CN110501702B - Real-time flight height measuring method, device, equipment and storage medium for unmanned aerial vehicle - Google Patents
Real-time flight height measuring method, device, equipment and storage medium for unmanned aerial vehicle Download PDFInfo
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- CN110501702B CN110501702B CN201910848232.5A CN201910848232A CN110501702B CN 110501702 B CN110501702 B CN 110501702B CN 201910848232 A CN201910848232 A CN 201910848232A CN 110501702 B CN110501702 B CN 110501702B
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Abstract
The invention provides a real-time flight height measuring method, a device, equipment and a computer storage medium of an unmanned aerial vehicle, which comprise the following steps: receiving a reflected signal formed by a transmitted signal after being reflected by a monitoring area through a radar, and mixing the reflected signal and the transmitted signal to obtain an intermediate frequency signal; wherein the radar is mounted on the unmanned aerial vehicle; performing FFT spectrum analysis on the intermediate frequency signal to obtain an amplitude spectrum and a phase spectrum; generating a first height from the amplitude spectrum; generating a second altitude according to the phase frequency spectrum and the flight altitude at the previous moment; acquiring the flight state of the unmanned aerial vehicle, and determining a first weight of the first altitude and a second weight of the second altitude according to the flight state; and acquiring the real-time flight height of the unmanned aerial vehicle according to the first weight, the second weight, the first height and the second height. The invention can detect the real-time height of the unmanned aerial vehicle from the ground in real time.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a real-time flight height measuring method, device, equipment and storage medium for an unmanned aerial vehicle.
Background
With the progress of science and technology and the rapid development of artificial intelligence, the application of the unmanned aerial vehicle has become a hotspot of research of people. Unmanned aerial vehicle's low cost nature, high flexibility and with the combination of other techniques for it obtains using in more and more fields, for example vegetation protection, electric power patrol inspection, disaster rescue etc.. Use unmanned aerial vehicle in these fields, both broken through the limitation of traditional means, can significantly reduce the human cost again. In these applications, the height of the unmanned aerial vehicle from the ground needs to be accurately measured in real time in many cases, so that the unmanned aerial vehicle can accurately lift within a certain distance range and stably perform efficient work at a certain height. However, in the actual use process of the unmanned aerial vehicle, when the unmanned aerial vehicle is judged to be in a rising, falling, hovering or flat flying state, a certain time delay can be generated, meanwhile, the unmanned aerial vehicle flies in the flying process and is bound to pass through the ground with different concave-convex fluctuation conditions, and even a cliff is broken, so that the unmanned aerial vehicle is difficult to obtain a stable and accurate detection result in the hovering process.
Disclosure of Invention
The embodiment of the invention provides a method, a device and equipment for measuring the real-time flying height of an unmanned aerial vehicle. The invention can detect the real-time height of the unmanned aerial vehicle from the ground in real time.
In a first aspect, an embodiment of the present invention provides a method for measuring a real-time flying height of an unmanned aerial vehicle, where at a current time, the method includes:
receiving a reflected signal formed by a transmitted signal after being reflected by a monitoring area through a radar, and mixing the reflected signal and the transmitted signal to obtain an intermediate frequency signal; wherein the radar is mounted on the unmanned aerial vehicle;
performing FFT spectrum analysis on the intermediate frequency signal to obtain an amplitude spectrum and a phase spectrum;
generating a first height from the amplitude spectrum;
generating a second altitude according to the phase frequency spectrum and the flight altitude at the previous moment;
acquiring the flight state of the unmanned aerial vehicle, and determining a first weight of the first altitude and a second weight of the second altitude according to the flight state;
and acquiring the real-time flight height of the unmanned aerial vehicle according to the first weight, the second weight, the first height and the second height.
Preferably, the expression of the real-time flying height of the unmanned aerial vehicle is as follows: h is a1h1+a2h2(ii) a Wherein h is1Is a first height h2Is a second height, a1Is a first weight, a2Is a second weight; a is2＝1-a1；1≥a1≥0，1≥a2≥0。
Preferably, when the flight status is determined to be ascending or descending, the first weight a is set11 is ═ 1; when the flight state is judged to be no action or horizontal rotation action, the first weight a is set10; when the flying state is judged to be the flat flying action, setting a first weight 0 < a1＜1。
Preferably, a first height is generated according to the amplitude spectrum, specifically:
according to the amplitude spectrum, extracting the positions of two spectral lines of a first spectral line position and a second spectral line position which are adjacent to local minimum values and are arranged at two sides of the position of a peak spectral line of the amplitude spectrum;
acquiring a gravity center position of the amplitude spectrum between the first spectral line position and the second spectral line position according to the first spectral line position, the second spectral line position and a spectral line amplitude value between the first spectral line position and the second spectral line position;
and obtaining a first height according to the gravity center position, the transmission signal bandwidth and the propagation speed of the electromagnetic wave in vacuum.
Preferably, the expression of the position of the center of gravity is:
wherein, S [ r ]]Representing the magnitude of the magnitude spectrum at any spectral line position r between the first spectral line position and the second spectral line position; p is a radical of1Is the first spectral line position; p is a radical of2Is the second spectral line position; p is a radical of0Is the position of the center of gravity;
the expression for the first height is:
wherein c is the propagation speed of the electromagnetic wave in vacuum, and B represents the transmission signal bandwidth; h is1A first height for the drone from the monitoring area.
Preferably, the second altitude is generated according to the phase spectrum and the flying altitude at the previous time, specifically:
acquiring the spectral line position of the flying height at the previous moment;
obtaining the phase of the current moment according to the phase frequency spectrum of the current moment and the spectral line position;
obtaining the phase difference between the current moment and the previous moment according to the phase of the current moment and the phase of the previous moment;
acquiring the relative change height between the current moment and the last moment according to the phase difference and the carrier wavelength of the transmission signal;
and obtaining a second height according to the flying height at the previous moment and the relative change height.
Preferably, the expression for the relative change height is:
Δ a is the phase difference, Δ h is the relative variation height, and λ is the carrier wavelength of the transmission signal.
In a second aspect, an embodiment of the present invention provides a real-time flying height measuring device for an unmanned aerial vehicle, including:
the frequency mixing unit is used for receiving a reflection signal formed by the reflection of a transmission signal through a monitoring area through a radar, and mixing the reflection signal and the transmission signal to obtain an intermediate frequency signal; wherein the radar is mounted on the unmanned aerial vehicle;
the spectrum analysis unit is used for performing FFT spectrum analysis on the intermediate frequency signal to obtain an amplitude spectrum and a phase spectrum;
a first height generating unit for generating a first height from the amplitude spectrum;
a second altitude generation unit for generating a second altitude from the phase spectrum and the altitude of the previous time;
the flight state acquisition unit is used for acquiring the flight state of the unmanned aerial vehicle and determining a first weight of the first altitude and a second weight of the second altitude according to the flight state;
and the flying height obtaining unit is used for obtaining the real-time flying height of the unmanned aerial vehicle according to the first weight, the second weight, the first height and the second height.
Preferably, the expression of the real-time flying height of the unmanned aerial vehicle is as follows: h is a1h1+a2h2(ii) a Wherein h is1Is a first height h2Is a second height, a1Is a first weight, a2Is a second weight; a is2＝1-a1；1≥a1≥0，1≥a2≥0。
Preferably, the method further comprises the following steps:
a first judging unit, configured to set the first weight a when the flight status is determined to be ascending or descending1＝1；
A second determination unit, configured to set the first weight a when the flight status is determined to be no action or horizontal rotation action1＝0；
A third judging unit for setting the first weight 0 < a when the flying state is judged to be the flat flying action1＜1。
Preferably, the first judging unit is specifically configured to:
the extraction module is used for extracting the positions of two spectral lines of a first spectral line position and a second spectral line position which are adjacent to the local minimum value and are arranged at two sides of the position of the peak spectral line of the amplitude spectrum according to the amplitude spectrum;
the first obtaining module is used for obtaining a gravity center position of the amplitude spectrum between the first spectral line position and the second spectral line position according to the first spectral line position, the second spectral line position and a spectral line amplitude value between the first spectral line position and the second spectral line position;
and the second acquisition module is used for acquiring a first height according to the gravity center position, the transmission signal bandwidth and the propagation speed of the electromagnetic wave in vacuum.
Preferably, the expression of the position of the center of gravity is:
wherein, S [ r ]]Representing the magnitude of the magnitude spectrum at any spectral line position r between the first spectral line position and the second spectral line position; p is a radical of1Is the first spectral line position; p is a radical of2Is the second spectral line position; p is a radical of0Is the position of the center of gravity;
the expression of the first height of the unmanned aerial vehicle is as follows:
wherein c is an electromagnetic wavePropagation speed in vacuum, B represents transmission signal bandwidth; h1 is the first height.
Preferably, the second judging unit specifically includes:
the spectral line position acquisition module is used for acquiring the spectral line position of the flying height at the previous moment;
the phase acquisition module is used for acquiring the phase of the current moment according to the phase spectrum of the current moment and the spectral line position;
the phase difference acquisition module is used for acquiring the phase difference between the current moment and the previous moment according to the phase of the current moment and the phase of the previous moment;
a relative change height obtaining module, configured to obtain a relative change height between a current time and a previous time according to the phase difference and a carrier wavelength of the transmission signal;
and the second height acquisition module is used for acquiring a second height according to the flying height at the previous moment and the relative change height.
Preferably, the expression for the relative change height is:
Δ a is the phase difference, Δ h is the relative variation height, and λ is the carrier wavelength of the transmission signal.
In a third aspect, an embodiment of the present invention provides a real-time flying height measuring apparatus for a drone, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor, when executing the computer program, implements the real-time flying height measuring method for a drone according to the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium including a stored computer program, where the computer program, when running, controls an apparatus on which the computer-readable storage medium is located to execute the method for measuring the real-time flying height of a drone according to the first aspect.
The embodiment of the invention has the following beneficial effects:
in the above embodiment, the invention adopts a frequency modulated continuous wave millimeter wave radar with one transmission and one reception to transmit frequency modulated continuous waves (called as a transmission signal) to the ground, receives a reflection signal of the ground, obtains an intermediate frequency signal by mixing the reflection signal and the transmission signal, performs one-dimensional FFT spectrum analysis on the intermediate frequency signal to obtain an amplitude spectrum and a phase spectrum, then determines a first height of the unmanned aerial vehicle from the ground according to the amplitude spectrum, generates a second height according to the phase spectrum and the flight height at the previous moment, and determines a first weight of the first height and a second weight of the second height according to the flight state of the unmanned aerial vehicle; and acquiring the real-time flight height of the unmanned aerial vehicle according to the first weight, the second weight, the first height and the second height. The invention can obtain real-time and accurate detection results under various flight states and various terrain environments of the unmanned aerial vehicle
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a real-time flying height measuring method of an unmanned aerial vehicle according to a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a real-time flying height measuring device of an unmanned aerial vehicle according to a second embodiment of the present invention.
Detailed Description
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
In the embodiments, the references to "first \ second" are merely to distinguish similar objects and do not represent a specific ordering for the objects, and it is to be understood that "first \ second" may be interchanged with a specific order or sequence, where permitted. It should be understood that "first \ second" distinct objects may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced in sequences other than those illustrated or described herein.
The first embodiment is as follows:
referring to fig. 1, a first embodiment of the present invention provides a real-time flying height measuring method for an unmanned aerial vehicle, which can be executed by a real-time flying height measuring device, in particular, by one or more processors in the real-time flying height measuring device, and at least includes the following steps:
s101, receiving a reflected signal formed by a transmitted signal after being reflected by a monitoring area through a radar, and mixing the reflected signal and the transmitted signal to obtain an intermediate frequency signal; wherein, the radar is installed on unmanned aerial vehicle.
In this embodiment, a transmit-receive frequency modulated continuous wave millimeter wave radar, i.e., a transmit antenna and a receive antenna, is used. The transmitting antenna transmits a transmission signal and the receiving antenna receives a reflected signal. That is, the radar transmits a frequency-modulated continuous wave, referred to herein as a transmission signal, to the outside through a transmission antenna, and an electromagnetic wave transmitted to a monitoring area generates a reflection signal, which is received through a reception antenna of the millimeter wave radar and referred to as a reception signal (or an echo signal, a reflection signal), thereby entering a subsequent signal processing circuit connected to the radar.
The radar is installed on the unmanned aerial vehicle, preferably, the radar is located right below the unmanned aerial vehicle, so that the detection direction of the radar is right opposite to a monitoring area.
It should be noted that the frequency mixing operation is performed by a mixer of the circuit, and is actually a signal multiplier, that is, two paths of signals at two input ends of the mixer are multiplied, where the two paths of signals are a reflected signal and a transmitted signal received by the radar, respectively, and an intermediate frequency signal is obtained after passing through the mixer.
And S102, performing FFT spectrum analysis on the intermediate frequency signal to obtain an amplitude spectrum and a phase spectrum.
And S103, generating a first height according to the amplitude spectrum.
In this embodiment, because the position of the center of gravity position is more accurate than the position of the peak frequency spectrum and is calculated to the first height of the monitoring area, the center of gravity position needs to be determined first. In order to calculate the position of the center of gravity of the effective spectrum, it is necessary to determine the spectrum generated by the target signal, that is, the spectrum of the amplitude spectrum between the positions of the two spectral lines of the first spectral line position and the second spectral line position adjacent to the local minimum value on both sides of the position of the peak spectrum is effective, that is, only the spectrum from the first spectral line position to the second spectral line position is the effective spectrum generated by the existence of the target, so that the calculated distance is more accurate by calculating the position of the center of gravity of the amplitude spectrum from the first spectral line position to the second spectral line position, specifically, extracting the positions of the two spectral lines of the first spectral line position and the second spectral line position adjacent to the local minimum value on both sides of the position of the peak spectral line of the amplitude spectrum according to the amplitude spectrum, and then extracting the values of the spectral lines between the first spectral line position and the second spectral line position according to the first spectral line position, the second spectral line position and the first spectral line position, acquiring the gravity center position of the amplitude spectrum between the first spectral line position and the second spectral line position; and finally, obtaining a first height of the unmanned aerial vehicle from the monitoring area according to the gravity center position, the transmission signal bandwidth and the propagation speed of the electromagnetic waves in vacuum.
Wherein the expression of the gravity center position is as follows:
wherein, S [ r ]]An amplitude value of the amplitude spectrum representing a position between the first and second line positions (r being a variable representing any line position from the first to the second line position); p is a radical of1Is the first spectral line position; p is a radical of2Is the second spectral line position; p is a radical of0Is the position of the center of gravity; the expression of the distance between the unmanned aerial vehicle and the first height of the monitoring area is as follows:
wherein c is the propagation speed of the electromagnetic wave in vacuum, and B represents the transmission signal bandwidth; h is1Is a first height.
And S104, generating a second altitude according to the phase frequency spectrum and the flying altitude at the previous moment.
In this embodiment, since the current altitude is not known before the second altitude is calculated, the second altitude is obtained by obtaining a corresponding spectral line position in the phase spectrum at the current time according to the altitude at the previous time, specifically, the unmanned aerial vehicle according to the previous timeThe line position of said altitude is obtained (the formula is:
wherein, the symbol [ x]Represents rounding off x, c represents the propagation velocity of the electromagnetic wave in vacuum, B represents the transmission signal bandwidth, h0The flying height of the drone at the previous time); acquiring the phase of the current moment according to the phase frequency spectrum of the current moment and the spectral line position; obtaining the phase difference of the intermediate frequency signals at the current moment and the previous moment according to the phase at the current moment and the phase at the previous moment; then, according to the phase difference and the carrier wave wavelength of the transmission signal, obtaining the relative change height between the current moment and the previous moment, and finally obtaining a second height according to the flight height of the previous moment and the relative change height; wherein the expression of the relative variation height is:
delta a is phase difference, delta h is relative change height, and lambda is carrier wavelength of transmission signals; second height h2＝h0+ Δ h; wherein h is0The flying height of the unmanned aerial vehicle at the last moment. Assuming that the flying height h of the unmanned aerial vehicle is according to the last moment0Obtaining the spectral line position q, and then, from the phase spectrum SpObtaining the phase a at the current momentt＝Sp[q](ii) a Then obtaining the phase difference delta a of the intermediate frequency signals at the adjacent detection time as at-at-1(ii) a Then obtaining the relative change height delta h according to the phase difference delta a, and finally obtaining the relative change height delta h according to h0And the relative change height delta h obtains the second height h of the unmanned aerial vehicle from the ground2＝h0+ Δ h; wherein S isp[q]Representing the phase spectrum SpPhase at spectral line position q.
S105, acquiring the flight state of the unmanned aerial vehicle, and determining the first weight of the first altitude and the second weight of the second altitude according to the flight state.
In this embodiment, when the height between two adjacent moments is greatly changed, the unmanned aerial vehicle changes at a higher speed along the height direction, and at this time, in practical application, only the flight state of the unmanned aerial vehicle needs to be known, so that the requirement of the unmanned aerial vehicle on the distance accuracy is low; and when altitude variation is very little between two adjacent moments, unmanned aerial vehicle is more slow along direction of height change speed, need accurately know unmanned aerial vehicle's the undulant condition of height this moment in practical application, so unmanned aerial vehicle is very high to the requirement of apart from the accuracy. Therefore, according to the invention, the flight state is divided into ascending action or descending action (the height change is large), no action or horizontal rotation action (the height change is small) and flat flight action (the height change depends on the change of the ground terrain of the monitoring area, and is large or small) according to the height change between two adjacent moments, and it can be understood that the flight state of the unmanned aerial vehicle can be obtained by the real-time flight height measuring device from an unmanned aerial vehicle control system.
And S106, acquiring the real-time flight height of the unmanned aerial vehicle according to the first weight, the second weight, the first height and the second height.
In this embodiment, because unmanned aerial vehicle's flight state is when ascending action or descending action, unmanned aerial vehicle is less to the requirement of distance accuracy, only need avoid postponing can, consequently, look for through the range spectrum of present moment the focus position of the effective signal spectrum that the monitoring area produced, then according to focus position obtains unmanned aerial vehicle distance the height in monitoring area is as the detection height, then need not be according to the unmanned aerial vehicle distance of historical moment the height in monitoring area, then obtain the current detection height again, can satisfy distance accuracy requirement, can avoid postponing again. Therefore, when the flight state is judged to be ascending action or descending action, the flight height of the unmanned aerial vehicle, of which the first height from the unmanned aerial vehicle to the monitoring area is the current moment, is obtained.
In this embodiment, when the flight state of the drone is a non-motion state or a horizontal rotation state, the drone has a high requirement on distance accuracy, so that the drone can stably hover when a slight change is detected, the phase spectrum corresponds to the phase of the detection target, and the change in the phase is a slight change in the distance from the detection target to the radar. Therefore, when the flight state is no action or horizontal rotation action, the unmanned aerial vehicle reaches the flight height of the monitoring area at the last moment and the phase frequency spectrum is used for calculating the distance from the unmanned aerial vehicle to the monitoring area, so that the flight height of the unmanned aerial vehicle, which is the current moment, from the unmanned aerial vehicle to the second height of the monitoring area is obtained.
In this embodiment, since the ground may have different concave-convex undulations or cliffs in the flying process of the unmanned aerial vehicle, that is, when the flying state of the unmanned aerial vehicle is in a flat flying operation, the change of the flying height of the unmanned aerial vehicle is large or small, different terrain can be adapted by setting different weights of the first height and the second height, for example, when it is determined that the flying state is an ascending operation or a descending operation, the first weight a is set11 is ═ 1; when the flight state is judged to be no action or horizontal rotation action, the first weight a is set10; when the flying state is judged to be the flat flying action, setting a first weight 0 < a1Is less than 1. Wherein, a1And a2The specific value of (a) may be determined based on measured statistics. Therefore, the expression of the real-time flight altitude of the drone is: h is a1h1+a2h2(ii) a Wherein h is1Is a first height h2Is a second height, a1Is a first weight, a2Is a second weight; a is2＝1-a1；1≥a1≥0，1≥a2≥0。
In summary, a radar transmits a frequency-modulated continuous wave (called a transmission signal) to the ground, receives a reflection signal of the ground, obtains an intermediate frequency signal by mixing the reflection signal and the transmission signal, and performs one-dimensional FFT spectrum analysis on the intermediate frequency signal to obtain an amplitude spectrum S and a phase spectrum SpThen, determining the gravity center position of the effective spectral line according to the amplitude spectrum, and determining a first height of the unmanned aerial vehicle from the ground according to the gravity center position; determining the height change of the unmanned aerial vehicle according to the base height and the phase frequency spectrum, further determining the second height of the unmanned aerial vehicle from the ground,wherein the basic height is the real-time height of the last detection moment, and the initial moment is 0; and then acquiring the flight state of the unmanned aerial vehicle provided by the unmanned aerial vehicle control module, determining respective weights of the first height and the second height according to the flight state, and finally acquiring the real-time height of the unmanned aerial vehicle from a monitoring area according to the first height, the second height and the weights, and updating the basic height, so that the real-time flight height of the unmanned aerial vehicle can be accurately detected.
Second embodiment of the invention:
referring to fig. 2, an embodiment of the present invention provides a real-time flying height measuring device for an unmanned aerial vehicle, including:
the frequency mixing unit 100 is configured to receive a reflected signal formed by a transmission signal being reflected by a monitoring area through a radar, and mix the reflected signal and the transmission signal to obtain an intermediate frequency signal; wherein the radar is mounted on the unmanned aerial vehicle;
a spectrum analysis unit 200, configured to perform FFT spectrum analysis on the intermediate frequency signal to obtain an amplitude spectrum and a phase spectrum;
a first height generating unit 300 for generating a first height from the amplitude spectrum;
a second altitude generating unit 400 configured to generate a second altitude from the phase spectrum and the altitude of the previous time;
a flight state obtaining unit 500, configured to obtain a flight state of the unmanned aerial vehicle, and determine a first weight of the first altitude and a second weight of the second altitude according to the flight state;
a flying height obtaining unit 600, configured to obtain a real-time flying height of the unmanned aerial vehicle according to the first weight, the second weight, the first height, and the second height.
Preferably, the expression of the real-time flying height of the unmanned aerial vehicle is as follows: h is a1h1+a2h2(ii) a Wherein h is1Is a first height h2Is a second height, a1Is a first weight, a2Is a second weight; a is2＝1-a1；1≥a1≥0，1≥a2≥0。
On the basis of the first embodiment, a preferred embodiment of the present invention further includes:
a first judging unit, configured to set the first weight a when the flight status is determined to be ascending or descending1＝1；
A second determination unit, configured to set the first weight a when the flight status is determined to be no action or horizontal rotation action1＝0；
A third judging unit for setting the first weight 0 < a when the flying state is judged to be the flat flying action1＜1。
On the basis of the first embodiment, in a preferred embodiment of the present invention, the first determining unit is specifically configured to:
the extraction module is used for extracting the positions of two spectral lines of a first spectral line position and a second spectral line position which are adjacent to the local minimum value and are arranged at two sides of the position of the peak spectral line of the amplitude spectrum according to the amplitude spectrum;
the first obtaining module is used for obtaining a gravity center position of the amplitude spectrum between the first spectral line position and the second spectral line position according to the first spectral line position, the second spectral line position and a spectral line amplitude value between the first spectral line position and the second spectral line position;
and the second acquisition module is used for acquiring a first height according to the gravity center position, the transmission signal bandwidth and the propagation speed of the electromagnetic wave in vacuum.
In a preferred embodiment of the present invention, based on the first embodiment, the expression of the position of the center of gravity is:
wherein, S [ r ]]Representing the magnitude of the magnitude spectrum at any spectral line position r between the first spectral line position and the second spectral line position; p is a radical of1Is the first spectral line position; p is a radical of2Is the second spectral line position; p is a radical of0Is the position of the center of gravity;
the expression of the first height of the unmanned aerial vehicle is as follows:
wherein c is the propagation speed of the electromagnetic wave in vacuum, and B represents the transmission signal bandwidth; h1 is the first height.
On the basis of the first embodiment, in a preferred embodiment of the present invention, the second determining unit specifically includes:
the spectral line position acquisition module is used for acquiring the spectral line position of the flying height at the previous moment;
the phase acquisition module is used for acquiring the phase of the current moment according to the phase spectrum of the current moment and the spectral line position;
the phase difference acquisition module is used for acquiring the phase difference between the current moment and the previous moment according to the phase of the current moment and the phase of the previous moment;
a relative change height obtaining module, configured to obtain a relative change height between a current time and a previous time according to the phase difference and a carrier wavelength of the transmission signal;
and the second height acquisition module is used for acquiring a second height according to the flying height at the previous moment and the relative change height.
On the basis of the first embodiment, in a preferred embodiment of the present invention, the expression of the relative variation height is:
Δ a is the phase difference, Δ h is the relative variation height, and λ is the carrier wavelength of the transmission signal.
Third embodiment of the invention:
a third embodiment of the present invention provides a real-time flying height measuring device for a drone, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the real-time flying height measuring method for a drone according to the embodiment.
The fourth embodiment of the present invention:
a fourth embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, where the computer program, when running, controls a device on which the computer-readable storage medium is located to perform the method for measuring the real-time flying height of a drone according to the embodiment.
In this embodiment, the Processor may be a Central Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an APPlication Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general processor can be a microprocessor or the processor can also be any conventional processor and the like, the processor is a control center of the real-time flight height measurement method of the unmanned aerial vehicle, and various interfaces and lines are used for connecting all parts of the whole method for realizing the real-time flight height measurement of the unmanned aerial vehicle.
The memory can be used for storing the computer program and/or the module, and the processor can realize various functions of the real-time flight height measurement method of the unmanned aerial vehicle by running or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, a text conversion function, etc.), and the like; the storage data area may store data (such as audio data, text message data, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the module for realizing the service device can be stored in a computer readable storage medium if it is realized in the form of software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and used for instructing related hardware to implement the steps of the embodiments of the method when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A real-time flying height measuring method of an unmanned aerial vehicle is characterized by comprising the following steps:
receiving a reflected signal formed by a transmitted signal after being reflected by a monitoring area through a radar, and mixing the reflected signal and the transmitted signal to obtain an intermediate frequency signal; wherein the radar is mounted on the unmanned aerial vehicle;
performing FFT spectrum analysis on the intermediate frequency signal to obtain an amplitude spectrum and a phase spectrum;
generating a first height from the amplitude spectrum;
generating a second altitude according to the phase frequency spectrum and the flight altitude at the previous moment;
acquiring the flight state of the unmanned aerial vehicle, and determining a first weight of the first altitude and a second weight of the second altitude according to the flight state; the flight state comprises ascending action, descending action, no action, horizontal rotation action and horizontal flying action; when the flight state is judged to be ascending motion or descending motion, setting the first weight to be equal to 1, when the flight state is judged to be no motion or horizontal rotation motion, setting the first weight to be equal to 0, and when the flight state is judged to be horizontal flight motion, setting the first weight to be more than 0 and less than 1; the sum of the second weight and the first weight is equal to 1;
and acquiring the real-time flight height of the unmanned aerial vehicle according to the first weight, the second weight, the first height and the second height.
2. The real-time fly-height measurement method of unmanned aerial vehicle of claim 1The method is characterized in that the real-time flying height expression of the unmanned aerial vehicle is as follows: h is a1h1+a2h2(ii) a Wherein h is1Is a first height h2Is a second height, a1Is a first weight, a2Is a second weight; a is2＝1-a1；1≥a1≥0，1≥a2≥0。
3. The real-time flying height measuring method of the unmanned aerial vehicle according to claim 1, wherein a first height is generated according to the amplitude spectrum, specifically:
according to the amplitude spectrum, extracting the positions of two spectral lines of a first spectral line position and a second spectral line position which are adjacent to local minimum values and are arranged at two sides of the position of a peak spectral line of the amplitude spectrum;
acquiring a gravity center position of the amplitude spectrum between the first spectral line position and the second spectral line position according to the first spectral line position, the second spectral line position and a spectral line amplitude value between the first spectral line position and the second spectral line position;
and obtaining a first height according to the gravity center position, the transmission signal bandwidth and the propagation speed of the electromagnetic wave in vacuum.
4. The method of claim 3, wherein the center of gravity position is expressed by:
wherein, S [ r ]]Representing the magnitude of the magnitude spectrum at any spectral line position r between the first spectral line position and the second spectral line position; p is a radical of1Is the first spectral line position; p is a radical of2Is the second spectral line position; p is a radical of0Is the position of the center of gravity; the expression for the first height is:
wherein c is the propagation speed of the electromagnetic wave in vacuum, and B represents the transmission signal bandwidth; h is1A first height for the drone from the monitoring area.
5. The real-time flying height measuring method of the unmanned aerial vehicle according to claim 1, wherein the second height is generated according to the phase spectrum and the flying height at the previous moment, specifically:
acquiring the spectral line position of the flying height of the unmanned aerial vehicle at the previous moment;
acquiring the phase of the current moment according to the phase frequency spectrum of the current moment and the spectral line position;
acquiring the phase difference of the intermediate frequency signals at the current moment and the previous moment according to the phase at the current moment and the phase at the previous moment;
acquiring the relative change height between the current moment and the last moment according to the phase difference and the carrier wavelength of the transmission signal;
and obtaining and generating a second altitude according to the flying altitude of the unmanned aerial vehicle at the previous moment and the relative change altitude.
6. The method of claim 5, wherein the relative change height is expressed as:
Δ a is the phase difference, Δ h is the relative variation height, and λ is the carrier wavelength of the transmission signal.
7. The utility model provides an unmanned aerial vehicle's real-time flying height measuring device which characterized in that, under current moment, includes:
the frequency mixing unit is used for receiving a reflection signal formed by the reflection of a transmission signal through a monitoring area through a radar, and mixing the reflection signal and the transmission signal to obtain an intermediate frequency signal; wherein the radar is mounted on the unmanned aerial vehicle;
the spectrum analysis unit is used for performing FFT spectrum analysis on the intermediate frequency signal to obtain an amplitude spectrum and a phase spectrum;
a first height generating unit for generating a first height from the amplitude spectrum;
a second altitude generation unit for generating a second altitude from the phase spectrum and the altitude of the previous time;
a flight state acquisition unit acquires a flight state of the unmanned aerial vehicle, and determines a first weight of the first altitude and a second weight of the second altitude according to the flight state; the flight state comprises ascending action, descending action, no action, horizontal rotation action and horizontal flying action; when the flight state is judged to be ascending motion or descending motion, setting the first weight to be equal to 1, when the flight state is judged to be no motion or horizontal rotation motion, setting the first weight to be equal to 0, and when the flight state is judged to be horizontal flight motion, setting the first weight to be more than 0 and less than 1; the sum of the second weight and the first weight is equal to 1;
and the flying height obtaining unit is used for obtaining the real-time flying height of the unmanned aerial vehicle according to the first weight, the second weight, the first height and the second height.
8. A real-time fly-height measuring apparatus of a drone, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the real-time fly-height measuring method of a drone according to any one of claims 1 to 7 when executing the computer program.
9. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus on which the computer-readable storage medium is located to perform a method of real-time fly-height measurement of a drone according to any one of claims 1 to 7.
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| CN112034451B (en) * | 2020-08-17 | 2023-09-08 | 厦门精益远达智能科技有限公司 | Unmanned aerial vehicle height measurement method and device based on radar and equipment |
| CN112349147B (en) * | 2020-09-17 | 2022-03-04 | 北京中数科技术有限公司 | Method, device, equipment and storage medium for identifying aircraft flight altitude abnormity |
| CN112346471A (en) * | 2020-11-18 | 2021-02-09 | 苏州臻迪智能科技有限公司 | Unmanned aerial vehicle height fixing method and device, unmanned aerial vehicle and storage medium |
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