CN111413690A - Handheld unmanned aerial vehicle positioning device and method - Google Patents
Handheld unmanned aerial vehicle positioning device and method Download PDFInfo
- Publication number
- CN111413690A CN111413690A CN202010092299.3A CN202010092299A CN111413690A CN 111413690 A CN111413690 A CN 111413690A CN 202010092299 A CN202010092299 A CN 202010092299A CN 111413690 A CN111413690 A CN 111413690A
- Authority
- CN
- China
- Prior art keywords
- frequency
- point
- wireless signal
- signal
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/30—Combinations of separate antenna units operating in different wavebands and connected to a common feeder system
-
- 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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention belongs to the field of unmanned aerial vehicle defense in security industry, and particularly relates to a handheld unmanned aerial vehicle positioning device and method, wherein the device comprises the following components: the handheld unmanned detection assembly collects wireless signals of all directions and comprises wireless signal collecting antennas positioned in the same center, a circumferential angle formed between each two adjacent wireless signal collecting antennas and the center is 30 degrees, each wireless signal collecting antenna comprises a low-frequency wireless signal collecting and receiving antenna, a medium-frequency wireless signal collecting and receiving antenna and a high-frequency wireless signal collecting and receiving antenna which are arranged at intervals, and the distribution mode of the same-frequency antennas is that every two antennas positioned through a straight line are in one group and the two groups are perpendicular to each other; the control processing assembly controls the handheld unmanned detection assembly to acquire signals, compares and operates all directions, judges the time, the relative direction and the moving speed of the unmanned aerial vehicle, is suitable for the individual soldier detection scene of the unmanned aerial vehicle, can rapidly identify the unmanned aerial vehicle and the directions of the unmanned aerial vehicle, and provides early support for unmanned aerial vehicle defense.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle defense in security industry, and particularly relates to a handheld unmanned aerial vehicle positioning device and method.
Background
With the development of unmanned aerial vehicle technology, unmanned aerial vehicles are widely used in various industries. The consumption-level unmanned aerial vehicle lacking supervision brings convenience and fun to daily life of people, and the threat caused by irregular unmanned aerial vehicle flight is increased day by day. When the national standard is implemented and legislated, advanced technical means are also needed to monitor the behavior of the unmanned aerial vehicle, and the safety of ground personnel and places is guaranteed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a handheld unmanned aerial vehicle positioning device and a method, which are suitable for individual soldier detection scenes of unmanned aerial vehicles, can quickly identify the unmanned aerial vehicles and the directions thereof around the unmanned aerial vehicles, and provide early support for unmanned aerial vehicle defense.
The present invention is achieved in such a way that,
a hand-held drone positioning device, the device comprising:
the handheld unmanned detection assembly collects wireless signals of all directions and comprises wireless signal collecting antennas positioned in the same center, a circumferential angle formed between each two adjacent wireless signal collecting antennas and the center is 30 degrees, each wireless signal collecting antenna comprises a low-frequency wireless signal collecting and receiving antenna, a medium-frequency wireless signal collecting and receiving antenna and a high-frequency wireless signal collecting and receiving antenna which are arranged at intervals, and the distribution mode of the same-frequency antennas is that every two antennas positioned through a straight line are in one group and the two groups are perpendicular to each other;
the control processing assembly controls the handheld unmanned detection assembly to acquire signals, compares and calculates the directions of the handheld unmanned detection assembly, and judges the time, the relative direction and the moving speed of the unmanned aerial vehicle.
Furthermore, the wireless signal acquisition antennas are all connected with respective frequency division signal amplifiers, and the frequency division signal amplifiers are respectively matched with the frequency band signal acquisition receiving devices to sample the amplified received signals.
Further, the control processing assembly comprises: the device comprises a collecting time synchronizer, a temporary storage, a comparator and an operation controller; wherein the content of the first and second substances,
the acquisition time synchronizer controls the signal acquisition receiving device to acquire starting time, interval time and ending time;
the temporary storage is divided into three types of temporary storage of low frequency, medium frequency and high frequency, and the temporary storage stores all amplified signal data processed by the acquisition device;
the operation controller processes all the temporary storage data through the comparator, and is used for controlling the operation of the whole device.
Furthermore, the acquisition time synchronizer controls the low, medium and high frequency signal acquisition and receiving device to acquire signals amplified by the signal acquisition and receiving device for 1 time every 10 milliseconds and respectively store the signals into the corresponding temporary storage.
Furthermore, the control processing assembly carries out 2 rounds of single signal acquisition receiving device working modes after the signal acquisition receiving device in a certain direction finds a suspected signal, each signal acquisition receiving device with the same frequency carries out signal acquisition once independently, and the acquisition result and the result of finding the suspected signal are compared after polling for 2 times; if three frequency channel signal intensity all change in final comparison result, and intensity change direction source is unanimous then can judge that this direction has unmanned aerial vehicle to appear.
Furthermore, the control processing component digitizes the signal strength received by the antenna in four directions within a certain time period, and performs triangular hybrid calculation for 4 times to obtain the absolute direction and the moving speed of the detection target relative to the user.
A handheld unmanned aerial vehicle positioning method is characterized in that a circle center is used as a center, wireless signal acquisition antennas are arranged in 12 outward directions at equal intervals, a circumferential angle formed between each two adjacent wireless signal acquisition antennas and the center is 30 degrees, each wireless signal acquisition antenna comprises a low-frequency wireless signal acquisition receiving antenna, a medium-frequency wireless signal acquisition receiving antenna and a high-frequency wireless signal acquisition receiving antenna which are arranged at intervals, and the distribution mode of the same-frequency antennas is that every two antennas which are positioned through a straight line are in one group and are perpendicular to each other;
acquiring signals of 12 directions 1 time every 10 milliseconds;
and calculating the signals of the obtained 12 directions, and when the signal intensities of the adjacent three frequency bands corresponding to the three continuous directions are detected to have enhancement change in the result, and if the signal intensity change direction sources are consistent, judging that the unmanned aerial vehicle appears in the direction.
Furthermore, the method also comprises the steps that after the phenomenon that the intensities of the collected signals of three adjacent different frequency bands in a certain direction are suddenly and continuously enhanced is detected, the signals are used as suspected signal collecting and receiving signals, in order to prevent the influence of environmental signal interference on detection, each signal collecting and receiving device with the same frequency is sequentially and independently subjected to signal collection once, the signal collecting and receiving devices are temporarily calibrated according to the collected signal intensities from high to low, and meanwhile, the collected results and the found suspected enhanced signal records are digitally compared to determine the strongest distribution, the second weakest distribution and the weakest distribution;
continuously executing each frequency band for 4 times to obtain the variation trend of the signal intensity obtained by each signal acquisition and receiving device, comparing the measured data to determine the strongest, second weakest and weakest position distribution, and respectively obtaining the variation trend graphs of the corresponding positions from second strongest to strongest and from second weakest to weakest for the distribution changes of a target point, a strongest data point, a second weakest data point and a weakest data point to obtain the approximate absolute flight direction of the suspected target relative to the user;
forming a plurality of triangular models by using the target point, the strongest data point, the second weakest data point and the weakest data point: the device comprises a triangular shape formed by space projection of a target point, a strongest data point and a second strongest data point; the triangular shape is formed by space projection of the target point, the strongest data point and the weakest data point; a triangular shape formed by space projection of the target point, the second-strength data point and the weakest data point; a triangular shape formed by projecting the target point, the next weak data point and the weakest data point; a triangular shape formed by projecting the target point, the second strong data point and the second weak data point; the most intense point, the second most intense data point and the second most weak data point form a triangle in a projection manner;
and performing variation integration processing on the formed triangular models, wherein when the secondary weakness point integral value is infinitely close to the secondary strength point integral value, the direction from the weakest point to the strongest point is the direction of the suspected target, the direction from the corresponding secondary weakness point to the secondary strength point is the flight direction of the suspected target, and the product of the time for the corresponding secondary weakness point to be close to the secondary weakness point and the radio transmission speed is the approximate flight speed of the suspected target.
Compared with the prior art, the invention has the beneficial effects that:
the unmanned aerial vehicle detection device can rapidly identify the unmanned aerial vehicle and the direction thereof around the robot through the handheld equipment, and the detection accuracy is high through the test.
Drawings
FIG. 1 is a block diagram of the circuit configuration of the apparatus of the present invention;
FIG. 2 is a schematic diagram of an antenna position configuration of the hand-held unmanned aerial vehicle assembly of the present invention;
FIG. 3 is a block diagram of the electrical circuit configuration of the handheld unmanned aerial vehicle detection assembly and the control processing assembly of the present invention;
FIG. 4 is a diagram showing the positional relationship of four co-frequency antennas according to the present invention;
FIG. 5 is a flow chart of the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a hand-held drone positioning device, the device comprising: hand-held type display module 201, handheld unmanned detection subassembly 202, control processing subassembly 203, data storage subassembly 204, power supply subassembly 205, wherein, power supply subassembly 205 provides the electric energy for the device, receive wireless signal through handheld unmanned detection subassembly, carry out analysis and judgment to the wireless signal who receives through control processing subassembly 203, and save to data storage subassembly 204, the data after having unmanned aerial vehicle's processing are shown through hand-held type display module 201.
Referring to fig. 2, the handheld unmanned detection assembly comprises wireless signal acquisition antennas located at the same center, a circumferential angle formed between each two adjacent wireless signal acquisition antennas is 30 °, each wireless signal acquisition antenna comprises a low-frequency wireless signal acquisition receiving antenna, an intermediate-frequency wireless signal acquisition receiving antenna and a high-frequency wireless signal acquisition receiving antenna which are arranged at intervals, specifically, the low-frequency wireless signal acquisition receiving antenna, the intermediate-frequency wireless signal acquisition receiving antenna and the high-frequency wireless signal acquisition receiving antenna are sequentially arranged at equal angular intervals according to the center, the same-frequency antennas are located in four directions, the four directions are distributed according to a cross, referring to fig. 4, the distribution mode is that every two antennas located through a straight line are in one group, and the two groups are perpendicular to each other.
Referring to fig. 3, in a circuit structure, the handheld unmanned aerial vehicle includes that each wireless signal acquisition receiving antenna 302 has a respective frequency division signal amplifier 303, data received by 12 frequency division signal amplifiers 303 are respectively matched with each frequency band signal acquisition receiving device 304, and according to different directions, the signal acquisition receiving devices 304 number the received data according to the directions, so as to correspond to different wireless signal acquisition receiving antennas 302.
The control processing assembly comprises: a collection time synchronizer 301, a temporary memory, a comparator and an operation controller; the received signals are stored in registers 305, the calculation controller processes all register data through comparators 306, and the calculation controller 307 is used to control the operation of the whole apparatus.
The control processing assembly controls the handheld unmanned detection assembly to acquire signals, compares and calculates the directions of the handheld unmanned detection assembly, and judges the time, the relative direction and the moving speed of the unmanned aerial vehicle. The acquisition time synchronizer controls the signal acquisition receiving device to acquire starting time, interval time and ending time; the temporary storage is divided into three types of temporary storage of low frequency, medium frequency and high frequency, and the temporary storage stores all amplified signal data processed by the acquisition device; the operation controller processes all the temporary storage data through the comparator, and is used for controlling the operation of the whole device.
The handheld display component is a touchable display screen;
in order to realize target display, in specific implementation, a clock point is used as a direction coordinate, the position of the unmanned aerial vehicle is indicated by a flashing red point at a corresponding clock position according to a judgment result, and the number of the red points represents the number of the discovered unmanned aerial vehicles; through the touchable display screen, the phone holder can further know the information of the appearing flashing red points, including but not limited to azimuth information, data intensity change information, frequency range information, existing time, calendar time and the like; in order to realize the purpose, during specific implementation, the system is provided with a storage assembly or an external storage assembly, and the acquired data intensity change information, frequency band information, existing time, calendar time, azimuth information, unmanned aerial vehicle quantity and other information are stored automatically by the device or manually operated by a vehicle holder.
Specifically, the acquisition time synchronizer controls the low, medium and high frequency signal acquisition and reception device to acquire signals amplified by the signal acquisition and reception device for 1 time every 10 milliseconds and store the signals into corresponding temporary registers respectively.
When a suspected signal is found by a signal acquisition and receiving device in a certain direction, the control processing assembly carries out 2-round single signal acquisition and receiving device working modes, each signal acquisition and receiving device with the same frequency carries out signal acquisition once independently, and after 2 times of polling, an acquisition result is compared with a suspected signal finding result; if three frequency channel signal intensity all change in final comparison result, and intensity change direction source is unanimous then can judge that this direction has unmanned aerial vehicle to appear.
The control processing component digitizes the signal intensity received by the antenna in four directions in a certain time period, and performs triangular hybrid calculation for 4 times to obtain the absolute direction and the moving speed of the detection target relative to the user.
The embodiment provides a positioning method for a handheld unmanned aerial vehicle, which is shown in fig. 5 and includes step F01, collecting peripheral wireless signal data by using a handset signal detection component; step F02, judging whether the unmanned aerial vehicle and the direction of the unmanned aerial vehicle exist according to the data change state; step F03, displaying the processing result to the holding robot in real time by using the handheld display component; step F04, storing the detection result by using the data storage component.
Wherein, utilize handheld quick-witted signal detection subassembly to gather peripheral wireless signal data, include: the wireless signal acquisition antennas are arranged in 12 outward directions at equal intervals by taking the circle center as the center, the circumferential angle formed between the adjacent wireless signal acquisition antennas and the center is 30 degrees, each wireless signal acquisition antenna comprises a low-frequency wireless signal acquisition receiving antenna, an intermediate-frequency wireless signal acquisition receiving antenna and a high-frequency wireless signal acquisition receiving antenna which are arranged at intervals, and the distribution mode of the same-frequency antennas is that every two antennas which are positioned through a straight line are in one group and the two groups are perpendicular to each other;
acquiring signals of 12 directions 1 time every 10 milliseconds;
and calculating the signals of the obtained 12 directions, and when the signal intensities of the adjacent three frequency bands corresponding to the three continuous directions are detected to have enhancement change in the result, and if the signal intensity change direction sources are consistent, judging that the unmanned aerial vehicle appears in the direction.
When the phenomenon that the intensities of the collected signals of three adjacent different frequency bands in a certain direction are suddenly and continuously enhanced is detected, the signals are used as suspected signal collecting and receiving signals, in order to prevent the influence of environmental signal interference on detection, signal collection is carried out on each signal collecting and receiving device with the same frequency in sequence for one time, the signal collecting and receiving devices are temporarily calibrated according to the collected signal intensities from high to low, and meanwhile, the collected results and the found suspected enhanced signal records are digitized.
And continuously executing for 4 times each frequency band to obtain the variation trend of the signal intensity obtained by each signal acquisition and receiving device, comparing the measured same-frequency data to determine the strongest, second-weakest and weakest position distribution, and respectively obtaining the variation trend graphs of the positions corresponding to the positions from the second-strongest to the strongest and from the second-weakest to the weakest for the distribution changes of the target point, the strongest data point, the second-weakest data point and the weakest data point to obtain the absolute flight direction of the suspected target relative to the user.
Forming a plurality of triangular models by using the target point, the strongest data point, the second weakest data point and the weakest data point: the device comprises a triangular shape formed by space projection of a target point, a strongest data point and a second strongest data point; the triangular shape is formed by space projection of the target point, the strongest data point and the weakest data point; a triangular shape formed by space projection of the target point, the second-strength data point and the weakest data point; a triangular shape formed by projecting the target point, the next weak data point and the weakest data point; a triangular shape formed by projecting the target point, the second strong data point and the second weak data point; the most intense point, the second most intense data point and the second most weak data point form a triangle in a projection manner;
and performing change integral processing on the plurality of formed triangular models, wherein the influence of time factors in the process of changing the state of the signal acquired by the collector from a secondary weak point to a weakest point on the integral and the influence of time factors in the process of changing the state of the signal acquired by the collector from the secondary weak point to the secondary strong point on the integral are considered in the change integral processing. When the integral value of the secondary weak point is infinitely close to the integral value of the secondary strong point, the direction from the weakest point to the strongest point is the direction of the suspected target, the direction from the corresponding secondary weak point to the secondary strong point is the flight direction of the suspected target, and the integral of the corresponding secondary weak point is the approximate flight speed of the suspected target by the product of the time for approaching the secondary weak point to the secondary strong point and the radio transmission speed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The utility model provides a hand-held type unmanned aerial vehicle positioner, its characterized in that, the device includes:
the handheld unmanned detection assembly collects wireless signals of all directions and comprises wireless signal collecting antennas positioned in the same center, a circumferential angle formed between each two adjacent wireless signal collecting antennas and the center is 30 degrees, each wireless signal collecting antenna comprises a low-frequency wireless signal collecting and receiving antenna, a medium-frequency wireless signal collecting and receiving antenna and a high-frequency wireless signal collecting and receiving antenna which are arranged at intervals, and the distribution mode of the same-frequency antennas is that every two antennas positioned through a straight line are in one group and the two groups are perpendicular to each other;
the control processing assembly controls the handheld unmanned detection assembly to acquire signals, compares and calculates the directions of the handheld unmanned detection assembly, and judges the time, the relative direction and the moving speed of the unmanned aerial vehicle.
2. The positioning device according to claim 1, wherein the wireless signal collecting antennas are connected with respective frequency division signal amplifiers, and the frequency division signal amplifiers are respectively matched with the signal collecting and receiving devices of the frequency bands to sample the amplified received signals.
3. The positioning apparatus of claim 2, wherein the control processing assembly comprises: the device comprises a collecting time synchronizer, a temporary storage, a comparator and an operation controller; wherein the content of the first and second substances,
the acquisition time synchronizer controls the signal acquisition receiving device to acquire starting time, interval time and ending time;
the temporary storage is divided into three types of temporary storage of low frequency, medium frequency and high frequency, and the temporary storage stores all amplified signal data processed by the acquisition device;
the operation controller processes all the temporary storage data through the comparator, and is used for controlling the operation of the whole device.
4. The positioning device as claimed in claim 3, wherein the acquisition time synchronizer controls the low, medium and high frequency signal acquisition and reception device to acquire signals amplified by the signal acquisition and reception device 1 time every 10 milliseconds and store the signals in the corresponding registers respectively.
5. The positioning device according to claim 3, wherein the control processing module performs 2 rounds of single signal acquisition and reception device operation modes after the signal acquisition and reception device in a certain direction finds a suspected signal, each signal acquisition and reception device with the same frequency performs signal acquisition once independently, and the acquisition result and the result of finding the suspected signal are compared after polling for 2 times; if three frequency channel signal intensity all change in final comparison result, and intensity change direction source is unanimous then can judge that this direction has unmanned aerial vehicle to appear.
6. The positioning apparatus according to claim 3, wherein the control processing module digitizes the signal strength received by the four directional antennas for a certain period of time, and performs 4 times of triangular mixture calculation to obtain the absolute direction and moving speed of the detected object relative to the user.
7. A method for positioning a handheld unmanned aerial vehicle is characterized in that,
the wireless signal acquisition antennas are arranged in 12 outward directions at equal intervals by taking the circle center as the center, the circumferential angle formed between the adjacent wireless signal acquisition antennas and the center is 30 degrees, each wireless signal acquisition antenna comprises a low-frequency wireless signal acquisition receiving antenna, an intermediate-frequency wireless signal acquisition receiving antenna and a high-frequency wireless signal acquisition receiving antenna which are arranged at intervals, and the distribution mode of the same-frequency antennas is that every two antennas which are positioned through a straight line are in one group and the two groups are perpendicular to each other;
acquiring signals of 12 directions 1 time every 10 milliseconds;
and calculating the signals of the obtained 12 directions, and when the signal intensities of the adjacent three frequency bands corresponding to the three continuous directions are detected to have enhancement change in the result, and if the signal intensity change direction sources are consistent, judging that the unmanned aerial vehicle appears in the direction.
8. The method according to claim 7, further comprising, when it is detected that the intensities of the collected signals of three adjacent different frequency bands in a certain direction are all suddenly and continuously enhanced, taking the signals as suspected signal collecting and receiving signals, in order to prevent the influence of the environmental signal interference on the detection, sequentially and independently carrying out signal collection once for each signal collecting and receiving device with the same frequency, and temporarily calibrating the signal collecting and receiving devices according to the collected signal intensities from high to low;
continuously executing each frequency band for 4 times to obtain the variation trend of the signal intensity obtained by each signal acquisition and receiving device, comparing the measured data to determine the strongest, second weakest and weakest position distribution, and respectively obtaining the variation trend graphs of the corresponding positions from second strongest to strongest and from second weakest to weakest for the distribution changes of a target point, a strongest data point, a second weakest data point and a weakest data point to obtain the approximate absolute flight direction of the suspected target relative to the user;
forming a plurality of triangular models by using the target point, the strongest data point, the second weakest data point and the weakest data point: the device comprises a triangular shape formed by space projection of a target point, a strongest data point and a second strongest data point; the triangular shape is formed by space projection of the target point, the strongest data point and the weakest data point; a triangular shape formed by space projection of the target point, the second-strength data point and the weakest data point; a triangular shape formed by projecting the target point, the next weak data point and the weakest data point; a triangular shape formed by projecting the target point, the second strong data point and the second weak data point; the most intense point, the second most intense data point and the second most weak data point form a triangle in a projection manner;
and performing variation integration processing on the formed triangular models, wherein when the secondary weakness point integral value is infinitely close to the secondary strength point integral value, the direction from the weakest point to the strongest point is the direction of the suspected target, the direction from the corresponding secondary weakness point to the secondary strength point is the flight direction of the suspected target, and the product of the time for the corresponding secondary weakness point to be close to the secondary weakness point and the radio transmission speed is the approximate flight speed of the suspected target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010092299.3A CN111413690B (en) | 2020-02-14 | 2020-02-14 | Handheld unmanned aerial vehicle positioning device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010092299.3A CN111413690B (en) | 2020-02-14 | 2020-02-14 | Handheld unmanned aerial vehicle positioning device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111413690A true CN111413690A (en) | 2020-07-14 |
| CN111413690B CN111413690B (en) | 2023-05-23 |
Family
ID=71489029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010092299.3A Active CN111413690B (en) | 2020-02-14 | 2020-02-14 | Handheld unmanned aerial vehicle positioning device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111413690B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113867416A (en) * | 2021-12-03 | 2021-12-31 | 上海特金信息科技有限公司 | Processing method, system and device for unmanned aerial vehicle detection |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003141700A (en) * | 2001-10-31 | 2003-05-16 | Toshiba Corp | Aircraft detecting device |
| CN103344979A (en) * | 2013-06-17 | 2013-10-09 | 上海大学 | Unmanned aerial vehicle searching and positioning method for field target |
| CN107959126A (en) * | 2017-12-13 | 2018-04-24 | 湖南华诺星空电子技术有限公司 | A kind of antenna assembly for anti-unmanned plane passive detection and positioning |
| CN109521402A (en) * | 2018-11-13 | 2019-03-26 | 湖南华诺星空电子技术有限公司 | A kind of low latitude unmanned plane passive detection positioning system |
| CN110224784A (en) * | 2019-05-23 | 2019-09-10 | 北京航空航天大学 | A kind of positioning of unmanned plane signal source and control system |
-
2020
- 2020-02-14 CN CN202010092299.3A patent/CN111413690B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003141700A (en) * | 2001-10-31 | 2003-05-16 | Toshiba Corp | Aircraft detecting device |
| CN103344979A (en) * | 2013-06-17 | 2013-10-09 | 上海大学 | Unmanned aerial vehicle searching and positioning method for field target |
| CN107959126A (en) * | 2017-12-13 | 2018-04-24 | 湖南华诺星空电子技术有限公司 | A kind of antenna assembly for anti-unmanned plane passive detection and positioning |
| CN109521402A (en) * | 2018-11-13 | 2019-03-26 | 湖南华诺星空电子技术有限公司 | A kind of low latitude unmanned plane passive detection positioning system |
| CN110224784A (en) * | 2019-05-23 | 2019-09-10 | 北京航空航天大学 | A kind of positioning of unmanned plane signal source and control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113867416A (en) * | 2021-12-03 | 2021-12-31 | 上海特金信息科技有限公司 | Processing method, system and device for unmanned aerial vehicle detection |
| CN113867416B (en) * | 2021-12-03 | 2022-04-22 | 特金智能科技(上海)有限公司 | Processing method, system and device for unmanned aerial vehicle detection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111413690B (en) | 2023-05-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106793082B (en) | Mobile equipment positioning method in WLAN/Bluetooth heterogeneous network environment | |
| CN104883734B (en) | A kind of indoor Passive Location based on geographical fingerprint | |
| CN106597368B (en) | The localization method and system of indoor interference source | |
| CN106405491B (en) | Unmanned plane based on software radio monitors system | |
| CN111122570A (en) | Iron and steel plant sewage discharge monitoring method and system based on unmanned aerial vehicle | |
| CN110266401A (en) | A kind of fast wireless electricity frequency spectrum detecting method and system | |
| CN103713277A (en) | Location information field-based radiation source localization algorithm | |
| CN105785317A (en) | Space positioning system and method | |
| CN202421348U (en) | Antenna far-field pattern spectrometer multi-point frequency-sweeping measuring system | |
| CN111257655B (en) | Intercepted distance testing device for radio frequency sensor | |
| CN110572786A (en) | block indoor positioning system and method based on wifi and face recognition | |
| Dressel et al. | Efficient and low-cost localization of radio signals with a multirotor UAV | |
| CN111413690A (en) | Handheld unmanned aerial vehicle positioning device and method | |
| CN105842561A (en) | Background signal eliminating method suitable for on-site electromagnetic interference detection | |
| KR101623737B1 (en) | Method and System for Location Positioning and Application Therefor | |
| CN205539210U (en) | Electromagnetic environment test system | |
| CN113567911A (en) | Detection positioning method and system for unmanned aerial vehicle control device | |
| CN111505620A (en) | Unmanned aerial vehicle detection system and detection method | |
| CN110417421B (en) | Unmanned aerial vehicle remote controller detection system and detection method thereof | |
| CN107426685A (en) | A kind of method and apparatus for obtaining multimode location fingerprint data storehouse | |
| CN115963331A (en) | Intelligent electromagnetic detection method and system | |
| CN116192298A (en) | Electromagnetic situation perception evaluation system for electronic countermeasure equipment trial training | |
| CN206348451U (en) | The single pass optimization of multiple antennas is than width fluorescence spectrum radio direction-finding system | |
| CN106199502B (en) | It optimizes than width wireless direction finding method | |
| CN205450257U (en) | Space positioning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |