CN111413690B - Handheld unmanned aerial vehicle positioning device and method - Google Patents
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- G—PHYSICS
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- 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
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- H—ELECTRICITY
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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 is used for acquiring wireless signals in all directions and comprises wireless signal acquisition antennas positioned in the same center, 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, an intermediate-frequency wireless signal acquisition receiving antenna and a high-frequency wireless signal acquisition receiving antenna which are arranged at intervals, and the same-frequency antennas are distributed in a mode that every two antennas positioned through a straight line are in one group, and the two groups are mutually perpendicular; the control processing component is used for controlling the handheld unmanned aerial vehicle detection component to acquire signals, comparing and calculating all directions, judging the appearance time, the relative direction and the moving speed of the unmanned aerial vehicle, and the unmanned aerial vehicle detection device is applicable to detecting scenes with individual soldiers of the unmanned aerial vehicle, can rapidly identify the unmanned aerial vehicle and the directions of the unmanned aerial vehicle around 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 the 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 applied in various industries. The threat caused by the irregular unmanned aerial vehicle flight is also increasing when the consumer unmanned aerial vehicle lacking in supervision brings convenience and fun to the daily life of people. Advanced technical means are required to monitor the behaviors of the unmanned aerial vehicle while national standards are implemented and legislated, so that the safety of ground personnel and places is ensured.
Disclosure of Invention
The invention aims to solve the technical problem of providing a handheld unmanned aerial vehicle positioning device and a handheld unmanned aerial vehicle positioning method, which are suitable for detecting scenes with individual unmanned aerial vehicles, can rapidly identify unmanned aerial vehicles around the unmanned aerial vehicle and the azimuth thereof, and provide early support for unmanned aerial vehicle defense.
The present invention has been achieved in such a way that,
a handheld unmanned aerial vehicle positioning device, the device comprising:
the handheld unmanned detection assembly is used for acquiring wireless signals in all directions and comprises wireless signal acquisition antennas positioned in the same center, 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, an intermediate-frequency wireless signal acquisition receiving antenna and a high-frequency wireless signal acquisition receiving antenna which are arranged at intervals, and the same-frequency antennas are distributed in a mode that every two antennas positioned through a straight line are in one group, and the two groups are mutually perpendicular;
and the control processing component is used for controlling the handheld unmanned aerial vehicle detection component to acquire signals and comparing and calculating all directions to judge the appearance time, the relative direction and the moving speed of the unmanned aerial vehicle.
Further, the wireless signal acquisition antennas are connected with respective frequency division signal amplifiers, and the frequency division signal amplifiers are respectively matched with the signal acquisition and receiving devices in each frequency band to sample the amplified received signals.
Further, the control processing component includes: the device comprises a collection time synchronizer, a temporary storage device, a comparator and an operation controller; wherein,,
the acquisition time synchronizer controls the signal acquisition receiving device to acquire the starting time, the interval time and the ending time;
the temporary storage device is divided into three types of temporary storage devices of low frequency, medium frequency and high frequency, and the temporary storage devices store all amplified signal data processed by the acquisition device;
the operation controller processes all the register data through the comparator, and is used for controlling the operation of the whole device.
Further, the acquisition time synchronizer controls the low-medium-high frequency signal acquisition receiving device to acquire signals amplified by the signal acquisition receiving device for 1 time every 10 milliseconds, and the signals are respectively stored in the corresponding temporary storage.
Further, after the signal acquisition receiving device in a certain direction finds out a suspected signal, the control processing component performs 2 rounds of single signal acquisition receiving device working modes, each signal acquisition receiving device in the same frequency performs signal acquisition once, and after polling for 2 times, the acquisition result is compared with the suspected signal finding result; in the final comparison result, if the signal intensity of the three frequency bands is changed, and the sources of the intensity change directions are consistent, the unmanned aerial vehicle in the directions can be judged.
Further, the control processing component digitizes the signal intensity received by the four directional antennas within a certain period of time, and performs triangular mixing 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, regard centre of a circle as the centre, equidistant outwards 12 positions arrange the wireless signal and gather the aerial, the circumference angle formed between adjacent wireless signal gathers aerial and centre is 30, the wireless signal gathers the aerial and includes the low frequency wireless signal that the interval sets up to gather the aerial, intermediate frequency wireless signal gathers aerial and high frequency wireless signal and gathers the aerial, the mode of distribution of the same frequency aerial is that every two is located and passes a rectilinear aerial and is a set of, and two sets of mutual verticals;
acquiring signals of 12 azimuth at intervals of 10 milliseconds;
and calculating the acquired signals of 12 directions, and judging that unmanned aerial vehicles appear in the direction when the signal intensity of three adjacent frequency bands corresponding to three continuous directions is detected to have enhanced change in the result and the sources of the signal intensity change directions are consistent.
Further, the method further comprises the steps that when the sudden continuous enhancement phenomenon of the collected signal intensities of three adjacent different frequency bands in a certain direction is detected, the signals are taken 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 in the same frequency is singly subjected to signal collection once, the signal collecting and receiving devices are temporarily calibrated according to the collected signal intensities from high to low, meanwhile, the collected results and found suspected enhancement signal records are subjected to digital comparison, and the strongest, sub-weak and weakest distribution is determined;
continuously executing 4 times on each frequency band to obtain a change trend of the signal intensity acquired by each signal acquisition receiving device, comparing the measured data to determine the strongest, next weakest and weakest position distribution, and respectively obtaining a change trend graph of the corresponding directions from next strongest to strongest and next weakest to weakest for the distribution changes of the target point, the strongest data point, the next weakest data point and the weakest data point to obtain the approximate absolute flight direction of a suspected target relative to a user;
forming a plurality of triangular models by the target point, the strongest data point, the next weakest data point and the weakest data point: the system comprises a triangle formed by space projection of a target point, a strongest data point and a second strongest data point; the triangular model is formed by space projection of the target point, the strongest data point and the weakest data point; the target point, the second strongest data point and the weakest data point are projected in space to form a triangle; the target point, the secondary weak data point and the weakest data point are projected to form a triangle; a triangle formed by the projections of the target point, the secondary strong data point and the secondary weak data point; the triangle formed by the projections of the strongest point, the second strongest data point and the second weakest data point;
and performing change integral processing on the formed multiple triangular models, wherein when the secondary weak point integral value is infinitely close to the secondary strong 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 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 from the product of the time of approaching the secondary weak point to the secondary strong point and the radio transmission speed.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, unmanned aerial vehicles and the orientations thereof around the robot can be rapidly identified through handheld equipment, and the detection accuracy is high after test.
Drawings
FIG. 1 is a block diagram of the circuit configuration of the device of the present invention;
FIG. 2 is a schematic diagram of the antenna position structure of the handheld unmanned detection assembly of the present invention;
FIG. 3 is a block diagram of the circuit configuration of the handheld unmanned detection assembly and control processing assembly of the present invention;
fig. 4 is a diagram of the positional relationship of four antennas of the same frequency of the present invention;
fig. 5 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, a handheld unmanned aerial vehicle positioning device, the device comprises: the handheld display module 201, the handheld unmanned detection module 202, the control processing module 203, the data storage module 204 and the power supply module 205, wherein the power supply module 205 provides electric energy for the device, receives wireless signals through the handheld unmanned detection module, analyzes and judges the received wireless signals through the control processing module 203, stores the wireless signals into the data storage module 204, and displays the processed data with the unmanned aerial vehicle through the handheld display module 201.
Referring to fig. 2, the handheld unmanned detection assembly includes wireless signal collection antennas located at the same center, a circumferential angle formed between adjacent wireless signal collection antennas and the center is 30 °, each wireless signal collection antenna includes a low-frequency wireless signal collection receiving antenna, an intermediate-frequency wireless signal collection receiving antenna and a high-frequency wireless signal collection receiving antenna which are arranged at intervals, specifically, according to a low-frequency wireless signal collection receiving antenna, an intermediate-frequency wireless signal collection receiving antenna and a high-frequency wireless signal collection receiving antenna are sequentially arranged according to an equiangular interval of the center, the same-frequency antennas are located at four orientations, the four orientations are distributed according to a cross, see fig. 4, the distribution mode is that every two antennas located through a straight line are a group, and the two groups are mutually perpendicular.
Referring to fig. 3, in the circuit structure, the handheld unmanned detection assembly includes each wireless signal acquisition receiving antenna 302 having a respective frequency division signal amplifier 303, and data received by the 12 frequency division signal amplifiers 303 are respectively matched to each frequency band signal acquisition receiving device 304, and the signal acquisition receiving devices 304 number the received data according to different orientations, so as to be convenient to correspond to different wireless signal acquisition receiving antennas 302.
The control processing component comprises: acquisition time synchronizer 301, register, comparator, and arithmetic controller; the received signals are stored in the register 305, the arithmetic controller processes all register data through the comparator 306, and the arithmetic controller 307 is used to control the operation of the whole apparatus.
And the control processing component is used for controlling the handheld unmanned aerial vehicle detection component to acquire signals and comparing and calculating all directions to judge the appearance 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 the starting time, the interval time and the ending time; the temporary storage device is divided into three types of temporary storage devices of low frequency, medium frequency and high frequency, and the temporary storage devices store all amplified signal data processed by the acquisition device; the operation controller processes all the register 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 the specific implementation, a clock point is used as a direction coordinate, a judgment result indicates the appearance azimuth of the unmanned aerial vehicle at a corresponding clock position by using a flashing red point, and the number of the red point represents the number of the found unmanned aerial vehicles; through the touchable display screen, the handset operator can further learn information about the flashing red points, including but not limited to azimuth information, data intensity change information, frequency band information, existing time, calendar time and the like; in order to achieve the purpose, in the specific implementation, the system is provided with a storage component or an external storage component, and the acquired information such as data intensity change information, frequency band information, existing time, calendar time, azimuth information, unmanned aerial vehicle number and the like is stored automatically by the device or manually by a person holding the unmanned aerial vehicle.
Specifically, the acquisition time synchronizer controls the low-medium-high frequency signal acquisition receiving device to acquire signals amplified by the signal acquisition receiving device 1 time every 10 milliseconds and store the signals into the corresponding temporary storage respectively.
After the signal acquisition receiving device in a certain direction finds out a suspected signal, the control processing component performs 2 rounds of single signal acquisition receiving device working modes, each signal acquisition receiving device in the same frequency performs signal acquisition once, and after polling for 2 times, the acquisition result is compared with the suspected signal finding result; in the final comparison result, if the signal intensity of the three frequency bands is changed, and the sources of the intensity change directions are consistent, the unmanned aerial vehicle in the directions can be judged.
The control processing component digitizes the signal intensity received by the four directional antennas within a certain period of time, 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 handheld unmanned aerial vehicle positioning method, which is shown in fig. 5, and includes the steps that F01, peripheral wireless signal data are collected by using a handheld signal detection assembly; step F02, judging whether the unmanned aerial vehicle exists or not according to the data change state; step F03, displaying the processing result to the robot in real time by using a handheld display assembly; and F04, storing the detection result by utilizing a data storage component.
Wherein, utilize the handheld machine signal detection subassembly to gather peripheral wireless signal data, include: the wireless signal acquisition antennas are arranged at 12 positions outwards 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, and 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, wherein the same-frequency antennas are distributed in a mode that every two antennas which are positioned through a straight line are in one group, and the two groups are mutually perpendicular;
acquiring signals of 12 azimuth at intervals of 10 milliseconds;
and calculating the acquired signals of 12 directions, and judging that unmanned aerial vehicles appear in the direction when the signal intensity of three adjacent frequency bands corresponding to three continuous directions is detected to have enhanced change in the result and the sources of the signal intensity change directions are consistent.
When the sudden continuous enhancement phenomenon of the collected signal intensities of three adjacent different frequency bands in a certain direction is detected, the signal intensities 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 in the same frequency is singly subjected to signal collection in sequence, the signal collecting and receiving devices are temporarily calibrated from high to low according to the collected signal intensities, and meanwhile, the collected results and found suspected enhancement signal records are digitized.
And continuously executing 4 times on each frequency band to obtain the change trend of the signal intensity acquired by each signal acquisition receiving device, comparing the measured common frequency data to determine the strongest, next weakest and weakest position distribution, and respectively obtaining the change trend graphs of the corresponding directions from next strongest to strongest and next weakest to weakest for the distribution changes of the target point, the strongest data point, the next 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 the target point, the strongest data point, the next weakest data point and the weakest data point: the system comprises a triangle formed by space projection of a target point, a strongest data point and a second strongest data point; the triangular model is formed by space projection of the target point, the strongest data point and the weakest data point; the target point, the second strongest data point and the weakest data point are projected in space to form a triangle; the target point, the secondary weak data point and the weakest data point are projected to form a triangle; a triangle formed by the projections of the target point, the secondary strong data point and the secondary weak data point; the triangle formed by the projections of the strongest point, the second strongest data point and the second weakest data point;
and (3) performing change integral processing on the formed multiple triangular models, wherein the influence of time factors in the process of changing the signal state acquired by the acquisition unit from the secondary weak point to the weakest point on integral and the influence of time factors in the process of changing the signal state acquired by the acquisition unit from the secondary weak point to the secondary strong point on integral are considered in the process of performing change integral processing. When the secondary weak point integral value is infinitely close to the secondary strong 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 weak point to the secondary strong point is the flight direction of the suspected target, and the corresponding secondary weak point integral value is the approximate flight speed of the suspected target by the product of the time of approaching the secondary weak point and the radio transmission speed.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (4)
1. A handheld unmanned aerial vehicle positioner, the device comprising:
the handheld unmanned detection assembly is used for acquiring wireless signals in all directions and comprises wireless signal acquisition antennas positioned in the same center, 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, an intermediate-frequency wireless signal acquisition receiving antenna and a high-frequency wireless signal acquisition receiving antenna which are arranged at intervals, and the same-frequency antennas are distributed in a mode that every two antennas positioned through a straight line are in one group, and the two groups are mutually perpendicular;
the control processing component is used for controlling the handheld unmanned aerial vehicle detection component to acquire signals, comparing all directions and judging the occurrence time, the relative direction and the moving speed of the unmanned aerial vehicle;
the wireless signal acquisition antennas are connected with respective frequency division signal amplifiers, and the frequency division signal amplifiers are respectively matched with the signal acquisition and receiving devices in each frequency band to sample the amplified received signals;
the control processing component comprises: the device comprises a collection time synchronizer, a temporary storage device, a comparator and an operation controller; wherein,,
the acquisition time synchronizer controls the signal acquisition receiving device to acquire the starting time, the interval time and the ending time;
the temporary storage device is divided into three types of temporary storage devices of low frequency, medium frequency and high frequency, and the temporary storage devices store all amplified signal data processed by the acquisition device;
the operation controller processes all the register data through the comparator and is used for controlling the operation of the whole device;
the control processing component digitizes the signal intensity received by the four directional antennas within a certain period of time, 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, and the control processing component specifically comprises the following steps: when the sudden continuous enhancement phenomenon of the collected signal intensities of three adjacent different frequency bands in a certain direction is detected, the signal intensities 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 in the same frequency is singly subjected to signal collection in sequence, and the signal collecting and receiving devices are subjected to temporary calibration from high to low according to the collected signal intensities;
continuously executing 4 times on each frequency band to obtain a change trend of the signal intensity acquired by each signal acquisition receiving device, comparing the measured data to determine the strongest, next weakest and weakest position distribution, and respectively obtaining a change trend graph of the corresponding directions from next strongest to strongest and next weakest to weakest for the distribution changes of the target point, the strongest data point, the next weakest data point and the weakest data point to obtain the approximate absolute flight direction of a suspected target relative to a user;
forming a plurality of triangular models by the target point, the strongest data point, the next weakest data point and the weakest data point: the system comprises a triangle formed by space projection of a target point, a strongest data point and a second strongest data point; the triangular model is formed by space projection of the target point, the strongest data point and the weakest data point; the target point, the second strongest data point and the weakest data point are projected in space to form a triangle; the target point, the secondary weak data point and the weakest data point are projected to form a triangle; a triangle formed by the projections of the target point, the secondary strong data point and the secondary weak data point; the triangle formed by the projections of the strongest point, the second strongest data point and the second weakest data point;
and performing change integral processing on the formed multiple triangular models, wherein when the secondary weak point integral value is infinitely close to the secondary strong 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 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 from the product of the time of approaching the secondary weak point to the secondary strong point and the radio transmission speed.
2. The positioning device according to claim 1, wherein 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 1 time every 10 milliseconds and store the signals into the corresponding temporary storage.
3. The positioning device according to claim 1, wherein the control processing component performs 2 rounds of single signal acquisition and receiving device working modes after the signal acquisition and receiving device in a certain direction finds a suspected signal, each signal acquisition and receiving device in the same frequency performs signal acquisition once independently, and after polling for 2 times, the acquisition result is compared with the suspected signal finding result; in the final comparison result, if the signal intensity of the three frequency bands is changed, and the sources of the intensity change directions are consistent, the unmanned aerial vehicle in the directions can be judged.
4. A hand-held unmanned aerial vehicle positioning method is characterized in that,
the wireless signal acquisition antennas are arranged at 12 positions outwards 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, and 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, wherein the same-frequency antennas are distributed in a mode that every two antennas which are positioned through a straight line are in one group, and the two groups are mutually perpendicular;
acquiring signals of 12 azimuth at intervals of 10 milliseconds;
calculating the acquired signals of 12 directions, and judging that unmanned aerial vehicles appear in the direction when the signal intensity of three adjacent frequency bands corresponding to three continuous directions is detected to have enhanced change in the result and the sources of the signal intensity change directions are consistent;
when the sudden continuous enhancement of the acquired signal intensities of three adjacent different frequency bands in a certain direction is detected, the signal intensities are taken as suspected signal acquisition receiving signals, and in order to prevent the influence of environmental signal interference on detection, each signal acquisition receiving device in the same frequency is independently subjected to signal acquisition once in sequence, and the signal acquisition receiving devices are temporarily calibrated from high to low according to the acquired signal intensities;
continuously executing 4 times on each frequency band to obtain a change trend of the signal intensity acquired by each signal acquisition receiving device, comparing the measured data to determine the strongest, next weakest and weakest position distribution, and respectively obtaining a change trend graph of the corresponding directions from next strongest to strongest and next weakest to weakest for the distribution changes of the target point, the strongest data point, the next weakest data point and the weakest data point to obtain the approximate absolute flight direction of a suspected target relative to a user;
forming a plurality of triangular models by the target point, the strongest data point, the next weakest data point and the weakest data point: the system comprises a triangle formed by space projection of a target point, a strongest data point and a second strongest data point; the triangular model is formed by space projection of the target point, the strongest data point and the weakest data point; the target point, the second strongest data point and the weakest data point are projected in space to form a triangle; the target point, the secondary weak data point and the weakest data point are projected to form a triangle; a triangle formed by the projections of the target point, the secondary strong data point and the secondary weak data point; the triangle formed by the projections of the strongest point, the second strongest data point and the second weakest data point;
and performing change integral processing on the formed multiple triangular models, wherein when the secondary weak point integral value is infinitely close to the secondary strong 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 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 from the product of the time of approaching the secondary weak point to the secondary strong point and the radio transmission speed.
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| 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 |
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