CN105353390A - Navigation system enabling unmanned aerial vehicle to avoid wireless interference and method - Google Patents
Navigation system enabling unmanned aerial vehicle to avoid wireless interference and method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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Abstract
The invention relates to a navigation system enabling an unmanned aerial vehicle to avoid wireless interference and a navigation method. The navigation system includes a navigation module (1) which generates an electronic map for the navigation of the unmanned aerial vehicle, a wireless interference detection module (2) which is used for detecting wireless signal interference, and a processing module (3); when the wireless interference detection module (2) detects wireless interference, the wireless interference detection module (2) sends confirmation signals to the processing module (3); and the processing module (3) marks a current position as an interference region on the electronic map. When the unmanned aerial vehicle approaches the interference region, the navigation system sends out an alarm or when the navigation system plans flight routes for the unmanned aerial vehicle, the navigation system avoids the marked interference region on the electronic map.
Description
Technical field
The invention belongs to unmanned vehicle navigation field, particularly relate to a kind of navigational system and air navigation aid thereof of evading air interference for unmanned vehicle.
Background technology
Along with popularizing of many rotary wind types unmanned vehicle, increasing people starts understand and use many rotary wind types unmanned vehicle.Due to little miniature unmanned vehicle, especially with the aircraft that many rotary wind types unmanned vehicle is representative, their volume is little, with low cost, flying speed is fast, flexibly, so be used widely.Further, be different from that other are professional, the development of technical grade unmanned plane, little miniature unmanned vehicle starts to operation simplicity, and the angle of the design requirement that satisfies the needs of consumers develops.
Now, ordinary consumer, unfamiliar domestic consumer also starts trial and goes to operate unmanned plane, and unmanned plane is gone to experience as a nicknack.Also somebody proposes, the operation of further simplification unmanned plane, no longer needs user to send instruction by telepilot whereabouts unmanned plane, but directly utilization points out airbound target on electronic chart, the mode of operation just allowing unmanned plane automatically fly in the past, greatly simplify Consumer's Experience.
But, no matter traditional control unmanned vehicle by user's manual control, also or the aftermentioned this mode by means of only indicating destination just allow aircraft fly toward destination on electronic chart, there is a problem, be exactly unmanned vehicle often because unknowable signal disturbing, and cause out of hand.Lucky, unmanned vehicle can also recover to control, and star-crossedly may cause direct air crash.
Trace it to its cause, because in the process of manipulation unmanned plane, operator controls to be main by the mode in sighting distance, and for obvious barrier, user can evade by conscious manipulation unmanned plane, but for the signal disturbing of the unknown, user is not preventible.Same reason, this problem is equally had by the working method of electronic chart intended target, user, after specifying destination, talks about smoothly, and unmanned plane can fly to destination automatically, if but it is unlucky, unmanned plane runs into signal disturbing in midway, probably just contacts in signal disturbing region and system loss, more seriously any, may not wait until and recover to control, this unmanned plane just disappears without a trace.
Disclosed in patent CN102353970, a kind of high anti-interfering performance GPS/SINS integrated navigation system comprises SINS module, GPS array antenna, radio-frequency front-end, AF panel module, baseband processing unit and integrated navigation unit, SINS module, by measuring angular speed and the specific force of carrier, calculates the position of carrier, speed and attitude, the position of carrier, speed and attitude is transferred to integrated navigation unit, GPS array antenna received signals, and Received signal strength is transferred to radio-frequency front-end, band in radio-frequency front-end filtering array antenna received signals disturbs outward, then low noise amplification is carried out, the local carrier signal that signal after amplification and radio-frequency front-end provide carries out Frequency mixing processing, obtain received IF signal, then received IF signal is converted to numeric type by analog type, is transferred to AF panel module, first AF panel module judges whether there is large power, electrically magnetic interference in digital intermediate frequency Received signal strength, if there is large power, electrically magnetic interference, the powerful electromagnetic interference (EMI) of filtering, and the digital intermediate frequency Received signal strength after AF panel is transferred to baseband processing unit, if there is no large power, electrically magnetic interference, the digital intermediate frequency Received signal strength that radio-frequency front-end exports directly is transferred to baseband processing unit, baseband processing unit catches first roughly C/A code phase and the carrier frequency of digital received IF signal, then accurate tracking is carried out to the C/A code phase of received IF signal and carrier frequency, then the C/A code phase obtained and carrier frequency are converted to pseudorange ρ G, pseudorange rates is input to integrated navigation unit, the carrier positions that integrated navigation unit provides according to SINS module, speed and attitude information calculate distance ρ I between carrier and satellite and distance rate in conjunction with satellite ephemeris and utilize pseudorange ρ G, pseudorange rates and distance ρ I, distance rate is to SINS, GPS error state is estimated in real time, SINS error state feeds back to SINS module, carry out error compensation, then according to the SINS navigational parameter after correction, satellite ephemeris and GPS clock frequently estimation of error information calculate Doppler-frequency estimation value, C/A phase estimator value and gps signal incident direction estimated value, by Doppler-frequency estimation value, C/A phase estimator value and gps signal incident direction estimated value are supplied to baseband processing unit and AF panel module respectively.Powerful arrowband interference in spatial domain interference mitigation technology filtering gps signal introduced by this patent documentation on the basis of the hypercompact combination of GPS/SINS, effectively prevent the saturated of GPS radio-frequency front-end and block, strengthen the robust performance of integrated navigation system process complicated type undesired signal, but the electronic chart that parts are many, complex structure and cost intensive and cannot obtaining identifies interference region thus the region that cannot avoid interference.
Air navigation aid the method that patent CN102620736A discloses a kind of unmanned plane sets up to have the course line detection module that course data calculates function on unmanned plane; Course line detection module can embed in unmanned plane active computer resource and use, and also can be designed as independently hardware module using with the existing airborne equipment system integration; Flight attitude, the speed of a ship or plane and height parameter that this module can provide according to airborne equipment extrapolate the real-time navigation data not relying on satellite navigation; In unmanned plane during flying, on machine, existing Satellite Navigation Set existing inertial navigation set on machine is combined and generates integrated navigation data, and course line detection module constantly compares real-time navigation data and integrated navigation data; And according to comparing data and judge the confidence level of satellite navigation, when satellite navigation is normal, unmanned plane preferentially uses integrated navigation data to fly, and temporarily real-time navigation data is hung up; When satellite navigation is abnormal, unmanned plane is automatically enabled real-time navigation data and is flown.This patent documentation has by setting up on unmanned plane the course line detection module that course data calculates function, pure-inertial guidance pattern can only be carried out by airborne inertial navigation set when losing satellite navigation to solve existing unmanned plane, or incision celestial navigation information and the Integrated navigation mode of inertial navigation set, but cannot obtain identifying the electronic chart of interference region thus the region that cannot avoid interference.
Therefore, a kind of demand of current existence, design and Implement and evade air interference for unmanned vehicle, navigational system is set up and is directed to the electronic chart that unmanned vehicle controls the signal disturbing situation of frequency range, thus clearly can judge which region is the signal disturbing district being unfavorable for that unmanned vehicle flies, navigational system formulates the course line of unmanned vehicle according to the electronic chart based on signal disturbing, for the unmanned vehicle of user's manual control, provides prompting or sets up no-fly zone; For the unmanned vehicle of Systematical control, when formulating the unmanned vehicle line of flight, avoid signal disturbing district, and this navigational system structure is simple, cost is low applied widely.
Summary of the invention
The invention discloses a kind of navigational system and air navigation aid of evading air interference for unmanned vehicle, it achieves generating identification has the electronic chart of interference region thus unmanned vehicle is avoided interference region, improves the security of flight.
The object of the invention is to be achieved by the following technical programs.
According to a first aspect of the invention, a kind of navigational system of evading air interference for unmanned vehicle disclosed by the invention, comprise the navigation module generating the electronic chart navigated for described unmanned vehicle, wherein, described navigational system gathers unmanned vehicle undesired signal and be labeled as interference region in described electronic chart.
According to a second aspect of the invention, a kind of air navigation aid applying described navigational system, described navigational system sets up interference-free flight path based on described interference region.
According to a third aspect of the invention we, a kind of navigational system of evading air interference for unmanned vehicle disclosed by the invention, comprise generate the electronic chart navigated for described unmanned vehicle navigation module, for the air interference detection module of detected wireless signals interference and processing module, wherein, when described air interference detection module detects air interference, described air interference detection module transmits an acknowledgment signal to described processing module, and it is interference region that described processing module marks current location on described electronic chart.
Preferably, described navigation module comprises gps satellite locating device or big-dipper satellite locating device.
Preferably, described air interference detection module detects the wireless signal of 2.4GHz frequency range.
According to a second aspect of the invention, a kind of navigational system of evading air interference for unmanned vehicle disclosed by the invention, comprise the navigation module generating the electronic chart navigated for described unmanned vehicle, for air interference detection module and the processing module of detected wireless signals interference, wherein, when described air interference detection module detects air interference, described air interference detection module transmits an acknowledgment signal to described processing module, it is interference region that described processing module marks current location on described electronic chart, described navigation module comprises can according to the GIS module of the flight path of the described unmanned vehicle of pre-conditioned generation on described electronic chart, described GIS module comprises GIS information and imports and exports unit, information display unit and information maintenance unit, wherein, described GIS information imports and exports unit, for importing and the derivation of the information of the flight path of unmanned vehicle in described electronic chart, described information display unit for showing the information of flight path on described electronic chart, described information maintenance unit for browsing, editing and deleting the information of flight path on described electronic chart.
Preferably, air interference detection module comprises switched wireless unit, and described switched wireless unit continues detection and to eat dishes without rice or wine signal, and when signal energy of eating dishes without rice or wine exceedes preset range, described air interference detection module transmits an acknowledgment signal to described processing module.
Preferably, described air interference detection module also comprises Fourier's change unit and positioning unit, when signal energy of eating dishes without rice or wine exceedes preset range, the wireless signal of described switched wireless unit inspection is transformed into frequency-region signal by described Fourier's change unit, the distance that described positioning unit is found range between calculating interference source and unmanned vehicle by signal intensity instruction based on described frequency-region signal, it is the center of circle that described processing module marks described interference source on described electronic chart, and distance is the border circular areas of radius is interference region.
Preferably, described air interference detection module also comprises WLAN receiver and recognizer to determine the type of interference source.
Preferably, when described unmanned vehicle is near described interference region, described navigational system sends alarm.
Preferably, described navigational system avoids when planning described unmanned vehicle flight path interference region that described electronic chart marks.
According to a third aspect of the invention we, disclosed by the inventionly a kind ofly described air navigation aid of evading the navigational system of air interference for unmanned vehicle is used to comprise the following steps.
In first step, described air interference detection module continues detected wireless signals.
In second step, when described air interference detection module detects that wireless signal disturbs, described air interference detection module transmits an acknowledgment signal to described processing module, and it is interference region that described processing module marks current location on described electronic chart.
In third step, described unmanned vehicle described navigational system when described interference region sends alarm or described navigational system avoids the interference region that described electronic chart marks when planning described unmanned vehicle flight path.
The scheme that the present invention proposes, the electronic chart of basis signal interference environment parameter can be set up, be established as unmanned vehicle according to above-mentioned electronic chart to carry out navigating or the navigational system of flight course planning, the transparency when flight of significant increase unmanned vehicle controls and security, ensured the unobstructed stable of control signal.
Accompanying drawing explanation
Fig. 1 is the structural representation of the navigational system of evading air interference according to an embodiment of the invention for unmanned vehicle.
Fig. 2 is the structural representation of the navigational system of evading air interference in accordance with another embodiment of the present invention for unmanned vehicle.
Fig. 3 is the step schematic diagram of unmanned vehicle air navigation aid according to an embodiment of the invention.
Below in conjunction with drawings and Examples, the present invention is further explained.
Embodiment
Below describe in detail be in fact only exemplary and be not intended to limit application and use., and the theory constraint be not intended to by any clear and definite or hint presented in above technical field, background, brief overview or following detailed description in addition.As used herein, term " module " or " unit " refer to that any hardware, software, firmware, electronic control part, processing logic and/or processor device are individually or with any combination, include, without being limited to: the processors sharing of application-specific integrated circuit ASIC, electronic circuit, the one or more software of execution or firmware program, special or in groups with storer, combinational logic circuit and/or described functional parts that other are applicable to are provided.In addition, unless had contrary description clearly, otherwise word " comprises " and different modification should be understood to implicit and comprises described parts but do not get rid of any miscellaneous part.
Present embodiments describe a kind of navigational system of evading air interference for unmanned vehicle, a kind of navigational system of evading air interference for unmanned vehicle as shown in Figure 1 comprises the navigation module 1 generating the electronic chart navigated for described unmanned vehicle, for air interference detection module 2 and the processing module 3 of detected wireless signals interference, wherein, when described air interference detection module 2 detects air interference, described air interference detection module 2 transmits an acknowledgment signal to described processing module 3, it is interference region that described processing module 3 marks current location on described electronic chart.
In the art, unmanned vehicle refers to the unmanned vehicle adopting and automatically control, guider can be utilized to navigate.This unmanned vehicle can be preferably many rotary wind types unmanned vehicle.
The original map data of described electronic chart by navigation module as generated based on modes such as geographical information collection or satellite-signal location.Improvements of the present invention are on described electronic chart, add the mark based on wireless signal interference.Described electronic chart is the safe flight of the special little miniature unmanned vehicle for field of opening the navigation or air flight and serves, therefore the mark relating to wireless signal interference-related information in described electronic chart of the present invention gathers that those are relevant to the safe flight of little miniature unmanned vehicle, and the wireless signal environment that can produce interference and impact to it carry out information, arrangement and login.
In one embodiment, because the current control for unmanned vehicle is mainly by 2.4GHz frequency range, described air interference detection module 2 detects the wireless signal of 2.4GHz frequency range.Such as, the electronic equipment that this frequency range uses is a lot, near such as some facilities such as institute, hospital, the strong jamming to unmanned vehicle can be formed, so can by this type of map be masked as potential threat district in electronic chart, avoid flying in this region as far as possible, air interference detection module 2 preferentially can be adopted to detect for potential threat district and confirm.In addition, near ultra-high-tension power transmission line and transformer station thereof, Ye Shi high-intensity magnetic field district, belong to the region that must avoid, so for still ultra-high-tension power transmission line at work and transformer station's periphery thereof, directly be set as strong signal disturbing region at described electronic chart, avoid unmanned vehicle to fly in this region.
In one embodiment, described navigation module 1 comprises gps satellite locating device or big-dipper satellite locating device.Such as, the terminal of the described gps satellite locating device GPS module that has been built-in and mobile communication module, sends for locator data GPS module obtained the device realizing location by mobile communication module gsm/gprs network.
In one embodiment, described processing module 3 comprises scratch pad memory, and described scratch pad memory stores corresponding interfering data.Processing module 3 can compile, organizes or analyze data in memory to perform the statistical study to data.Processing module 3 can comprise general processor, digital signal processor, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, mimic channel, digital circuit and combination thereof or the processor of other known or later exploitations.Storer can be volatile memory or nonvolatile memory.Storer can comprise the storer of one or more read only memory ROM, random access memory ram, flash memory, Electrical Erasable programmable read only memory EEPROM or other type.
Another kind be as shown in Figure 2 used for navigational system that unmanned vehicle evades air interference comprise generate the electronic chart navigated for described unmanned vehicle navigation module 1, for the air interference detection module 2 of detected wireless signals interference and processing module 3, wherein, when described air interference detection module 2 detects air interference, described air interference detection module 2 transmits an acknowledgment signal to described processing module 3, and it is interference region that described processing module 3 marks current location on described electronic chart.Air interference detection module 2 comprises switched wireless unit AP, and described switched wireless unit AP continues detection and to eat dishes without rice or wine signal, and when signal energy of eating dishes without rice or wine exceedes preset range, described air interference detection module 2 transmits an acknowledgment signal to described processing module 3.
In one embodiment, for 2.4G frequency range, in 2.4G frequency range, non-interfering frequency range is very limited, usually only has 1,6,11 channels.Therefore, concerning the network environment considered herein, the especially network environment of high-density deployment often in city, same channel usually needs to be used by different AP.And when there is repeat region between these AP, interfere with each other problem with regard to existing.If with frequently visible between AP, the WLAN based on 802.11, eating dishes without rice or wine is the common transmission medium of all devices, will according to CSMA/CA principle between two AP, keep out of the way mutually, this will certainly reduce performance greatly, and the overall performance of two AP can not more than the performance of a channel.If with frequently invisible between AP but there is common factor overlay area, then concealed nodes or exposed node problems may be formed for the Client being in intersection area.Concealed nodes and exposed node can produce the problem of two aspects, need keep out of the way or constantly retransmit when first message sends; Its two be due to can reduce during message retransmission message send physical rate, cause the coverage of same AP to expand, also make message send take duration of more eating dishes without rice or wine, conflict probability increasing, cause more re-transmission.
According to 802.11 standards, when RF signal sends, its spectrum width has certain requirement.For 2.4G, it launches frequency range is 22MHz, time outside distance center frequency 11MHz, requires that decay is more than 30dB.Concerning any WLAN transmitter, outside transmitting frequency range, signal also can not be reduced to 0 at once, but decays gradually.If the transmitting frequency range between the wlan device that two centre frequencies are different has overlapping part, will produce and influence each other, define adjacent frequency interference.Even if to 1,6 channels of nonoverlapping adjacent channel as 2.4G, 161,162 channels of 11a, if hypotelorism and transmitted power is larger between two equipment, also can have an impact.For certain network environment, adjacent frequency interference comprises self adjacent frequency interference and adjacent frequency from neighbor networks is disturbed.In order to avoid adjacent frequency interference, all devices suggestion is deployed on nonoverlapping channel, and avoids near between equipment.
In order to collect signal disturbing region accurately in electronic chart, just need to detect air interference, described switched wireless unit AP continues detection and to eat dishes without rice or wine signal, and when signal energy of eating dishes without rice or wine exceedes preset range, described air interference detection module 2 transmits an acknowledgment signal to described processing module 3.
In another embodiment, described air interference detection module 2 also comprises Fourier change unit FFT and positioning unit 8, when signal energy of eating dishes without rice or wine exceedes preset range, the wireless signal that described switched wireless unit AP detects is transformed into frequency-region signal by described Fourier change unit FFT, the distance that described positioning unit 8 is found range between RSSI calculating interference source and unmanned vehicle by the signal intensity instruction received based on described frequency-region signal, it is the center of circle that described processing module 3 marks described interference source on described electronic chart, distance is the border circular areas of radius is interference region.Signal intensity instruction range finding RSSI (ReceivedSignalStrengthIndicator) received is the distance of the strong and weak measured signal point of signal by receiving and acceptance point, and then positions calculating according to corresponding data.In one embodiment, described received signal strength indicator range finding RSSI uses radio transmission model to find range.
In one embodiment, described air interference detection module 2 also comprises WLAN receiver 9 and recognizer 10 to determine the type of interference source.WLAN receiver 9 is for determining whether interference source is WLAN signal and can divides parsing MAC information, and recognizer 10 user judges the type of non-WLAN interference source.
Navigational system of the present invention based on the flight path of unmanned vehicle, to the signal disturbing environmental data of user reminding periphery, when unmanned vehicle approach signal interference region, navigational system call user's attention, and require that user is away from this region.Even in extreme at-risk cases, navigational system can get involved control operation, controls unmanned vehicle and makes a return voyage.On the other hand, described navigational system, when receiving the flight course planning instruction that user provides, automatically can be planned the optimal route from starting point to destination, and in this flight course planning, can specially avoid signal disturbing region.So, the security of significant increase unmanned vehicle flight.
In one embodiment, when described unmanned vehicle is near described interference region, described navigational system sends alarm.
In one embodiment, described navigational system avoids when planning described unmanned vehicle flight path interference region that described electronic chart marks.
The step schematic diagram of the air navigation aid of unmanned vehicle according to an embodiment of the invention shown in Figure 3, step is as follows.
In first step S1, described air interference detection module 2 continues detected wireless signals.
In second step S2, when described air interference detection module 2 detects that wireless signal disturbs, described air interference detection module 2 transmits an acknowledgment signal to described processing module 3, and it is interference region that described processing module 3 marks current location on described electronic chart.
In third step S3, described unmanned vehicle described navigational system when described interference region sends alarm or described navigational system avoids the interference region that described electronic chart marks when planning described unmanned vehicle flight path.
Although be below described embodiment of the present invention by reference to the accompanying drawings, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art, under the enlightenment of this instructions and when not departing from the scope that the claims in the present invention are protected, can also make a variety of forms, and these all belong to the row of the present invention's protection.
Claims (10)
1. evade the navigational system of air interference for unmanned vehicle for one kind, comprise the navigation module (1) generating the electronic chart navigated for described unmanned vehicle, wherein, described navigational system gathers unmanned vehicle undesired signal and be labeled as interference region in described electronic chart.
2. application rights requires an air navigation aid for the navigational system described in 1, it is characterized in that: described navigational system sets up interference-free flight path based on described interference region.
3. navigational system of evading air interference for unmanned vehicle according to claim 1, described navigational system also comprises the air interference detection module (2) and processing module (3) that disturb for detected wireless signals, wherein, when described air interference detection module (2) detects air interference, described air interference detection module (2) transmits an acknowledgment signal to described processing module (3), and it is interference region that described processing module (3) marks current location on described electronic chart.
4. navigational system of evading air interference for unmanned vehicle according to claim 1, it is characterized in that: described navigation module (1) comprises can according to the GIS module (4) of the flight path of the described unmanned vehicle of pre-conditioned generation on described electronic chart, described GIS module (4) comprises GIS information and imports and exports unit (5), information display unit (6) and information maintenance unit (7), wherein, described GIS information imports and exports unit (5) for the importing of the information of the flight path of unmanned vehicle in described electronic chart and derivation, described information display unit (6) for showing the information of flight path on described electronic chart, described information maintenance unit (7) for browsing, editing and deleting the information of flight path on described electronic chart.
5. navigational system of evading air interference for unmanned vehicle according to claim 1, is characterized in that: described navigation module (1) comprises gps satellite locating device or big-dipper satellite locating device.
6. navigational system of evading air interference for unmanned vehicle according to claim 3, it is characterized in that: air interference detection module (2) comprises switched wireless unit (AP), described switched wireless unit (AP) continues detection and to eat dishes without rice or wine signal, when signal energy of eating dishes without rice or wine exceedes preset range, described air interference detection module (2) transmits an acknowledgment signal to described processing module (3).
7. navigational system of evading air interference for unmanned vehicle according to claim 6, it is characterized in that: described air interference detection module (2) also comprises Fourier's change unit (FFT) and positioning unit (8), when signal energy of eating dishes without rice or wine exceedes preset range, the wireless signal that described switched wireless unit (AP) is detected is transformed into frequency-region signal by described Fourier's change unit (FFT), described positioning unit (8) calculates distance between interference source and unmanned vehicle based on described frequency-region signal by signal intensity instruction range finding (RSSI), it is the center of circle that described processing module (3) marks described interference source on described electronic chart, distance is the border circular areas of radius is interference region.
8. navigational system of evading air interference for unmanned vehicle according to claim 7, is characterized in that: described air interference detection module (2) also comprises WLAN receiver (9) and recognizer (10) to determine the type of interference source.
9. navigational system of evading air interference for unmanned vehicle according to claim 1, it is characterized in that: when described unmanned vehicle is near described interference region, described navigational system sends the interference region that alarm or described navigational system are avoided when planning described unmanned vehicle flight path described electronic chart marks.
10. use the air navigation aid of evading the navigational system of air interference for unmanned vehicle according to any one of claim 3-9, it comprises the following steps:
In first step (S1), described air interference detection module (2) continues detected wireless signals;
In second step (S2), when described air interference detection module (2) detects that wireless signal disturbs, described air interference detection module (2) transmits an acknowledgment signal to described processing module (3), and it is interference region that described processing module (3) marks current location on described electronic chart;
In third step (S3), described unmanned vehicle described navigational system when described interference region sends alarm or described navigational system avoids the interference region that described electronic chart marks when planning described unmanned vehicle flight path.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807785A (en) * | 2016-03-03 | 2016-07-27 | 谭圆圆 | Controlling method and system for unmanned aircrafts |
| CN109525947A (en) * | 2018-11-20 | 2019-03-26 | 广东电网有限责任公司 | A kind of unmanned plane motion profile recording method and device |
| CN110427025A (en) * | 2019-07-15 | 2019-11-08 | 广州杰赛科技股份有限公司 | A kind of inspection device path method of adjustment, device and inspection device |
| CN111800205A (en) * | 2020-05-22 | 2020-10-20 | 中南民族大学 | Unmanned aerial vehicle-mounted wireless communication interference signal detection method |
| CN112509381A (en) * | 2020-10-16 | 2021-03-16 | 广州飞图信息科技有限公司 | Visual display method and device for unmanned aerial vehicle route signal blind area |
| CN114326811A (en) * | 2017-04-09 | 2022-04-12 | 深圳市大疆创新科技有限公司 | Flight processing method and control equipment |
| CN114710220A (en) * | 2022-03-31 | 2022-07-05 | Oppo广东移动通信有限公司 | Interference display method and device for positioning navigation, electronic equipment and storage medium |
| CN115586794A (en) * | 2022-10-10 | 2023-01-10 | 福建省电力有限公司泉州电力技能研究院 | Substation unmanned aerial vehicle anti-electromagnetic interference inspection method and terminal |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807785A (en) * | 2016-03-03 | 2016-07-27 | 谭圆圆 | Controlling method and system for unmanned aircrafts |
| CN114326811A (en) * | 2017-04-09 | 2022-04-12 | 深圳市大疆创新科技有限公司 | Flight processing method and control equipment |
| CN109525947A (en) * | 2018-11-20 | 2019-03-26 | 广东电网有限责任公司 | A kind of unmanned plane motion profile recording method and device |
| CN110427025A (en) * | 2019-07-15 | 2019-11-08 | 广州杰赛科技股份有限公司 | A kind of inspection device path method of adjustment, device and inspection device |
| CN110427025B (en) * | 2019-07-15 | 2022-04-12 | 广州杰赛科技股份有限公司 | Routing inspection equipment path adjusting method and device and routing inspection equipment |
| CN111800205A (en) * | 2020-05-22 | 2020-10-20 | 中南民族大学 | Unmanned aerial vehicle-mounted wireless communication interference signal detection method |
| CN112509381A (en) * | 2020-10-16 | 2021-03-16 | 广州飞图信息科技有限公司 | Visual display method and device for unmanned aerial vehicle route signal blind area |
| CN114710220A (en) * | 2022-03-31 | 2022-07-05 | Oppo广东移动通信有限公司 | Interference display method and device for positioning navigation, electronic equipment and storage medium |
| CN114710220B (en) * | 2022-03-31 | 2024-04-16 | Oppo广东移动通信有限公司 | Interference display method and device for positioning navigation, electronic equipment and storage medium |
| CN115586794A (en) * | 2022-10-10 | 2023-01-10 | 福建省电力有限公司泉州电力技能研究院 | Substation unmanned aerial vehicle anti-electromagnetic interference inspection method and terminal |
| CN115643533A (en) * | 2022-12-22 | 2023-01-24 | 成都安则科技有限公司 | Method and system for determining receiving station position for radio navigation |
| CN115774460A (en) * | 2023-02-10 | 2023-03-10 | 四川腾盾科技有限公司 | Unmanned aerial vehicle group topology control method based on interference avoidance |
| CN116723487A (en) * | 2023-08-11 | 2023-09-08 | 四川腾盾科技有限公司 | Anti-interference group topology optimization method based on random motion model and topology prediction |
| CN116723487B (en) * | 2023-08-11 | 2023-11-07 | 四川腾盾科技有限公司 | Anti-interference group topology optimization method based on random motion model and topology prediction |
| CN117741705A (en) * | 2023-12-19 | 2024-03-22 | 北京司南北斗科技发展有限公司 | RDSS self-adaptive adjacent channel interference resistance method and device |
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