signals source step, in height H, direction, radio-signal source place first measured by P0 place, position on-air radio pyroelectric monitor intelligent robot, on-air radio pyroelectric monitor intelligent robot flies and direction finding along direction, radio-signal source place again, until on-air radio pyroelectric monitor intelligent robot measures direction, radio-signal source place when changing, judge that the position PS of radio-signal source is positioned at below the position that direction, radio-signal source place changes.

7. a kind of on-air radio pyroelectric monitor method according to claim 1, it is characterized in that: described on-air radio pyroelectric monitor method also comprises the parachute unlatching step that on-air radio pyroelectric monitor intelligent robot carries out after lift-off, described parachute is opened step and is referred to that aerial radio monitoring intelligent robot is released a parachute by parachute unlatching unit when flying.

8. a kind of on-air radio pyroelectric monitor method according to claim 1, is characterized in that: the on-air radio pyroelectric monitor intelligent robot that a kind of on-air radio pyroelectric monitor method adopts, comprising:

For the body flown;

For controlling the flight control modules of body flight;

For obtaining the reception antenna of radio signal;

For the radio monitoring receiving element received radio signals;

For navigating and the navigation module of self poisoning;

9. a kind of on-air radio pyroelectric monitor method according to claim 1, is characterized in that: the on-air radio pyroelectric monitor intelligent robot that a kind of on-air radio pyroelectric monitor method adopts, comprising:

For the body flown;

For controlling the flight control modules of body flight;

For obtaining the reception antenna of radio signal;

For the radio monitoring receiving element received radio signals;

For navigating and the navigation module of self poisoning;

10. a kind of on-air radio pyroelectric monitor method according to claim 1, is characterized in that: the on-air radio pyroelectric monitor intelligent robot that a kind of on-air radio pyroelectric monitor method adopts, comprising:

For the body flown;

For obtaining the reception antenna of radio signal;

For the radio monitoring receiving element received radio signals;