CN109743078B - Unmanned aerial vehicle frequency hopping remote control signal detection and reception method and device based on array antenna - Google Patents

Unmanned aerial vehicle frequency hopping remote control signal detection and reception method and device based on array antenna Download PDF

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CN109743078B
CN109743078B CN201910027854.1A CN201910027854A CN109743078B CN 109743078 B CN109743078 B CN 109743078B CN 201910027854 A CN201910027854 A CN 201910027854A CN 109743078 B CN109743078 B CN 109743078B
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杜绍岩
杨纳川
王永华
邵佳
袁航
牛原野
张宝山
魏峰
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Henan Hongtai Kongfei Information Technology Co ltd
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Abstract

The invention relates to a method and equipment for detecting and receiving unmanned aerial vehicle frequency hopping remote control signals based on an array antenna, belonging to the technical field of anti-unmanned aerial vehicles. And finally, forming frequency hopping signal beams according to the obtained expected signal guide vector and the interference and noise covariance matrix, effectively realizing spatial filtering of the remote control signals, improving the signal-to-noise ratio, and being more beneficial to subsequent feature extraction and target identification.

Description

Unmanned aerial vehicle frequency hopping remote control signal detection and reception method and device based on array antenna
Technical Field
The invention belongs to the technical field of anti-unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle frequency hopping remote control signal detecting and receiving method and device based on an array antenna.
Background
The anti-unmanned aerial vehicle technology comprises reconnaissance of an unmanned aerial vehicle and reconnaissance of an operator (namely a 'black hand') of the unmanned aerial vehicle, wherein the reconnaissance of the 'black hand' is more effective and direct, the reconnaissance of the 'black hand', namely reconnaissance of a frequency-modulated remote control signal (a remote control signal for short) of the unmanned aerial vehicle comprises two aspects of direction finding and signal reconnaissance, and on one hand, the position of the 'black hand' can be found through the direction finding and the positioning so as to be intercepted; on the other hand, the characteristics and the law of the remote control signal can be extracted by signal detection and collection, so that the 'black hand' is identified, the deception signal is transmitted to the unmanned aerial vehicle, and the unmanned aerial vehicle is induced to directly land.
Usually, the 'dark hand' is hidden in a remote area, so that the remote control signal received by the detection and reception device is weak, and the remote control signal needs to be enhanced. In addition, the frequency band where the remote control signal is located also contains interference signals such as WIFI, and these interference signals need to be suppressed. The beam forming technology is a natural advantage in signal enhancement, and can suppress interference signals while enhancing desired signals, but the conventional beam forming algorithm needs to accurately know a desired signal steering vector and a covariance matrix, which is difficult to satisfy in practice, so that the beam forming performance is sharply reduced or even fails.
In the prior art, "a robust beam forming method based on covariance matrix reconstruction and steering vector estimation" proposed in chinese patent application with publication number CN107167778A can solve these problems well, but it requires that the array flow pattern is accurately known and cannot be directly applied to frequency hopping remote control signals, and the received remote control signals usually have angle errors and position errors, so the above method cannot realize the enhancement of the remote control signals and the suppression of interference signals such as WIFI and the like under the conditions of signal angle errors and array element position errors.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle frequency hopping remote control signal detection and reception method and device based on an array antenna, which are used for solving the problem that the existing unmanned aerial vehicle frequency hopping remote control signal detection and reception method cannot realize effective detection and reception of remote control signals under the conditions that the signal incidence angle is measured inaccurately and array element position errors exist.
In order to solve the technical problem, the invention provides an unmanned aerial vehicle frequency hopping remote control signal interception and reception method based on an array antenna, which comprises the following steps:
1) receiving the unmanned aerial vehicle frequency hopping remote control signal by using the array antenna, carrying out time-frequency transformation on the unmanned aerial vehicle frequency hopping remote control signal to obtain a time-frequency domain signal of the unmanned aerial vehicle frequency hopping remote control signal, and solving a space-time-frequency distribution matrix on each time-frequency point;
2) acquiring a main characteristic vector of the space-time-frequency distribution matrix, and acquiring a non-delay guide vector of the time-frequency domain signal according to the main characteristic vector; constructing a delay vector of the time-frequency domain signal according to the phase of the delay-free guide vector;
3) solving a preset value of a non-delay guide vector according to the incident angle and the array element position of the frequency hopping remote control signal of the unmanned aerial vehicle, and classifying all time-frequency points by combining the non-delay guide vector of the time-frequency domain signal to divide the time-frequency points into expected signal time-frequency points and interference signal time-frequency points; respectively extracting single source points of the time frequency points of the expected signals and the time frequency points of the interference signals, and classifying the single source points to obtain a single source point set of the time frequency points of the expected signals;
4) and calculating an expected signal delay vector of the time-frequency domain signal by using the single source point set and the delay vector of the time-frequency domain signal, further solving an expected signal guide vector of the time-frequency domain signal, and performing space domain filtering by using the unmanned aerial vehicle frequency hopping remote control signal received by a beam forming algorithm in combination with an interference and noise covariance matrix constructed according to the expected signal guide vector.
In order to solve the above technical problem, the present invention further provides an array antenna-based frequency hopping remote control signal detection and reception device for an unmanned aerial vehicle, including a processor, where the processor is configured to execute a computer program to implement the above steps 1) -4).
According to the method, a time domain receiving signal of the unmanned aerial vehicle frequency hopping remote control signal is converted into a time-frequency domain to enrich signal characteristics, all time-frequency points are classified according to the space domain characteristics of the signal to obtain a single source point set of each time-frequency domain signal, an expected signal delay vector of the time-frequency domain signal is estimated by using the single source point set, and an interference and noise covariance matrix is constructed. And finally, forming frequency hopping signal beams according to the obtained expected signal guide vector and the interference and noise covariance matrix, effectively realizing spatial filtering of the remote control signals, improving the signal-to-noise ratio, and being more beneficial to subsequent feature extraction and target identification.
To realize the classification of all the time frequency points in the step 3), the following classification calculation formula is given:
Figure BDA0001943172600000031
in the formula (I), the compound is shown in the specification,
Figure BDA0001943172600000032
for a preset value of said non-delayed steering vector,
Figure BDA0001943172600000033
the incident angle of the frequency hopping remote control signal of the unmanned aerial vehicle,
Figure BDA0001943172600000034
is the position of the array element, f is the frequency, c is the speed of light, M is the number of the array element, T is the transposition, H is the conjugate transposition,
Figure BDA0001943172600000035
for a delay-free steering vector of said time-frequency domain signal,1to set the threshold, | · | | | represents the norm.
In order to realize the identification and extraction of the single source point in the step 3), the following formula for identifying and extracting the single source point is given:
Figure BDA0001943172600000036
in the formula, Dxx(t, f) is the space-time-frequency distribution matrix, λi{Dxx(t, f) is the eigenvalue of the space-time frequency distribution matrix, λmax{Dxx(t, f) is the maximum eigenvalue of the space-time frequency distribution matrix, M is the number of array elements,2to set the threshold, | · | indicates the absolute value.
In order to obtain the expected signal delay vector of the time-frequency domain signal, the single-source point set of the time-frequency domain signal in the step 3) is obtained by classifying the single-source points through a k-means clustering method.
And 4) carrying out beam forming to obtain a weighting coefficient of the unmanned aerial vehicle frequency hopping remote control signal, and weighting the unmanned aerial vehicle frequency hopping remote control signal by using the weighting coefficient to realize airspace filtering of the unmanned aerial vehicle frequency hopping remote control signal.
The formula for calculating the weighting coefficient of the unmanned aerial vehicle frequency hopping remote control signal is as follows:
Figure BDA0001943172600000041
in the formula, woptIs the weighting coefficient of the frequency hopping remote control signal of the unmanned aerial vehicle,
Figure BDA0001943172600000042
and (3) obtaining an interference plus noise covariance matrix, wherein C is a constraint matrix, H is a response vector, and H is the conjugate transpose.
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Fig. 1 is a flowchart of a method for detecting and receiving a frequency hopping remote control signal of an unmanned aerial vehicle based on an array antenna.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The embodiment of the detecting and receiving method comprises the following steps:
the method for detecting and receiving the frequency hopping remote control signal of the unmanned aerial vehicle based on the array antenna is shown in fig. 1 and comprises the following steps:
1) receiving unmanned aerial vehicle frequency hopping remote control signals by using array antenna, wherein the signals comprise received signals x (t) and non-delay received signals
Figure BDA0001943172600000043
In which the signal is received without delay
Figure BDA0001943172600000044
For receiving signals of the first array element, the unmanned aerial vehicle frequency hopping remote control signals are subjected to high-resolution nonlinear time-frequency conversion, and the signals are received without delay
Figure BDA0001943172600000045
Transforming to a time-frequency domain to obtain a time-frequency domain signal of the unmanned aerial vehicle frequency hopping remote control signal, and solving a space-time frequency distribution matrix on each time-frequency point
Figure BDA0001943172600000046
The formula is as follows:
Figure BDA0001943172600000047
in the formula (I), the compound is shown in the specification,
Figure BDA0001943172600000048
the method is characterized in that a time-frequency domain signal (time-frequency domain signal for short) of the unmanned aerial vehicle frequency hopping remote control signal is phi (j, l) which is a kernel function and can be selected into a rectangular window, a triangular window and other forms, j and l represent indexes of time, and H represents the conjugate transpose.
At a single source point (t)as,fas) Upper, space-time frequency distribution matrix
Figure BDA0001943172600000051
Only one signal is generated, so the space-time frequency distribution matrix at a single source point is a matrix with rank 1, and satisfies the following formula:
Figure BDA0001943172600000052
in the formula (I), the compound is shown in the specification,
Figure BDA0001943172600000053
for array incident signals skAt tasAnd fasThe time-frequency transformation of (1) is carried out,
Figure BDA0001943172600000054
at a single source point (t)as,fas) A delay-free steering vector of the upper time-frequency domain signal.
2) Acquiring a main characteristic vector of a space-time frequency distribution matrix, and acquiring a time-frequency domain signal according to the main characteristic vectorA non-delayed steering vector of (a); and constructing a delay vector of the time-frequency domain signal according to the phase of the non-delay guide vector. In particular, the non-delay guide vector of the time-frequency domain signal at different frequency points
Figure BDA0001943172600000055
Can be obtained by the following formula:
Figure BDA0001943172600000056
in the formula uP(tas,fas) Is composed of
Figure BDA0001943172600000057
Principal feature vector of uP(tas,fas1) represents uP(tas,fas) The first element of (1). Further, the delay vector of the time-frequency domain signal is:
Figure BDA0001943172600000058
in the formula, τk(tas,fas) Is a single source point (t)as,fas) The delay vector of the upper time-frequency domain signal, angle () represents the phase found.
3) And solving a preset value of a delay-free guide vector according to the incident angle and the array element position of the frequency hopping remote control signal of the unmanned aerial vehicle, and classifying all time-frequency points by combining the preset delay-free guide vector of the time-frequency domain signal to divide the time-frequency points into desired signal time-frequency points and interference signal time-frequency points. The formula for classifying all time-frequency points is as follows:
Figure BDA0001943172600000059
in the formula (I), the compound is shown in the specification,
Figure BDA0001943172600000061
is without delayPreset value of guide vector: (
Figure BDA0001943172600000062
Although there is some deviation, the steering vector of the desired signal is compared with the steering vector of the interfering signal and the noise
Figure BDA0001943172600000063
More closely),
Figure BDA0001943172600000064
the incident angle of the frequency hopping remote control signal of the unmanned aerial vehicle,
Figure BDA0001943172600000065
is an array element position (
Figure BDA0001943172600000066
And
Figure BDA0001943172600000067
all are known measurements and have errors), f is the frequency, c is the speed of light, M is the number of array elements, T is the transpose, H is the conjugate transpose,
Figure BDA0001943172600000068
for a non-delayed steering vector of the time-frequency domain signal,1to set the threshold (the threshold is less than 1, usually take10.8), and | | · | | | represents the norm. All time frequency points can be divided into two categories by using the above formula: desired signal time frequency point
Figure BDA0001943172600000069
Sum interference signal time frequency point
Figure BDA00019431726000000612
(
Figure BDA00019431726000000610
Time frequency bins containing interfering signals and/or noise).
Respectively extracting single source points of the time frequency point of the expected signal and the time frequency point of the interference signal, wherein the formula for extracting the single source points is as follows:
Figure BDA00019431726000000611
in the formula, Dxx(t, f) is a space-time-frequency distribution matrix, λi{Dxx(t, f) is the eigenvalue of the space-time frequency distribution matrix, λmax{Dxx(t, f) is the maximum eigenvalue of the space-time frequency distribution matrix, M is the number of array elements,2to set the threshold (usually take20.2) and | represents an absolute value.
According to the Euclidean distance between the single source points, the single source points are classified by a k-means clustering method to obtain a single source point set omega of each signal0,Ω1,,ΩK-1And K is the number of the single source points. The method has the advantages of firstly extracting the single source point and then classifying the single source point, and solves the problem of inconsistent parameter setting caused by firstly classifying the single source point and then extracting the single source point.
4) The method comprises the steps of calculating an expected signal delay vector of a time-frequency domain signal by using a single source point set and the delay vector of the time-frequency domain signal, further solving an expected signal guide vector of the time-frequency domain signal, carrying out beam forming by using a beam forming algorithm by combining an interference and noise covariance matrix constructed according to the expected signal guide vector, obtaining a weighting coefficient of the unmanned aerial vehicle frequency hopping remote control signal, weighting the unmanned aerial vehicle frequency hopping remote control signal by using the weighting coefficient, and realizing the airspace filtering of the unmanned aerial vehicle frequency hopping remote control signal.
Specifically, the expected signal delay vector of the time-frequency domain signal is calculated as follows:
Figure BDA0001943172600000071
in the formula, DkRepresents omegakThe total number of the middle-time frequency points, τ (t, f), is the delay vector of the time-frequency domain signal, and is obtained by the above formula (4).
Delaying a desired signal by a vector
Figure BDA0001943172600000072
Substituting the following formula:
Figure BDA0001943172600000073
in the formula, ak(f) For the desired signal steering vector, J is the length of the tapped delay line, TsIn order to be the sampling period of time,
Figure BDA0001943172600000074
by utilizing the method, the expected signal guide vector a of the time-frequency domain signal on different frequency points can be obtainedk(f) The following interference plus noise covariance matrix is constructed:
Figure BDA0001943172600000075
in the formula (I), the compound is shown in the specification,
Figure BDA0001943172600000076
for the purpose of the interference-plus-noise covariance matrix,
Figure BDA0001943172600000077
in the form of a covariance matrix,
Figure BDA0001943172600000078
x (t) is a received signal containing a delay vector, t ═ nTsAnd N is the number of sampling points,
Figure BDA0001943172600000079
is composed of
Figure BDA00019431726000000710
I is MJ × MJ unit matrix, [ f [ ]l,fh]Representing the frequency range of the signal.
Solving the weighting coefficient of the unmanned aerial vehicle frequency hopping remote control signal by adopting a calculation formula of a beam forming algorithm as follows:
Figure BDA00019431726000000711
wherein, w is the weighting coefficient to be solved, min represents the minimum value, s.t. represents the constraint condition, C is the constraint matrix, h is the response vector, which can be represented as:
C＝[a0(f1),a0(f2),,a0(fP)]MJ×P (11)
Figure BDA0001943172600000081
wherein f isp∈[fl,fh](p＝1,2,,P)，a0(fp) Obtained by the formula (8). Finally, the obtained weighting coefficient w of the unmanned aerial vehicle frequency hopping remote control signaloptThe following were used:
Figure BDA0001943172600000082
using the weighting coefficient woptThe unmanned aerial vehicle frequency hopping remote control signals are weighted, the airspace filtering of the unmanned aerial vehicle frequency hopping remote control signals is achieved, and the purposes of enhancing expectation and suppressing interference and noise are achieved.
The embodiment of the detecting and receiving equipment comprises:
the unmanned aerial vehicle frequency hopping remote control signal interception and reception device in the embodiment comprises a collector, a memory, a processor and a computer program which is stored on the memory and runs on the processor, the processor is respectively connected with the collector and the memory, the collector is used for acquiring the unmanned aerial vehicle frequency hopping remote control signal through the array antenna, the memory is used for storing the computer program, the processor is coupled with the memory, the unmanned aerial vehicle frequency hopping remote control signal interception and reception method in the interception and reception method embodiment is realized when the processor executes the computer program, the unmanned aerial vehicle frequency hopping remote control signal is processed according to the steps in the interception and reception method embodiment, the airspace filtering of the unmanned aerial vehicle frequency hopping remote control signal is realized, and the purposes of enhancing expectation and suppressing interference and noise are achieved. In addition, the processor in the above-mentioned detecting and receiving device may be a CPU, an FPGA or a DSP.

Claims (5)

1. An unmanned aerial vehicle frequency hopping remote control signal detecting and receiving method based on an array antenna is characterized by comprising the following steps:
1) receiving the unmanned aerial vehicle frequency hopping remote control signal by using the array antenna, carrying out time-frequency transformation on the unmanned aerial vehicle frequency hopping remote control signal to obtain a time-frequency domain signal of the unmanned aerial vehicle frequency hopping remote control signal, and solving a space-time-frequency distribution matrix on each time-frequency point;
2) acquiring a main characteristic vector of the space-time-frequency distribution matrix, and acquiring a non-delay guide vector of the time-frequency domain signal according to the main characteristic vector; constructing a delay vector of the time-frequency domain signal according to the phase of the delay-free guide vector;
3) solving a preset value of a non-delay guide vector according to the incident angle and the array element position of the frequency hopping remote control signal of the unmanned aerial vehicle, and classifying all time-frequency points by combining the non-delay guide vector of the time-frequency domain signal to divide the time-frequency points into expected signal time-frequency points and interference signal time-frequency points; respectively extracting single source points of the time frequency points of the expected signals and the time frequency points of the interference signals, and classifying the single source points to obtain a single source point set of the time frequency points of the expected signals;
4) calculating an expected signal delay vector of the time-frequency domain signal by using a single source point set and the delay vector of the time-frequency domain signal, further solving an expected signal guide vector of the time-frequency domain signal, and performing spatial filtering on the received unmanned aerial vehicle frequency hopping remote control signal by using a beam forming algorithm in combination with an interference and noise covariance matrix constructed according to the expected signal guide vector;
performing beam forming in the step 4) to obtain a weighting coefficient of the unmanned aerial vehicle frequency hopping remote control signal, and weighting the unmanned aerial vehicle frequency hopping remote control signal by using the weighting coefficient to realize airspace filtering of the unmanned aerial vehicle frequency hopping remote control signal; the calculation formula of the weighting coefficient of the unmanned aerial vehicle frequency hopping remote control signal is as follows:
Figure FDA0002669228700000011
in the formula, woptIs the weighting coefficient of the frequency hopping remote control signal of the unmanned aerial vehicle,
Figure FDA0002669228700000012
and (3) obtaining an interference plus noise covariance matrix, wherein C is a constraint matrix, H is a response vector, and H is the conjugate transpose.
2. The unmanned aerial vehicle frequency hopping remote control signal interception method based on the array antenna according to claim 1, wherein the formula for classifying all the frequency points in step 3) is as follows:
Figure FDA0002669228700000021
in the formula (I), the compound is shown in the specification,
Figure FDA0002669228700000022
Figure FDA0002669228700000023
for a preset value of said non-delayed steering vector,
Figure FDA0002669228700000024
the incident angle of the frequency hopping remote control signal of the unmanned aerial vehicle,
Figure FDA0002669228700000025
is the position of the array element, f is the frequency, c is the speed of light, M is the number of the array element, T is the transposition, H is the conjugate transposition,
Figure FDA0002669228700000026
for a delay-free steering vector of said time-frequency domain signal,1to set the threshold, | · | | | represents the norm.
3. The unmanned aerial vehicle frequency hopping remote control signal reconnaissance method based on array antenna as claimed in claim 1, wherein the formula for single source point identification and extraction in step 3) is as follows:
Figure FDA0002669228700000027
in the formula, Dxx(t, f) is the space-time-frequency distribution matrix, λi{Dxx(t, f) is the eigenvalue of the space-time frequency distribution matrix, λmax{Dxx(t, f) is the maximum eigenvalue of the space-time frequency distribution matrix, M is the number of array elements,2to set the threshold, | · | indicates the absolute value.
4. The unmanned aerial vehicle frequency hopping remote control signal reconnaissance method based on array antenna as claimed in claim 1, wherein the single source point set of the time-frequency domain signal in step 3) is obtained by classifying the single source points through a k-means clustering method.
5. Unmanned aerial vehicle frequency hopping remote control signal reconnaissance equipment based on an array antenna is characterized by comprising a processor, wherein the processor is used for executing a computer program to realize the unmanned aerial vehicle frequency hopping remote control signal reconnaissance method based on the array antenna according to any one of claims 1 to 4.
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