CN107515391A - Full frequency band unmanned plane signal accurately identifies, laterally with alignment system and method - Google Patents
Full frequency band unmanned plane signal accurately identifies, laterally with alignment system and method Download PDFInfo
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- CN107515391A CN107515391A CN201710949170.8A CN201710949170A CN107515391A CN 107515391 A CN107515391 A CN 107515391A CN 201710949170 A CN201710949170 A CN 201710949170A CN 107515391 A CN107515391 A CN 107515391A
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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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
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention discloses a kind of full frequency band unmanned plane signal and accurately identifies, laterally includes with alignment system and method, the system：Computer, high performance signal transceiver and reception of wireless signals module；The reception of wireless signals module receives the wireless signal in environment, and sends high performance signal transceiver to；The radio signal received is converted into real time spectrum signal by the high performance signal transceiver, and sends computer to；Computer is according to the power of the radio signal received, unmanned plane positioning of the control radio signal reception module to generation target real time spectrum signal；Computer is realized and the unmanned plane for producing target real time spectrum signal is identified according to the content of the real time spectrum signal received.Detecting and orientation innovation algorithm of the present invention using large amount of complex, realize full frequency band unmanned plane signal accurately identify, laterally with positioning, the detecting and identification of multiple UAVs can be realized simultaneously, and can monitor the unmanned plane signal of change in location in real time, meet the needs of tracking and positioning.
Description
Technical field
The present invention relates to radio monitoring field, more particularly to a kind of full frequency band unmanned plane signal accurately identify, laterally with
Alignment system and method.
Background technology
As the change and development of unmanned air vehicle technique, increasingly raising of the people to unmanned plane use demand, small-business are more
Axle unmanned plane is so that its size is small, noise is small, own characteristic easy to carry, easy operation has turned into a kind of popular consumption and produced
Product.Unmanned plane market development both at home and abroad is swift and violent at present, and increasing unmanned plane fan has a unmanned plane of oneself, but by
The problem of this brings is also outstanding day by day.
Although unmanned plane is brought convenience in high-altitude shooting, aerial carry etc. on to user, at the same also to the masses and
Law enfrocement official brings very big trouble and potential safety hazard.Spy on other people privacy, the unmanned planes brought by unmanned plane reequips fortune privately
Goods, unmanned plane carry a series of unsafe problems such as too drastic word vertically hung scroll, the smuggling of unmanned plane border and have caused various countries to unmanned plane
The worry of hidden danger.For this, various countries are limited corresponding unmanned plane during flying rule, and have set up regulatory authorities,
But this does not take precautions against infringement of the unmanned plane to social safety effectively.In Jin Liangnian various countries, unmanned plane rushes into government area, machine
The hazard events such as field landing course line, landmark, military base still emerge in an endless stream.
In view of the above-mentioned problems, need to be monitored unmanned plane, further to exclude the unmanned plane illegally to fly.Existing
There is monitoring unmanned air vehicle technique mainly there are following a few classes：
Radar Technology：Civilian unmanned aerial vehicle is found and positioned using military radar, passes through Doppler or phased array
Etc. radar emission radio wave, the echo reflected using civilian unmanned aerial vehicle is measured and positioned.
However, for low, small, slow target, because the reflective surface area of target object is small, when monitoring distance is near, radar is very
Target object can not be extremely found, especially for hovering target, existing Radar Technology can not effectively be visited to target object
Survey and position.In addition, radar needs uninterrupted start monitoring during detecting objects body, cause job costs higher.
Photoelectric technology：Photoelectric technology is mainly shot using visible ray and infrared light detecting technology to civilian unmanned aerial vehicle
And tracking, with reference to laser ranging technique, ranging and positioning can also be carried out to civilian unmanned aerial vehicle.However, merely rely on light
Power technology can not realize the monitoring to a range of unmanned plane, it is necessary to coordinate other electronic information technology means, to photoelectricity
One temporald eixis of detection means, could realize the tracking and shooting to unmanned aerial vehicle.
Radio monitoring technology：Radio control department can be carried out using existing monitoring technology to unmanned aerial vehicle signal
A certain degree of identification and lateral.However, existing radio monitoring technology can only rely on artificial substantially identification unmanned aerial vehicle
Figure passes signal and flies control signal etc., can not position the unmanned aerial vehicle angle of pitch；Secondly, the azimuth of unmanned plane in-flight is changeable,
Existing radio monitoring technology, which can not identify, flies control signal；Again, existing radio monitoring technology can not monitor, position it is more
The unmanned aerial vehicle of sortie；Again, when monitoring distance is near, existing wireless monitor technology None- identified figure passes the figure that signal is WIFI
The figure for passing signal or unmanned plane passes signal；Again, existing radio detection technical monitoring distance only 1 km, leads to
Model of Chang Wufa automatic identification unmanned aerial vehicles etc., Detection results are poor, and cost is high.
Therefore, the prior art is defective, it is necessary to improve.
The content of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, there is provided a kind of full frequency band unmanned plane signal accurately identifies, side
To with alignment system and method.
Technical scheme is as follows：A kind of full frequency band unmanned plane signal accurately identifies, laterally and alignment system, bag
Include：Computer, high performance signal transceiver and reception of wireless signals module；The high performance signal transceiver and wireless signal connect
Module is received to be electrically connected with；The computer and the wired or wireless connection of high performance signal transceiver；
The reception of wireless signals module receives the wireless signal in environment, and sends high performance signal transceiver to；Institute
State high performance signal transceiver and the radio signal received is converted into real time spectrum signal, and send computer to；Calculate
Machine is according to the power of the radio signal received, and control radio signal reception module is to producing target real time spectrum signal
Unmanned plane positions；Computer is realized to producing target real time spectrum signal according to the content of the real time spectrum signal received
Unmanned plane identifies.
Further, in addition to GPS receiver module, GPS receiving antenna, computing module, the high performance signal transceiver
Electrically connect GPS receiver module respectively and computing module, the GPS receiver module other end are connected with GPS receiving antenna；
The gps signal that the GPS receiver module receives GPS receiving antenna sends high performance signal transceiver to, high
Performance signals transceiver sends gps signal to computing module, computing module processing gps signal and by the feedback of the information after processing
To computer, the positional information of UAV targets is drawn by complicated calculations.
Further, the reception of wireless signals module includes first antenna switching switch, and connected omnidirectional
Antenna, the omnidirectional antenna switch switch to realize that omnidirectional antenna receives and launched cutting for wireless signal function by first antenna
Change.
Further, the reception of wireless signals module also includes：Second antenna change-over switch, motor and orientation day
Line；Second antenna change-over switch, the output end of motor are connected with directional aerial respectively；The omnidirectional antenna passes through
Two antenna change-over switch control the switch of directional aerial transmitting/receiving wireless semiotic function；The motor driving directional aerial exists
Rotate and rotated on vertical plane on horizontal plane.
Further, in addition to control module, the control module are cut with high performance signal transceiver, first antenna respectively
Switch, the second antenna change-over switch, motor is changed to be electrically connected with；
The control module controls omnidirectional antennas respectively by controlling first antenna switching switch and the second antenna change-over switch
Line and directional aerial receiving and transmitting signal are with starting；The control module controls motor, so as to control directional aerial in horizontal plane
It is upper to rotate and rotated on vertical plane.
Further, in addition to network exchange module, the network exchange module electrically connect with high performance signal transceiver
Connect, the computer passes through network exchange module and high performance signal transceiver implementation radio communication.
The present invention also provides a kind of full frequency band unmanned plane signal and accurately identified, laterally and localization method, it is characterised in that bag
Include following steps：
S1, the radio signal that antenna receives are converted into real time spectrum data after high performance signal transceiver, high
Performance signals transceiver sends real time spectrum data to computer again；
S2, computer are compared using the real time spectrum data received with as characteristic frequency spectrum data existing for sample,
If data match, control antenna to launch wireless signal UAV targets position, and control antenna receive target without
Man-and-machine chart passes signal and/or flies control signal；If data mismatch, repeatedly S1；
S3, the figure that computer compares the UAV targets that antenna receives in diverse location pass signal and/or fly control signal
Power, the most strong position of control antenna turn signal, so as to obtain the azimuth of UAV targets and manipulator and/or pitching
Angle Position；
S4, computer disposal antenna receive figure pass signal and/or fly control signal data, obtain UAV targets and
The direction finding distance and unmanned plane model of manipulator.
Further, the antenna includes omnidirectional antenna and directional aerial, and S2 Computers control the utilization process of antenna
Comprise the following steps：
S201, computer receives radio signal by omnidirectional antenna, and obtains real time spectrum data；
S202, computer are compared using real time spectrum data with as characteristic frequency spectrum data existing for sample, if number
According to matching, then omnidirectional antenna is closed, open directional aerial, and drive directional aerial to rotate；
The radio signal for detecting UAV targets is constantly fed back to calculating by S203, directional aerial in rotary course
Machine, computer is according to the power of the wireless signal received, the most strong direction of control directional aerial steering radio signal；
S204, after the position of UAV targets changes, radio signal power that computer feed back according to directional aerial
Change control directional aerial adjustment rotation position.
Further, for several UAV targets, system is to flying to include during control signal identification and DF and location
Following steps：
Sa1, computer using detect several fly control signals real time spectrum data with as various existing for sample
The characteristic frequency spectrum data of the unmanned plane of model contrast one by one；
Sa2, for several winged control signals of matching, sample model produces several mesh for flying control signal in computer
The model of unmanned plane is marked, while obtains the model of multiple UAVs；
Sa3, for computer according to each power for flying control signal received, control directional aerial steering is each to fly control telecommunications
Number most strong direction, computer read fly control signal it is most strong when, the azimuth of directional aerial and the angle of pitch, at the same obtain multi rack without
It is man-machine/or manipulator azimuth and the angle of pitch.
Further, include for several UAV targets, system during passing signal identification and DF and location to figure
Following steps：
Sb1, the figure that computer obtains UAV targets pass signal.；
Sb2, computer using several figures detected pass signal real time spectrum data with as existing for sample nobody
The characteristic frequency spectrum data that the figure of machine passes signal contrast one by one；
Sb3, computer pass the power of signal according to each figure for receiving, and control directional aerial turns to each figure and conducted electricity letter
Number most strong direction, computer read figure pass signal it is most strong when, the azimuth of directional aerial and the angle of pitch, at the same obtain multi rack without
It is man-machine/or manipulator azimuth and the angle of pitch.
Further, it is further comprising the steps of：Computer obtains the latitude and longitude information of test point by GPS receiving antenna,
And according to the latitude and longitude information of test point and the latitude and longitude information of the azimuthal angle calculation UAV targets of UAV targets.
Using such scheme, the present invention provide a kind of full frequency band unmanned plane signal accurately identify, laterally with alignment system and
Method, have the advantages that：
1st, the reception of wireless signals module in the present invention includes directional aerial and omnidirectional antenna forms, and can carry out general police
Guard against and advanced warning monitors, warning detecting can be carried out using omnidirectional antenna in the case of general warning, finds unmanned aerial vehicle
After signal, system automatically switches to directional aerial and carries out direction finding detecting.Advanced warning orientation detecting can certainly be used；
2nd, the present invention has GPS receiving antenna and GPS receiver module, can obtain self-position GPS information automatically.Moving
In the state of dynamic monitoring, can accurately perceive self-position, and indicate self-position on network map and detect nobody
Aircraft position；
3rd, the present invention contains the high performance signal transceiver of special development, and real-time bandwidth is more than 100MHZ, can meet nothing
People's aircraft figure pass signal and fly control signal reception and resolution, matching full frequency band unmanned plane signal accurately identify, laterally with positioning
The powerful detecting function of system；
4th, the present invention is real-time, can not only obtain self-position GPS information automatically, can also monitor position in real time continuous
Unmanned plane signal in change, meet the needs of unmanned aerial vehicle signal detection and positioning；
5th, detecting and orientation innovation algorithm of the present invention using large amount of complex, ensure that unmanned plane identification is accurate with positioning
Property, the detecting and identification of multiple UAVs can be realized simultaneously.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the workflow diagram of the present invention；
Fig. 3 is the structural representation of embodiment；
Fig. 4 is the partial circuit schematic diagram of control module；
Fig. 5 is the partial circuit schematic diagram of control module.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Referring to figs. 1 to shown in Fig. 5, the present invention provides a kind of full frequency band unmanned plane signal and accurately identifies, is with positioning laterally
System, including：Computer 1, network exchange module 2, high performance signal transceiver 3 and reception of wireless signals module；The high-performance
Signal transmitting and receiving machine 3 is electrically connected with network exchange module 2, reception of wireless signals module respectively；The computer 1 is handed over by network
Mold changing block 2 realizes radio communication with high performance signal transceiver 3.
The reception of wireless signals module receives the wireless signal in environment, and sends high performance signal transceiver 3 to；Institute
State high performance signal transceiver 3 and the radio signal received is converted into real time spectrum signal, and send computer 1 to；Meter
Calculation machine 1 is according to the power of the radio signal received, and control radio signal reception module is to producing target real time spectrum letter
Number unmanned plane positioning；Computer 1 is realized to producing target real time spectrum letter according to the content of the real time spectrum signal received
Number unmanned plane identification.
The reception of wireless signals module includes first antenna switching switch 51, and connected omnidirectional antenna 52,
The omnidirectional antenna 52 realizes that omnidirectional antenna 52 receives and launched wireless signal function by first antenna switching switch 51
Transformation.The reception of wireless signals module also includes：Second antenna change-over switch 53, motor 55 and directional aerial 54；Institute
State the second antenna change-over switch 53, the output end of motor is connected with directional aerial 54 respectively；The omnidirectional antenna 52 passes through
Second antenna change-over switch 53 controls the switch of the transmitting/receiving wireless semiotic function of omnidirectional antenna 52；The motor driving orientation
Antenna 54 rotates and rotated on vertical plane in the horizontal plane.
Present invention additionally comprises the control module 4 being arranged between high performance signal transceiver 3 and reception of wireless signals module,
The control module 4 switchs the 51, second antenna change-over switch 53 with high performance signal transceiver 3, first antenna switching respectively, driven
Dynamic motor 55 is electrically connected with；The control module 4 by controlling first antenna switching switch 51 and second antenna change-over switch 53,
Omnidirectional antenna 52 and the receiving and transmitting signal of directional aerial 54 are controlled respectively with starting；The control module 4 controls motor 55, so as to
Control directional aerial 54 rotates and rotated on vertical plane in the horizontal plane.
Also include GPS receiver module 7, GPS receiving antenna 8, computing module 6, the high performance signal transceiver 3 electrically divides
Not Lian Jie GPS receiver module 7 and computing module 6, the other end of GPS receiver module 7 is connected with GPS receiving antenna 8；The GPS connects
Receive module 7 and send the gps signal that GPS receiving antenna 8 receives to high performance signal transceiver 3, high performance signal transceiver 3
Send gps signal to computing module 6, computing module 6 handles gps signal and by the feedback of the information after processing to high performance signal
Transceiver 3, high performance signal transceiver 3 by the feedback of the information after processing to computer 1, so as to draw the position of UAV targets
Information.
As a kind of embodiment, full frequency band unmanned plane signal is accurately identified, laterally included with alignment system：Power supply Z0, net
Network Switching Module Z1, computing module Z2, control module Z3, high performance signal transceiver Z4, first antenna switching switch Z10, the
Two antenna change-over switch Z11, GPS receiver module Z15, directional aerial ANT1, omnidirectional antenna ANT3, GPS receiving antenna ANT4.Its
In, computing module Z2 is model TQ2440 embedded scm, and control module Z3 is that control board power supply containing power supply turns
Circuit is changed, high performance signal transceiver Z4 models are DDS2.0, and first antenna switching switchs Z10, the second antenna change-over switch
Z11 switchs for radio frequency path.
In control module Z3, P1 is the GPIO with computing module Z2 interfaces, and the control signal that computer 1 is sent is by calculating
Module Z2 is converted to PIO output circuits, and U1 exports for 5V, and U2 exports for 12V, and U3-U6 is circuit for controlling motor, control orientation day
Line 54 rotates and rotated on vertical plane in the horizontal plane.Q1-Q11 is control output circuit, and the PIO Transistor-Transistor Logic levels of input are changed
For 12V switching signal, so as to control RF switch.Control module Z3 is also electrically connected with computing module Z2, control module Z3
Instructed by computing module Z2, control RF switch.
High performance signal transceiver Z4 is made up of 2 radio frequency daughter boards and a Base-Band Processing daughter board.Radio frequency daughter board work frequency
Rate scope is 10MHZ-6GHZ, and each radio frequency daughter board includes transmitting-receiving two parts circuit.The signal warp of different frequency in RX parts
After crossing different LNA low-noise amplifiers, upconversion process is carried out to the signal less than 500MHZ, it is straight higher than 500MHZ signal
It is logical, after high-gain low level signal amplification, (90 ° of phase shift) is separated into IQ, different local oscillation signals is used for different frequency,
Baseband analog I/Q signal after separation is filtered amplification, and Base-Band Processing daughter board is sent into after impedance matching processing.
Base-Band Processing daughter board is by FPGA, ADC, DAC, clock generating circuit, clock synchronization circuit, network exchange circuit and deposits
Store up the composition such as chip.FPGA is sent into after ADC is handled by the analog signal that radio frequency daughter board inputs and carries out various processing, such as DDC (numbers
Word down coversion), it is sent into computer 1 by network interface after extraction and the various software wireless electric treatment such as comb filtering, FFT.
Two kinds of signals of wireless signal and gps signal can be received during present invention work.Wherein, it is divided into when receiving wireless signal
Two kinds of working conditions：The general state of alert and hypervigilant state.During general warning, omnidirectional antenna ANT3 receives wireless signal,
And switch switch Z10 access high performance signal transceivers Z4 through first antenna；During high alert, directional aerial ANT1 receives wireless
Signal, and access high performance signal transceiver Z4 after first antenna switches switch Z10, the second antenna change-over switch Z11 successively.
The general state of alert and hypervigilant state are that antenna change-over switch etc. provides by control module Z3 control boards
Control output.The digital I/Q signal that high performance signal transceiver Z4 is received is sent at computer 1 by network exchange module Z1
Reason.The control information of computer 1 passes through network exchange module Z1, is sent into control module Z3, and control antenna horizontal plane rotates and erected
Face rotation, and control antenna change-over switch etc. directly.
When receiving gps signal, for the gps signal that GPS receiving antenna 8 receives after GPS receiver module Z15 processing, PPS is synchronous
Signal is sent into high performance signal transceiver Z4 and is used for clock synchronization, and GPS position information is sent into computing module Z2 through serial ports and enters line position
Confidence breath calculating processing.
The present invention also provides a kind of full frequency band unmanned plane signal and accurately identified, laterally and localization method, comprises the following steps：
S1, the radio signal that antenna receives are converted into real time spectrum data after high performance signal transceiver 3,
High performance signal transceiver sends real time spectrum data to computer 1 again；
S2, computer 1 are compared using the real time spectrum data received with as characteristic frequency spectrum data existing for sample,
If data match, control antenna to launch wireless signal UAV targets position, and control antenna receive target without
Man-and-machine chart passes signal and/or flies control signal；If data mismatch, repeatedly S1；
Wherein, the antenna includes omnidirectional antenna 52 and directional aerial 54, and S2 Computers 1 control the utilization process of antenna
Comprise the following steps：
S201, computer 1 receives radio signal by omnidirectional antenna 52, and obtains real time spectrum data；
S202, computer 1 are compared using real time spectrum data with as characteristic frequency spectrum data existing for sample, if number
According to matching, then omnidirectional antenna 52 is closed, open directional aerial 54, and drive directional aerial 54 to rotate；
The radio signal for detecting UAV targets is constantly fed back to meter by S203, directional aerial 54 in rotary course
Calculation machine 1, computer 1 is according to the power of the wireless signal received, the most strong side of the control steering of directional aerial 54 radio signal
To；
S204, after the position change of UAV targets, the radio signal that computer 1 feeds back according to directional aerial 54 is strong and weak
Change control directional aerial 54 adjust rotation position；
S3, the figure that computer 1 compares the UAV targets that antenna receives in diverse location pass signal and/or fly control signal
Power, the most strong position of control antenna turn signal, so as to obtain the azimuth of UAV targets and manipulator and/or pitching
Angle Position；
S4, computer 1 handle the figure that antenna receives and pass signal and/or fly the data of control signal, obtain UAV targets
And the direction finding distance and unmanned plane model of manipulator；
S5, computer 1 obtain the latitude and longitude information of test point by GPS receiving antenna 8, and according to the longitude and latitude of test point
The latitude and longitude information of the azimuthal angle calculation UAV targets of information and UAV targets.
For several UAV targets, system is to flying to comprise the following steps during control signal identification and DF and location：
Sa1, computer 1 using detect several fly control signals real time spectrum data with as various existing for sample
The characteristic frequency spectrum data of the unmanned plane of model contrast one by one；
Sa2, for several winged control signals of matching, sample model produces several of winged control signal in computer 1
The model of UAV targets, while obtain the model of multiple UAVs；
Sa3, computer 1 turn to each winged control according to each power for flying control signal received, control directional aerial 54
The most strong direction of electric signal, when the winged control signal of the reading of computer 1 is most strong, the azimuth of directional aerial 54 and the angle of pitch, simultaneously
To the azimuth of multiple UAVs and the angle of pitch.
For several UAV targets, system comprises the following steps during passing signal identification and DF and location to figure：
Sb1, the figure that computer 1 obtains UAV targets pass signal, obtain the positional information of test point；
Sb2, computer 1 using several figures detected pass signal real time spectrum data with as existing for sample nobody
The characteristic frequency spectrum data that the figure of machine passes signal contrast one by one；
Sb3, computer 1 pass the power of signal according to each figure received, and control directional aerial 54 turns to each figure and passed
The most strong direction of electric signal, when the reading figure biography signal of computer 1 is most strong, the azimuth of directional aerial 54 and the angle of pitch, simultaneously
To the azimuth of multiple UAVs and the angle of pitch.
The present invention is using single station radio frequency reading detecting location technology, it is assumed that the signal intensity being positioned be it is consistent, due to
This technology is positioned as fuzzy positioning, and the positioning for height has certain error, but is received by anti-unmanned aerial vehicle system；System
System is drawn the following conclusions by multiple testing experiment：Figure passes signal identification and direction finding distance>1.6 kilometer；Fly control signal operation person
Identification and lateral distance>1.5 kilometer；Test angle error ± 3 °；System is reliable and stable.
The processing of computer 1 flies control signal, picture signal and gps signal can obtain being accurately positioned for unmanned plane, below for
Computational methods.
First, fly control signal and picture signal transmission loss constant is estimated：
1. the calculating of free space loss
Lbf=32.5+20lgF+20lgD
Wherein, Lbf=free space losses (dB)；D=distances (km)；F=frequencies (MHz).
2. the calculating of signal receiving strength：
Signal receiving strength refers to the intensity for receiving the wireless signal that station equipment receives.
RSS=Pt+Gr+Gt-Lc-Lbf
Wherein, RSS=received signal strengths；Pt=transmission powers；Gr=receiving antenna gains；Gt=transmitting antennas increase
Benefit；The attenuation of Lc=cables and cable end；Lbf=free space losses；RSS=F-Lbf=F- (32.5+20lgF+20lgD).
For the frequency spectrum of certain power signal, in theory, it is known that power, then can extrapolate distance.
2nd, control image transmitting signal distance fuzzy estimate is flown
In practical engineering application, it is assumed that the power that figure passes signal is 2W, radio frequency 2.4G, calculates reception signal
The respective value of intensity and distance is as follows：
The distance of echo signal is drawn by tabling look-up, different tables is made for different frequency ranges and adjusts.For indivedual
Signal adjusts distance according to the model library (different transmission power) of different type of machines or carries out human error compensation.Unmanned aerial vehicle frequency
Spectrum signature model library also includes in addition to comprising spectrum signature and can pass spectrum power and remote signal ascending power with typing figure,
Online long-range renewal can be supported in system software.
3rd, unmanned aerial vehicle longitude and latitude and height calculate
Gps signal can be read so as to learn the longitude and latitude of system in the present invention, according to the longitude and latitude of system position and
The azimuth of unmanned plane signal, the substantially longitude and latitude of unmanned aerial vehicle can be calculated, for trajectory simulation etc..
When unmanned plane is higher than system testing height, the height H=D*SIN (θ) of unmanned aerial vehicle, θ are the pitching of unmanned plane
Angle, D are distance of the system to unmanned plane；When unmanned plane is less than system testing height, then the height H=h-D* of unmanned aerial vehicle
SIN (| θ |), θ is negative, and h is the ground level of location equipment.
The present invention has wide range of applications, and has outstanding role in following field：Public safety guarantee, the black winged situation of unmanned aerial vehicle
Seriously, such as international conference is had influence on, large-scale game, head is visiting to wait public safety.Can be with by present system and technology
Accurately fly control signal to unmanned aerial vehicle and carry out interference counter, expel or force-land unmanned aerial vehicle；Important value targeted security is prevented
Shield, such as airport, nuclear power station, power station, highway and bridge, petrol station etc., prevent that black winged unmanned aerial vehicle and the broken ring of terrorist are above-mentioned
Target；The anti-criminal activity in border and prison, prevents criminal from transporting the articles of crime such as drugs secretly by unmanned aerial vehicle；Military field
Using, military airfield, harbour, military base etc. prevent spy from peeping, prevented on boundary line hostile force using it is civilian nobody fly
Machine is destroyed or other hostile activities.In addition, it can also apply and be investigated and prosecuted in the direction finding of wireless universal electric signal and interference
Field.
In summary, the present invention provide a kind of full frequency band unmanned plane signal accurately identify, laterally with alignment system and method,
Have the advantages that：
1st, the reception of wireless signals module in the present invention includes directional aerial 54 and omnidirectional antenna forms, and can carry out general
Warning and advanced warning are monitored, and warning detecting can be carried out using omnidirectional antenna in the case of general warning, it is found that nobody flies
After machine signal, system automatically switches to directional aerial 54 and carries out direction finding detecting.Advanced warning orientation detecting can certainly be used；
2nd, the present invention has GPS receiving antenna and GPS receiver module, can obtain self-position GPS information automatically.Moving
In the state of dynamic monitoring, can accurately perceive self-position, and indicate self-position on network map and detect nobody
Aircraft position；
3rd, the present invention contains the high performance signal transceiver of special development, and real-time bandwidth is more than 100MHZ, can meet nothing
People's aircraft figure pass signal and fly control signal reception and resolution, matching full frequency band unmanned plane signal accurately identify, laterally with positioning
The powerful detecting function of system；
4th, the present invention is real-time, can meet nobody according to the real-time unmanned plane signal for monitoring position in continuous change
Airborne signal is detected and the needs of positioning；
5th, detecting and orientation innovation algorithm of the present invention using large amount of complex, ensure that unmanned plane identification is accurate with positioning
Property, the detecting and identification of multiple UAVs can be realized simultaneously.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made within principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of full frequency band unmanned plane signal accurately identifies, laterally and alignment system, it is characterised in that including：Computer, Gao Xing
Can signal transmitting and receiving machine and reception of wireless signals module；The high performance signal transceiver and reception of wireless signals module electrically connect
Connect；The computer and the wired or wireless connection of high performance signal transceiver；
The reception of wireless signals module receives the wireless signal in environment, and sends high performance signal transceiver to；The height
The radio signal received is converted into real time spectrum signal by performance signals transceiver, and sends computer to；Computer root
According to the power of the radio signal received, control radio signal reception module to produce target real time spectrum signal nobody
Machine positions；Computer according to the content of the real time spectrum signal received, realize to produce target real time spectrum signal nobody
Machine identifies.
2. full frequency band unmanned plane signal according to claim 1 accurately identifies, laterally and alignment system, it is characterised in that
The system also includes GPS receiver module, GPS receiving antenna, computing module, and the high performance signal transceiver electrically connects respectively
GPS receiver module and computing module, the GPS receiver module other end are connected with GPS receiving antenna；
The gps signal that the GPS receiver module receives GPS receiving antenna sends high performance signal transceiver, high-performance to
Signal transmitting and receiving machine sends gps signal to computing module, and computing module processing gps signal simultaneously gives the feedback of the information after processing to meter
Calculation machine, the positional information of UAV targets is calculated by algorithm.
3. full frequency band unmanned plane signal according to claim 1 accurately identifies, laterally and alignment system, it is characterised in that
The reception of wireless signals module includes first antenna switching switch, and connected omnidirectional antenna, the omnidirectional antenna
Switch is switched by first antenna to realize that omnidirectional antenna receives and launched the switching of wireless signal function.
4. full frequency band unmanned plane signal according to claim 3 accurately identifies, laterally and alignment system, it is characterised in that
The reception of wireless signals module also includes：Second antenna change-over switch, motor and directional aerial；Second antenna is cut
Change switch, the output end of motor is connected with directional aerial respectively；The omnidirectional antenna by the second antenna change-over switch come
Control the switch of directional aerial transmitting/receiving wireless semiotic function；Motor driving directional aerial rotate in the horizontal plane and
Rotated on vertical plane.
5. accurately identified according to the full frequency band unmanned plane signal described in claim 4, laterally existed with alignment system, its feature
In, in addition to control module, the control module switchs with high performance signal transceiver, first antenna switching respectively, second day
Line switching switch, motor are electrically connected with；
The control module by control first antenna switching switch and the second antenna change-over switch, respectively control omnidirectional antenna and
Directional aerial receiving and transmitting signal is with starting；The control module controls motor, so as to control directional aerial to revolve in the horizontal plane
Turn and rotated on vertical plane.
6. a kind of full frequency band unmanned plane signal accurately identifies, laterally and localization method, it is characterised in that comprises the following steps：
S1, the radio signal that antenna receives are converted into real time spectrum data, high-performance after high performance signal transceiver
Signal transmitting and receiving machine sends real time spectrum data to computer again；
S2, computer are compared using the real time spectrum data received with as characteristic frequency spectrum data existing for sample, if
Data match, then control antenna to position the UAV targets for launching wireless signal, and control antenna to receive UAV targets
Figure passes signal and/or flies control signal；If data mismatch, repeatedly S1；
S3, the figure that computer compares the UAV targets that antenna receives in diverse location pass signal and/or fly the strong of control signal
It is weak, the most strong position of control antenna turn signal, so as to obtain the azimuth of UAV targets and manipulator and/or angle of pitch position
Put；
S4, the figure that computer disposal antenna receives pass signal and/or fly the data of control signal, obtain UAV targets and manipulation
The direction finding distance and unmanned plane model of person.
7. full frequency band unmanned plane signal according to claim 6 accurately identifies, laterally and localization method, it is characterised in that
Antenna in S2 includes omnidirectional antenna and directional aerial, and S2 Computers control antenna comprises the following steps with process：
S201, computer receives radio signal by omnidirectional antenna, and obtains real time spectrum data；
S202, computer is compared using real time spectrum data with as characteristic frequency spectrum data existing for sample, if data phase
Matching, then omnidirectional antenna is closed, open directional aerial, and drive directional aerial to rotate；
The radio signal for detecting UAV targets is constantly fed back to computer by S203, directional aerial in rotary course,
Computer is according to the power of the wireless signal received, the most strong direction of control directional aerial steering radio signal；
S204, after the position change of UAV targets, the change for the radio signal power that computer feeds back according to directional aerial
Control directional aerial adjustment rotation position.
8. full frequency band unmanned plane signal according to claim 6 accurately identifies, laterally and localization method, it is characterised in that
For several UAV targets, system is to flying to comprise the following steps during control signal identification and DF and location：
Several detected are flown the real time spectrum data of control signal and as various models existing for sample by Sa1, computer
The characteristic frequency spectrum data of unmanned plane contrast one by one；
Sa2, fly control signals for matching several, in computer sample model produce fly several targets of control signal without
Man-machine model, while obtain the model of multiple UAVs；
Sa3, for computer according to each power for flying control signal received, control directional aerial steering is each to fly control electric signal most
Strong direction, computer read fly control signal it is most strong when, the azimuth of directional aerial and the angle of pitch, at the same obtain multi rack nobody
The azimuth and the angle of pitch of machine/or manipulator.
9. full frequency band unmanned plane signal according to claim 6 accurately identifies, laterally and localization method, it is characterised in that
For several UAV targets, system comprises the following steps during passing signal identification and DF and location to figure：
Sb1, the figure that computer obtains UAV targets pass signal；
Several figures detected are passed the real time spectrum data of signal and as unmanned plane existing for sample by Sb2, computer
The characteristic frequency spectrum data that figure passes signal contrast one by one；
Sb3, computer pass the power of signal according to each figure received, and control directional aerial turns to each figure and conducts electricity signal most
Strong direction, computer read figure pass signal it is most strong when, the azimuth of directional aerial and the angle of pitch, at the same obtain multi rack nobody
The azimuth and the angle of pitch of machine/or manipulator.
10. full frequency band unmanned plane signal according to claim 6 accurately identifies, laterally and localization method, it is characterised in that
It is further comprising the steps of：Computer obtains the latitude and longitude information of test point by GPS receiving antenna, and according to the longitude and latitude of test point
Spend information and the azimuth of UAV targets and valuation distance calculates the latitude and longitude information of UAV targets.
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| CN108957431B (en) * | 2018-03-26 | 2020-11-03 | 电子科技大学 | Aircraft passive detection method under high-density wireless link detection station antenna |
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| CN111709385A (en) * | 2020-06-22 | 2020-09-25 | 电子科技大学 | Low, small and slow aircraft target detection system and identity identification method thereof |
| CN111817772A (en) * | 2020-07-10 | 2020-10-23 | 融鼎岳(北京)科技有限公司 | Unmanned aerial vehicle detection and direction finding equipment and method |
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| CN111884735B (en) * | 2020-07-30 | 2022-04-01 | 北京环境特性研究所 | Frequency spectrum-based unmanned aerial vehicle detection method and detection system thereof |
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