CN106680881A - Unmanned aerial vehicle detection system and method based on digital array - Google Patents
Unmanned aerial vehicle detection system and method based on digital array Download PDFInfo
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- CN106680881A CN106680881A CN201710118909.0A CN201710118909A CN106680881A CN 106680881 A CN106680881 A CN 106680881A CN 201710118909 A CN201710118909 A CN 201710118909A CN 106680881 A CN106680881 A CN 106680881A
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- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
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- G01V3/17—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with electromagnetic waves
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Abstract
The invention provides an unmanned aerial vehicle detection system and method based on digital arrays. The method includes the following steps: receiving an image transmission analog signal sent from an unmanned aerial vehicle, filtering and amplifying the image transmission analog signal, and obtaining an amplified image transmission analog signal with a passband being in the first frequency range; converting the amplified image transmission analog signal with the passband being in the first frequency range into an amplified image transmission analog signal with a passband being in the second frequency range; converting the amplified image transmission analog signal with the passband being in the second frequency range into a digital signal; conducting quadrature demodulation on the digital signal, and obtaining a baseband signal; processing the baseband signal, and obtaining a space spectrum; scanning the space spectrum at a first preset angle, obtaining an angle corresponding to a peak value of the space spectrum, scanning at a second preset angle according to the angle corresponding to the peak value of the space spectrum, and taking the scanned position of the peak value of the space spectrum as a target accurate angle; and displaying the target accurate angle. Therefore, real-time detection of a target can be carried out, and detection of multiple targets can be realized in a complex environment.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to the unmanned plane detection system based on digital array and side
Method.
Background technology
With developing rapidly for unmanned plane, unmanned plane is led in video acquisition, geological prospecting, remote sensing mapping and searching rescue etc.
Domain obtains a wide range of applications.Therefore, the focus of detection, early warning technology and equipment as current research to unmanned plane.
At present, unmanned plane detecting devices gathers view data by thermal infrared imager, and view data is transferred into image
Processor is processed, so as to complete target detection.Generally, the region of search of thermal infrared imager is, by turning table control, to pass through
Turning table control beam position, synchronization can only detect a target.By the thermal infrared imager of turning table control under complex environment
Multiple targets cannot be simultaneously detected, and real-time detection cannot be carried out to target.
The content of the invention
In view of this, it is an object of the invention to provide unmanned plane detection system and method based on digital array, can be with
Real-time detection is carried out to target, and multiple target detection can be realized under complex environment.
In a first aspect, the embodiment of the invention provides the unmanned plane detection system based on digital array, the system includes：
Signal receiving unit, signal gathering unit, Digital Signal Processing dsp board and display terminal；
The signal receiving unit, is connected with the signal gathering unit, for receiving the figure that the unmanned plane sends
Analog signal is passed, figure biography analog signal is filtered and amplified, obtained the enlarged drawing that passband is first frequency scope and pass
Analog signal, the passband is converted to for second frequency model by the passband for the enlarged drawing of first frequency scope passes analog signal
The enlarged drawing for enclosing passes analog signal；
The signal gathering unit, is connected with the dsp board, for being the second frequency scope by the passband
Enlarged drawing passes analog signal and is converted into data signal, and the data signal is carried out into quadrature demodulation, obtains baseband signal；
The dsp board, is connected with the display terminal, for the baseband signal to be processed, obtains spatial spectrum,
And the spatial spectrum is scanned with the first predetermined angle, the corresponding angle of the space spectrum peak is obtained, according to the sky
Between the corresponding angle of spectrum peak be scanned with the second predetermined angle, the position of the space spectrum peak that will be scanned is used as target
Accurate angle；
The display terminal, is connected with the dsp board, for showing the target accurate angle.
With reference in a first aspect, the embodiment of the invention provides the first possible implementation method of first aspect, wherein, institute
Stating signal receiving unit includes array antenna group, radio-frequency front-end group and low-converter group；
The array antenna group, is connected with the radio-frequency front-end group, for receiving the figure that the unmanned plane sends
Pass analog signal；
The radio-frequency front-end group, is connected with the low-converter group, for figure biography analog signal to be filtered
And amplification, obtain the enlarged drawing that the passband is the first frequency scope and pass analog signal；
The low-converter group, for the enlarged drawing that the passband is the first frequency scope to be passed into analog signal conversion
For the enlarged drawing that the passband is the second frequency scope passes analog signal.
With reference in a first aspect, the embodiment of the invention provides second possible implementation method of first aspect, wherein, institute
Stating signal gathering unit includes multiple multichannel collecting plates, the multichannel collecting plate include multipath A/D converter ADC and
On-site programmable gate array FPGA；
The multichannel ADC, for the enlarged drawing that the passband is the second frequency scope to be passed into analog signal conversion
It is the data signal；
The FPGA, believes the numeral for the sample rate according to the second frequency scope and the multichannel ADC
Number quadrature demodulation is carried out, obtain the baseband signal.
With reference to second possible implementation method of first aspect, the third of first aspect is the embodiment of the invention provides
Possible implementation method, wherein, the second frequency scope is 10MHz-95MHz, and the first frequency scope is 2400MHz-
2485MHz。
With reference in a first aspect, the embodiment of the invention provides the 4th kind of possible implementation method of first aspect, wherein, institute
State dsp board and be additionally operable to obtain the covariance matrix of the baseband signal, and the covariance matrix is decomposed, obtain feature
Value characteristic vector corresponding with the characteristic value, according to subspace principal, at the corresponding characteristic vector of the characteristic value
Reason, obtains the spatial spectrum.
With reference in a first aspect, the embodiment of the invention provides the 5th kind of possible implementation method of first aspect, wherein, institute
Stating system also includes frequency source, is connected with the signal gathering unit, for producing sampling clock and reference clock.
Second aspect, the embodiment of the present invention also provides the unmanned plane detection method based on digital array, and methods described includes：
The figure biography analog signal that the unmanned plane sends is received, figure biography analog signal is filtered and amplified, obtained
To passband for the enlarged drawing of first frequency scope passes analog signal；
The passband is converted into the passband for second frequency model for the enlarged drawing of first frequency scope passes analog signal
The enlarged drawing for enclosing passes analog signal；
The enlarged drawing that the passband is the second frequency scope is passed into analog signal and is converted into data signal；
The data signal is carried out into quadrature demodulation, baseband signal is obtained；
The baseband signal is processed, spatial spectrum is obtained；
The spatial spectrum is scanned with the first predetermined angle, obtains the corresponding angle of the space spectrum peak, according to
The corresponding angle of the space spectrum peak is scanned with the second predetermined angle, and the position of the space spectrum peak that will be scanned is made
It is target accurate angle；
Show the target accurate angle.
With reference to second aspect, the first possible implementation method of second aspect is the embodiment of the invention provides, wherein, institute
State and processed the baseband signal, obtaining spatial spectrum includes：
Obtain the covariance matrix of the baseband signal, and the covariance matrix decomposed, obtain characteristic value and
The corresponding characteristic vector of the characteristic value；
According to subspace principal, the corresponding characteristic vector of the characteristic value is processed, obtain the spatial spectrum.
With reference to the first possible implementation method of second aspect, second of second aspect is the embodiment of the invention provides
Possible implementation method, wherein, it is described that the covariance matrix is decomposed, obtain characteristic value and the characteristic value is corresponding
Characteristic vector includes：
The corresponding characteristic vector of the characteristic value is calculated according to following formula：
Wherein, R is the covariance matrix, UsIt is the corresponding characteristic vector of eigenvalue of maximum, ΣsIt is the maximum feature
It is worth the diagonal matrix for constituting, UnIt is the corresponding characteristic vector of minimal eigenvalue, ΣnBe the minimal eigenvalue constitute to angular moment
Battle array, ()HExpression takes conjugate transposition.
With reference to the first possible implementation method of second aspect, the third of second aspect is the embodiment of the invention provides
Possible implementation method, wherein, it is described the corresponding characteristic vector of the characteristic value is processed according to subspace principal, obtain
Include to the spatial spectrum：
The spatial spectrum is calculated according to following formula：
Wherein, PMUSICIt is the spatial spectrum, θ is scanning angle, UnIt is the corresponding characteristic vector of the minimal eigenvalue,
(·)HExpression takes the conjugate transposition.
The embodiment of the present invention is based on the unmanned plane detection system and method for digital array, and nothing is received by signal receiving unit
The figure of man-machine transmission passes analog signal, and figure biography analog signal is filtered and is amplified, and it is first frequency scope to obtain passband
Enlarged drawing passes analog signal, and passband is converted into passband for second frequency model for the enlarged drawing of first frequency scope passes analog signal
The enlarged drawing for enclosing passes analog signal；The enlarged drawing that passband is the second frequency scope is passed by simulation letter by signal gathering unit
Number data signal is converted into, the data signal is carried out into quadrature demodulation, obtain baseband signal；By dsp board by baseband signal
Processed, obtained spatial spectrum, and the spatial spectrum is scanned with the first predetermined angle, obtained space spectrum peak corresponding
Angle, is scanned according to the corresponding angle of space spectrum peak with the second predetermined angle, the position of the space spectrum peak that will be scanned
As target accurate angle, such that it is able to carry out real-time detection to target, and can realize that multiple target is visited under complex environment
Survey.
Other features and advantages of the present invention will be illustrated in the following description, also, the partly change from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the unmanned plane detection system schematic diagram based on digital array that the embodiment of the present invention one is provided；
Fig. 2 is another unmanned plane detection system schematic diagram based on digital array that the embodiment of the present invention one is provided；
Fig. 3 is the unmanned plane detection method flow chart based on digital array that the embodiment of the present invention two is provided；
Fig. 4 is step S105 flows in the unmanned plane detection method based on digital array that the embodiment of the present invention two is provided
Figure.
Icon：
10- signal receiving units；20- array antenna groups；30- radio-frequency front-end groups；40- low-converter groups；50- signal acquisitions
Unit；60- multichannel collecting plates；70-DSP plates；80- display terminals.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
For ease of understanding the present embodiment, the embodiment of the present invention is described in detail below.
Embodiment one：
Fig. 1 is the unmanned plane detection system schematic diagram based on digital array provided in an embodiment of the present invention.
Reference picture 1, the system includes signal receiving unit 10, signal gathering unit 50, the and of Digital Signal Processing dsp board 70
Display terminal 80；
Signal receiving unit 10, is connected with signal gathering unit 50, and mould is passed for receiving the figure that the unmanned plane sends
Intend signal, figure biography analog signal is filtered and amplified, obtain the enlarged drawing that passband is first frequency scope and pass simulation
Signal, it is second frequency scope that the enlarged drawing that the passband is first frequency scope pass analog signal to be converted to the passband
Enlarged drawing passes analog signal；
Specifically, signal receiving unit 10 includes array antenna group 20, radio-frequency front-end group 30 and low-converter group 40, its
In, array antenna group 20 includes multiple array antennas, and radio-frequency front-end group 30 includes multiple radio-frequency front-ends, and low-converter group 40 includes
Multiple low-converters.Fig. 2 is specifically can refer to, array antenna, radio-frequency front-end and low-converter are sequentially connected.
Array antenna is made up of 8 array elements, and the working frequency of each array element is 2300MHz-2500MHz, gain 5dB, ripple
Valve width (3dB) is 100 °.
The figure that array antenna is used to receive unmanned plane transmitting passes analog signal, and radio-frequency front-end passes analog signal and filters to figure
Ripple and amplification.Wherein, radio-frequency front-end includes two-stage low-noise amplifier and a bandpass filter, and every grade of amplifier gain is
28dB, the passband of bandpass filter is first frequency scope, and specially 2400MHz-2485MHz, coverage diagram passes signal frequency range.Under
Passband is converted to the enlarged drawing that passband is second frequency scope by frequency converter for the enlarged drawing of first frequency scope passes analog signal
Analog signal is passed, second frequency scope is 10MHz-95MHz.
Wherein, array antenna can in any direction form the wave beam of specified width, which width as needed, and when changing beam position
Without mechanical rotation, such that it is able to realize full spatial domain covering, while carrying out direction finding and tracking to multiple targets.By to unmanned plane
Figure pass analog signal carry out direction finding, influenceed small by the complex environment such as ground clutter and unmanned plane own dimensions, motion state.
Signal gathering unit 50, is connected with dsp board 70, for by amplification that the passband is the second frequency scope
Figure passes analog signal and is converted into data signal, and the data signal is carried out into quadrature demodulation, obtains baseband signal；
Here, signal gathering unit 50 includes multiple multichannel collecting plates, specifically includes two multichannel collecting plates, leads to more
Road collection plate is arranged in VPX cabinets, and data and command interaction are carried out by VPX back panel and other subsystems.
Wherein, baseband signal can be sent to dsp board using Aurora communication protocols, carry out direction finding, signal analysis etc.
Reason, on the other hand can be sent to single board computer using PCI Express agreements, be stored and ex-post analysis.
Dsp board 70, is connected with display terminal 80, for baseband signal to be processed, obtains spatial spectrum, and with first
Predetermined angle is scanned to the spatial spectrum, the corresponding angle of the space spectrum peak is obtained, according to the space spectrum peak
Corresponding angle is scanned with the second predetermined angle, and the position of the space spectrum peak that will be scanned is used as the accurate angle of target
Degree；
Here, dsp board 70 is the multi-core DSP chip TMS320C6678 and a piece of Xilinx companies released by TI companies
FPGA is constituted, and can reach 1433.6GMAC/s fixed-point calculations performance and 716.8GFLOP/s floating-point operation performances.The base of dsp board 70
In the design of VPX standards, can be carried out data transmission with signal acquiring board, single board computer by backboard.
Specifically, coarse scanning is that the spatial spectrum is scanned with the first predetermined angle, obtains the space spectrum peak
Corresponding angle；Essence scanning is to be scanned with the second predetermined angle according to the corresponding angle of the space spectrum peak, will be scanned
The space spectrum peak position as target accurate angle.Coarse scanning by way of essence scanning is combined, it is right to realize
The continuous direction finding and tracking of target.
Display terminal 80, is connected with dsp board 70, for display target accurate angle.
Here, display terminal 80 can be single board computer, by single board computer display target accurate angle.
Further, signal receiving unit 10 includes array antenna group 20, radio-frequency front-end group 30 and low-converter group 40；
Array antenna group 20, is connected with the radio-frequency front-end group 30, for receiving the figure that the unmanned plane sends
Pass analog signal；
Radio-frequency front-end group 30, is connected with the low-converter group 40, for figure biography analog signal to be filtered
And amplification, obtain the enlarged drawing that the passband is the first frequency scope and pass analog signal；
Low-converter group 40, is converted to for the enlarged drawing that the passband is the first frequency scope to be passed into analog signal
The passband is that the enlarged drawing of the second frequency scope passes analog signal.
Further, signal gathering unit 50 includes multiple multichannel collecting plates, and the multichannel collecting plate includes leading to more
Road analog-digital converter ADC and on-site programmable gate array FPGA；
Multichannel ADC, institute is converted into for the enlarged drawing that the passband is the second frequency scope to be passed into analog signal
State data signal；
Here, multichannel ADC has four passages, and single pass sample rate is 240Msps, and quantization digit is 12bits,
The analog-to-digital conversion of four road signals can simultaneously be completed.
FPGA, for being carried out just the data signal according to the sample rate of second frequency scope and the multichannel ADC
Demodulation is handed over, the baseband signal is obtained.
Further, dsp board 70 is additionally operable to obtain the covariance matrix of the baseband signal, and to the covariance matrix
Decomposed, obtained characteristic value and the corresponding characteristic vector of the characteristic value, according to subspace principal, to characteristic value correspondence
Characteristic vector processed, obtain the spatial spectrum.
Further, system also includes frequency source, is connected with signal gathering unit 50, for producing sampling clock and base
Punctual clock.
Specifically, frequency source is used to produce sampling clock and reference clock, and frequency is respectively 240MHz and 10MHz.Output
Power is more than 30dBm, and harmonic wave is less than -40dBc, spuious less than -60dBc.Sampling clock is used for the input of multichannel ADC, benchmark
Clock is used for the SECO of system.
The embodiment of the present invention is based on the unmanned plane detection system of digital array, and receiving unmanned plane by signal receiving unit sends out
The figure for sending passes analog signal, and figure biography analog signal is filtered and is amplified, and obtains the enlarged drawing that passband is first frequency scope
Analog signal is passed, passband is converted into passband putting for second frequency scope for the enlarged drawing of first frequency scope passes analog signal
Big figure passes analog signal；The enlarged drawing that passband is the second frequency scope is passed into analog signal by signal gathering unit to convert
It is data signal, the data signal is carried out into quadrature demodulation, obtains baseband signal；By dsp board by baseband signal
Reason, obtains spatial spectrum, and the spatial spectrum is scanned with the first predetermined angle, obtains the corresponding angle of space spectrum peak,
It is scanned with the second predetermined angle according to the corresponding angle of space spectrum peak, the position of the space spectrum peak that will be scanned is used as mesh
Mark accurate angle, such that it is able to carry out real-time detection to target, and can realize multiple target detection under complex environment.
Embodiment two：
Fig. 3 is the unmanned plane detection method flow chart based on digital array provided in an embodiment of the present invention.
Reference picture 3, the method is comprised the following steps：
Step S101, receives the figure biography analog signal that unmanned plane sends, and figure biography analog signal is filtered and is amplified, and obtains
To passband for the enlarged drawing of first frequency scope passes analog signal；
Step S102, passband is converted to for second frequency model by passband for the enlarged drawing of first frequency scope passes analog signal
The enlarged drawing for enclosing passes analog signal；
Step S103, data signal is converted into by passband for the enlarged drawing of second frequency scope passes analog signal；
Step S104, quadrature demodulation is carried out by data signal, obtains baseband signal；
Step S105, baseband signal is processed, and obtains spatial spectrum；
Step S106, is scanned with the first predetermined angle to spatial spectrum, obtains the corresponding angle of space spectrum peak, according to
Spectrum peak corresponding angle in space is scanned with the second predetermined angle, and the position of the space spectrum peak that will be scanned is smart as target
True angle；
Here, the first predetermined angle can be 1 °, and the second predetermined angle is 0.1 °.By above-mentioned twice sweep, Ke Yibao
Card real-time and angle measurement accuracy.
Step S107, display target accurate angle.
Further, reference picture 4, step S105 is comprised the following steps：
Step S201, obtains the covariance matrix of baseband signal, and covariance matrix is decomposed, obtain characteristic value and
The corresponding characteristic vector of characteristic value；
Here, when being decomposed to covariance matrix, obtain characteristic value, and by characteristic value according to from size to order arrange
Row, take top n for big characteristic value, and remaining is small characteristic value.It should be noted that N is equal to signal number, it is preset value.Wherein,
The big corresponding characteristic vector of characteristic value is signal subspace, and the corresponding characteristic vector of small characteristic value is referred to as noise subspace.
Step S202, according to subspace principal, is processed the corresponding characteristic vector of characteristic value, obtains spatial spectrum.
Further, step S201 includes：
The corresponding characteristic vector of the characteristic value is calculated according to formula：
Wherein, R is covariance matrix, UsIt is the corresponding characteristic vector of eigenvalue of maximum, ΣsIt is eigenvalue of maximum composition
Diagonal matrix, UnIt is the corresponding characteristic vector of minimal eigenvalue, ΣnIt is the diagonal matrix that minimal eigenvalue is constituted, ()HRepresent
Take conjugate transposition.
Here, it is x (t) to receive data, and covariance matrix is from formula (2)：
R=E [x (t) xH(t)] (2)
Wherein, E [] is represented and is taken desired value.
Further, step S202 includes：
Spatial spectrum is calculated according to formula (3) and formula (4)：
Wherein, PMUSICIt is spatial spectrum, θ is scanning angle, UnIt is the corresponding characteristic vector of minimal eigenvalue, ()HRepresent
Take conjugate transposition.
The embodiment of the present invention is based on the unmanned plane detection method of digital array, receives the figure biography simulation letter that unmanned plane sends
Number, figure biography analog signal is filtered and amplified, obtain the enlarged drawing that passband is first frequency scope and pass analog signal；Will be logical
Band is converted to the enlarged drawing that passband is second frequency scope and passes analog signal for the enlarged drawing of first frequency scope passes analog signal；
The enlarged drawing that passband is the second frequency scope is passed into analog signal and is converted into data signal；Data signal is carried out into orthogonal solution
Adjust, obtain baseband signal；Baseband signal is processed, spatial spectrum is obtained；Spatial spectrum is scanned with the first predetermined angle,
The corresponding angle of space spectrum peak is obtained, is scanned with the second predetermined angle according to the corresponding angle of space spectrum peak, will swept
The position of the space spectrum peak retouched is used as target accurate angle；Display target accurate angle, such that it is able to be carried out in real time to target
Detection, and multiple target detection can be realized under complex environment.
The computer program product that the embodiment of the present invention is provided, including store the computer-readable storage of program code
Medium, the instruction that described program code includes can be used to perform the method described in previous methods embodiment, and implementing to join
See embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description
With the specific work process of device, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
If the function is to realize in the form of SFU software functional unit and as independent production marketing or when using, can be with
Storage is in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used to so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
Finally it should be noted that：Embodiment described above, specific embodiment only of the invention, is used to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of embodiment of the present invention technical scheme, should all cover in protection of the invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of unmanned plane detection system based on digital array, it is characterised in that the system includes：Signal receiving unit,
Signal gathering unit, Digital Signal Processing dsp board and display terminal；
The signal receiving unit, is connected with the signal gathering unit, and mould is passed for receiving the figure that the unmanned plane sends
Intend signal, figure biography analog signal is filtered and amplified, obtain the enlarged drawing that passband is first frequency scope and pass simulation
Signal, it is second frequency scope that the enlarged drawing that the passband is first frequency scope pass analog signal to be converted to the passband
Enlarged drawing passes analog signal；
The signal gathering unit, is connected with the dsp board, for by amplification that the passband is the second frequency scope
Figure passes analog signal and is converted into data signal, and the data signal is carried out into quadrature demodulation, obtains baseband signal；
The dsp board, is connected with the display terminal, for the baseband signal to be processed, obtains spatial spectrum, and with
First predetermined angle is scanned to the spatial spectrum, the corresponding angle of the space spectrum peak is obtained, according to the spatial spectrum
The corresponding angle of peak value is scanned with the second predetermined angle, and the position of the space spectrum peak for scanning is accurate as target
Angle；
The display terminal, is connected with the dsp board, for showing the target accurate angle.
2. the unmanned plane detection system based on digital array according to claim 1, it is characterised in that the signal is received
Unit includes array antenna group, radio-frequency front-end group and low-converter group；
The array antenna group, is connected with the radio-frequency front-end group, and mould is passed for receiving the figure that the unmanned plane sends
Intend signal；
The radio-frequency front-end group, is connected with the low-converter group, for figure biography analog signal to be filtered and put
Greatly, obtain the enlarged drawing that the passband is the first frequency scope and pass analog signal；
The low-converter group, institute is converted to for the enlarged drawing that the passband is the first frequency scope to be passed into analog signal
State the enlarged drawing that passband is the second frequency scope and pass analog signal.
3. the unmanned plane detection system based on digital array according to claim 1, it is characterised in that the signal acquisition
Unit includes multiple multichannel collecting plates, and the multichannel collecting plate includes multipath A/D converter ADC and field-programmable
Gate array FPGA；
The multichannel ADC, institute is converted into for the enlarged drawing that the passband is the second frequency scope to be passed into analog signal
State data signal；
The FPGA, for being entered the data signal according to the sample rate of the second frequency scope and the multichannel ADC
Row quadrature demodulation, obtains the baseband signal.
4. the unmanned plane detection system based on digital array according to claim 3, it is characterised in that the second frequency
Scope is 10MHz-95MHz, and the first frequency scope is 2400MHz-2485MHz.
5. the unmanned plane detection system based on digital array according to claim 1, it is characterised in that the dsp board is also
Covariance matrix for obtaining the baseband signal, and being decomposed to the covariance matrix, obtains characteristic value and described
The corresponding characteristic vector of characteristic value, according to subspace principal, is processed the corresponding characteristic vector of the characteristic value, obtains institute
State spatial spectrum.
6. the unmanned plane detection system based on digital array according to claim 1, it is characterised in that the system is also wrapped
Frequency source is included, is connected with the signal gathering unit, for producing sampling clock and reference clock.
7. a kind of unmanned plane detection method based on digital array, it is characterised in that methods described includes：
The figure biography analog signal that the unmanned plane sends is received, figure biography analog signal is filtered and amplified, led to
Band passes analog signal for the enlarged drawing of first frequency scope；
It is second frequency scope that the enlarged drawing that the passband is first frequency scope pass analog signal to be converted to the passband
Enlarged drawing passes analog signal；
The enlarged drawing that the passband is the second frequency scope is passed into analog signal and is converted into data signal；
The data signal is carried out into quadrature demodulation, baseband signal is obtained；
The baseband signal is processed, spatial spectrum is obtained；
The spatial spectrum is scanned with the first predetermined angle, the corresponding angle of the space spectrum peak is obtained, according to described
Spectrum peak corresponding angle in space is scanned with the second predetermined angle, and the position of the space spectrum peak that will be scanned is used as mesh
Mark accurate angle；
Show the target accurate angle.
8. the unmanned plane detection method based on digital array according to claim 7, it is characterised in that described by the base
Band signal is processed, and obtaining spatial spectrum includes：
The covariance matrix of the baseband signal is obtained, and the covariance matrix is decomposed, obtain characteristic value and described
The corresponding characteristic vector of characteristic value；
According to subspace principal, the corresponding characteristic vector of the characteristic value is processed, obtain the spatial spectrum.
9. the unmanned plane detection method based on digital array according to claim 8, it is characterised in that described to the association
Variance matrix is decomposed, and obtaining characteristic value and the corresponding characteristic vector of the characteristic value includes：
The corresponding characteristic vector of the characteristic value is calculated according to following formula：
Wherein, R is the covariance matrix, UsIt is the corresponding characteristic vector of eigenvalue of maximum, ΣsIt is the eigenvalue of maximum structure
Into diagonal matrix, UnIt is the corresponding characteristic vector of minimal eigenvalue, ΣnIt is the diagonal matrix that the minimal eigenvalue is constituted,
(·)HExpression takes conjugate transposition.
10. the unmanned plane detection method based on digital array according to claim 8, it is characterised in that described according to son
Space Principles, are processed the corresponding characteristic vector of the characteristic value, and obtaining the spatial spectrum includes：
The spatial spectrum is calculated according to following formula：
A (θ)=[1, e-j2πdsinθ/λ,…,e-j2π(N-1)dsinθ/λ]H
Wherein, PMUSICIt is the spatial spectrum, θ is scanning angle, UnIt is the corresponding characteristic vector of the minimal eigenvalue, ()HTable
Show and take the conjugate transposition.
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