CN111884735B - Frequency spectrum-based unmanned aerial vehicle detection method and detection system thereof - Google Patents
Frequency spectrum-based unmanned aerial vehicle detection method and detection system thereof Download PDFInfo
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- CN111884735B CN111884735B CN202010752418.3A CN202010752418A CN111884735B CN 111884735 B CN111884735 B CN 111884735B CN 202010752418 A CN202010752418 A CN 202010752418A CN 111884735 B CN111884735 B CN 111884735B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/18—Protocol analysers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/28—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
Abstract
The invention relates to a frequency spectrum-based unmanned aerial vehicle detection method and a frequency spectrum-based unmanned aerial vehicle detection system, which comprise (1) an antenna array receiving electromagnetic wave signals around an unmanned aerial vehicle, and inducing the electromagnetic wave signals into wired electric signals to be transmitted to an electronic switch assembly; (2) the electronic switch component switches and selects a low-end channel and a high-end channel; (3) the radio frequency receiver receives the output signal of the electronic switch component and identifies and monitors the output signal; (4) the embedded processing board card carries out rapid detection according to the output signal of the radio frequency receiver, realizes the identification of manufacturers and models of the unmanned aerial vehicles, and has the function of carrying out black and white list management on the unmanned aerial vehicles.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a frequency spectrum-based unmanned aerial vehicle detection method and a frequency spectrum-based unmanned aerial vehicle detection system.
Background
At present, the mainstream detection means in the anti-unmanned aerial vehicle industry mainly comprise various technical means such as radar detection, photoelectric detection and acoustic detection. The radar has a detection blind area of 200-500 m in a short distance, the directions adopt a mechanical scanning mode for more, the scanning speed is 3-10 s, and the target speed is found to be slower; the optical detection is greatly influenced by the environment, the detection distance is reduced under severe environments such as backlight, haze, overcast and rainy, and the like, and meanwhile, the photoelectric tracking equipment has no guide information and is used as detection equipment alone to search targets with great difficulty; the acoustic detection is susceptible to environmental noise interference affecting detection performance, and detection range is limited.
Disclosure of Invention
The invention aims to solve the technical problem that aiming at the defects in the prior art, the invention provides the frequency spectrum-based unmanned aerial vehicle detection method and the frequency spectrum-based unmanned aerial vehicle detection system, and solves the problems that in the past, the unmanned aerial vehicle detection is slow in speed, the unmanned aerial vehicle manufacturer and model cannot be effectively identified, and the unmanned aerial vehicle cannot be subjected to black and white list management.
In order to solve the technical problem, the invention provides a frequency spectrum-based unmanned aerial vehicle detection method, which is improved in that: the method comprises the following steps:
(1) the antenna array receives electromagnetic wave signals around the unmanned aerial vehicle, and the electromagnetic wave signals are induced into wired electric signals and transmitted to the electronic switch assembly;
(2) the electronic switch component switches and selects a low-end channel and a high-end channel;
(3) the radio frequency receiver receives the output signal of the electronic switch component and identifies and monitors the output signal;
(4) and the embedded processing board card detects according to the output signal of the radio frequency receiver.
Wherein: the step (2) comprises the following steps:
when the embedded processing board card processes electromagnetic wave signals in the frequency range of 400MHz to 3GHz, a command of switching to the low-end channel is issued to the electronic switch through a TTL level; and when electromagnetic wave signals in the frequency range of 3 GHz-6 GHz are processed, a command of switching to the high-end channel is issued to the electronic switch through the TTL level.
Wherein: the step (4) comprises the following steps:
the first FPGA transmits an output signal of the radio frequency receiver to a second FPGA chip, the second FPGA chip performs spectrum layer feature recognition matching with a second off-line database, an unmanned aerial vehicle target is positioned, and a suspected unmanned aerial vehicle signal is subjected to communication protocol cracking; meanwhile, the output signal is transmitted to a third FPGA chip, a narrow-band extraction method is adopted to obtain the protocol characteristics of the communication signal, and the protocol layer characteristics are identified and matched with a third off-line database to identify the model;
the third FPGA chip feeds back the model identification result to the first FPGA chip, and the first FPGA chip adopts a amplitude comparison direction finding method to realize the direction finding of the suspected unmanned aerial vehicle;
the second off-line database stores spectrum characteristics, which are cached in a DDR3 memory of the second FPGA chip;
the spectral features include: the method comprises the steps of pre-collecting the frequency, bandwidth, signal occurrence time, modulation mode, symbol rate, signal-to-noise ratio, code element rate, coding mode, signal instantaneous envelope, instantaneous phase and high-order spectrum of an unmanned aerial vehicle communication signal;
the third offline database stores communication protocol features, which are cached in a DDR3 memory of the third FPGA chip;
the communication protocol features include: remote control communication protocol features and messaging communication protocol features.
The invention provides a detection system for realizing the detection method, which has the improvement that: the system comprises:
the antenna array is used for receiving electromagnetic wave signals around the antenna array and inducing the electromagnetic wave signals into wired electric signals with different amplitudes and different phases;
the electronic switch assembly is used for realizing the switching selection of the wired electric signal on a low-end channel and a high-end channel of the antenna array;
the radio frequency receiver is used for receiving the output signal of the electronic switch component and monitoring the output signal;
and the embedded processing board card is used for detecting according to the output signal received by the radio frequency receiver.
Wherein: the antenna array comprises a first antenna array and a second antenna array;
the first antenna array is used for receiving signals in a frequency range of 3 GHz-6 GHz;
the second antenna array is used for receiving signals in a frequency range of 400MHz to 3 GHz;
the first antenna array and the second antenna array are both log-periodic antennas.
Wherein: the electronic switch assembly comprises a single-pole double-throw switch which is respectively connected with the first antenna array and the second antenna array.
Wherein: the radio frequency receiver comprises a superheterodyne receiver, which comprises: the system comprises a local oscillation module, a receiving module and a communication control module;
the communication control module is communicated with the local oscillator module, and after the local oscillator signal generated by the local oscillator module is mixed with the output signal of the electronic switch assembly, the signal is amplified, frequency-converted and attenuated by the receiving module and then output.
Wherein: the embedded processing board card comprises a power supply module, a second FPGA chip, a third FPGA chip and a DSP chip, wherein the second FPGA chip, the third FPGA chip and the DSP chip are communicated with the first FPGA chip;
the power module is used for supplying power to the first FPGA chip, the second FPGA chip, the third FPGA chip and the DSP chip.
Wherein: the system comprises a GPS and an electronic compass;
the GPS is used for realizing automatic positioning of the unmanned aerial vehicle;
the electronic compass is used for realizing automatic north correction of the unmanned aerial vehicle.
The implementation of the invention has the following beneficial effects:
the invention can quickly find the target of the unmanned aerial vehicle at the moment when the unmanned aerial vehicle is connected with the remote controller, carry out direction finding on the direction of the unmanned aerial vehicle, provide information such as the manufacturer and the model of the unmanned aerial vehicle, and carry out black and white list management on the unmanned aerial vehicle.
Drawings
Fig. 1 is a block diagram of a detection system for an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic diagram of a radio frequency receiver provided by the present invention;
FIG. 3 is a block diagram of an embedded processing board card provided by the present invention;
fig. 4 is a schematic diagram of the embedded processing board provided by the present invention during detection.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The block diagram of a spectrum-based unmanned aerial vehicle detection system provided in this embodiment is shown in fig. 1, and includes:
the antenna array is used for receiving electromagnetic wave signals around the antenna array (the radius range of the periphery is 200-10 Km), and inducing the electromagnetic wave signals into wired electric signals with different amplitudes and different phases; the antenna array of the embodiment comprises a first antenna array and a second antenna array which are both log-periodic antennas; the first antenna array is used for receiving signals in a frequency range of 3 GHz-6 GHz, and the second antenna array is used for receiving signals in a frequency range of 400 MHz-3 GHz.
And the electronic switch assembly is used for realizing the switching selection of the wired electric signal to the low-end channel and the high-end channel of the antenna array. The electronic switch assembly of this embodiment is a core control device for signal switching of each device at the front end of the radio frequency, and is responsible for receiving the control of the general digital processing module, and under different modes, respectively outputting different control signals to implement signal selection and switching control on the external direction-finding antenna array. Specifically, the electronic switch assembly of this embodiment includes a single-pole double-throw switch, which is respectively connected to the first antenna array and the second antenna array. The electronic switch assembly is controlled by the first FPGA to complete channel selection, and has the characteristic of high switching speed. The main technical indexes are as follows: the working frequency is as follows: 20MHz to 6 GHz; switching time of the switch: less than or equal to 10 us; inserting loss: less than or equal to 4 dB; isolation degree: not less than 60 dB; standing waves: less than or equal to 1.5; bearing power: 100W (CW) or more.
And the radio frequency receiver is used for receiving the output signal of the electronic switch component and monitoring the output signal. Specifically, the radio frequency receiver of this embodiment includes a superheterodyne receiver, where the superheterodyne receiver includes: the schematic diagram of the local oscillation module, the receiving module and the communication control module is shown in fig. 2. The signal output from the electronic switch assembly is firstly subjected to high-pass filtering and amplification, then is subjected to frequency mixing for 2 times with a high-frequency signal generated by a local oscillator of a radio frequency receiver, the high-frequency signal is reduced to an intermediate-frequency signal with fixed frequency through superheterodyne frequency mixing, then the intermediate-frequency signal is amplified in a three-stage intermediate-frequency amplifier, and then the intermediate-frequency signal is sampled by an embedded processing board card, so that the conversion process from analog to digital is realized. The receiver receiving frequency is 9 kHz-6000 MHz, the intermediate frequency bandwidth is 27MHz, possesses high-speed digital scanning function, and scanning speed: not less than 20GHz/S (RBW 25K).
And the embedded processing board card is used for detecting according to the output signal received by the radio frequency receiver. The block diagram is shown in fig. 3, and includes a power supply module, and a second FPGA chip (i.e., FPGA1 in the figure), a third FPGA chip (i.e., FPGA2 in the figure) and a DSP chip, which communicate with the first FPGA chip (i.e., FPGA0 in the figure); each FPGA chip is equipped with a clock chip and 2 DDR3 SDRAM memories. The clock chip is used for the time of the same board card. In this embodiment, the first FPGA chip is connected to a network port (based on a VPX bus and a network switching unit), and the intermediate processing result and the signal information can be sent to a display control processing module (mainly including a computer) through the network port for subsequent analysis processing. The DSP chip is provided with 2 DDR2 SDRAM memories which are used for assisting signal processing and control and are responsible for loading of FPGA programs. The DSP chip is connected with the FPGA chip through a synchronous EMIF interface and transmits control instructions and low-speed data; and the serial Rapid IO interface is connected with the FPGA for large data volume transmission. The high-speed interface between the DSP and each FPGA can realize the dynamic loading of the configuration programs of the DSP and the FPGA, and has the characteristics of high-speed parallel processing capacity, flexible external interface, flexible control and the like.
The power supply module supplies power to the first FPGA chip, the second FPGA chip, the third FPGA chip and the DSP chip with different amplitudes through the power supply conversion chip.
The system also comprises a GPS and an electronic compass; the GPS is used for realizing automatic positioning of the unmanned aerial vehicle; the electronic compass is used for realizing automatic north correction of the unmanned aerial vehicle.
The detection method further provided by the embodiment includes:
(1) the antenna array receives electromagnetic wave signals around the unmanned aerial vehicle, and the electromagnetic wave signals are induced into wired electric signals and transmitted to the electronic switch assembly;
(2) the electronic switch component switches and selects a low-end channel and a high-end channel; specifically, when the first FPGA chip processes signals in a frequency range of 400MHz to 3GHz, a command of switching to the low-end channel is issued to the electronic switch through a TTL level, and the switching time is less than 5 ns; and when processing the signals in the frequency range of 3 GHz-6 GHz, issuing a command of switching to the high-end channel to the electronic switch through the TTL level.
(3) The radio frequency receiver receives the output signal of the electronic switch assembly, identifies and monitors the output signal and inputs the output signal to the embedded processing board card;
(4) and the embedded processing board card detects according to the output signal of the radio frequency receiver. The schematic diagram is shown in fig. 4, and specifically includes:
the first FPGA transmits an output signal of the radio frequency receiver to a second FPGA chip, the second FPGA chip performs spectrum layer feature recognition matching with a second off-line database, an unmanned aerial vehicle target is positioned, and a suspected unmanned aerial vehicle signal is subjected to communication protocol cracking; the output signal is transmitted to a third FPGA chip, a narrow-band extraction method is adopted to obtain the protocol characteristics of the communication signal, and the protocol layer characteristics are identified and matched with a third off-line database to identify the model; because the second FPGA chip and the third FPGA chip realize parallel matching of the off-line database, after the third FPGA chip feeds back the model identification result to the first FPGA chip, the first FPGA chip quickly adopts a amplitude comparison direction finding method to realize direction finding of the suspected unmanned aerial vehicle. For suspected unmanned aerial vehicles, a black and white list management mode is adopted, and the flying of certain type unmanned aerial vehicles in certain fields is forbidden.
The offline database of the embodiment comprises a spectrum characteristic and a communication protocol characteristic;
the spectral features include: the method comprises the steps of pre-collecting the frequency, bandwidth, signal occurrence time, modulation mode, symbol rate, signal-to-noise ratio, code element rate, coding mode, signal instantaneous envelope, instantaneous phase and high-order spectrum of an unmanned aerial vehicle communication signal;
the communication protocol features include: remote control, graph transmission communication protocol features.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. An unmanned aerial vehicle detection method based on frequency spectrum is characterized in that: the method comprises the following steps:
(1) the antenna array receives electromagnetic wave signals around the unmanned aerial vehicle, and the electromagnetic wave signals are induced into wired electric signals and transmitted to the electronic switch assembly;
(2) the electronic switch component switches and selects a low-end channel and a high-end channel;
(3) the radio frequency receiver receives the output signal of the electronic switch component and identifies and monitors the output signal;
(4) the embedded processing board card detects according to the output signal of the radio frequency receiver;
the method for detecting by the embedded processing board card according to the output signal of the radio frequency receiver comprises the following steps:
the first FPGA transmits an output signal of the radio frequency receiver to a second FPGA chip, the second FPGA chip performs spectrum layer feature recognition matching with a second off-line database, an unmanned aerial vehicle target is positioned, and a suspected unmanned aerial vehicle signal is subjected to communication protocol cracking; meanwhile, the output signal is transmitted to a third FPGA chip, a narrow-band extraction method is adopted to obtain the protocol characteristics of the communication signal, and the protocol layer characteristics are identified and matched with a third off-line database to identify the model;
the third FPGA chip feeds back the model identification result to the first FPGA chip, and the first FPGA chip adopts a amplitude comparison direction finding method to realize the direction finding of the suspected unmanned aerial vehicle;
the second off-line database stores spectrum characteristics, which are cached in a DDR3 memory of the second FPGA chip;
the spectral features include: the method comprises the steps of pre-collecting the frequency, bandwidth, signal occurrence time, modulation mode, symbol rate, signal-to-noise ratio, code element rate, coding mode, signal instantaneous envelope, instantaneous phase and high-order spectrum of an unmanned aerial vehicle communication signal;
the third offline database stores communication protocol features, which are cached in a DDR3 memory of the third FPGA chip;
the communication protocol features include: remote control communication protocol features and messaging communication protocol features.
2. A detection method as claimed in claim 1, wherein: the step (2) comprises the following steps:
when the embedded processing board card processes electromagnetic wave signals in the frequency range of 400MHz to 3GHz, a command of switching to the low-end channel is issued to the electronic switch through a TTL level; and when electromagnetic wave signals in the frequency range of 3 GHz-6 GHz are processed, a command of switching to the high-end channel is issued to the electronic switch through the TTL level.
3. A detection system for implementing the detection method of any one of claims 1-2, wherein: the system comprises:
the antenna array is used for receiving electromagnetic wave signals around the antenna array and inducing the electromagnetic wave signals into wired electric signals with different amplitudes and different phases;
the electronic switch assembly is used for realizing the switching selection of the wired electric signal on a low-end channel and a high-end channel of the antenna array;
the radio frequency receiver is used for receiving the output signal of the electronic switch component and monitoring the output signal;
and the embedded processing board card is used for detecting according to the output signal received by the radio frequency receiver.
4. A detection system as claimed in claim 3 wherein: the antenna array comprises a first antenna array and a second antenna array;
the first antenna array is used for receiving signals in a frequency range of 3 GHz-6 GHz;
the second antenna array is used for receiving signals in a frequency range of 400MHz to 3 GHz;
the first antenna array and the second antenna array are both log-periodic antennas.
5. A detection system as claimed in claim 4 wherein: the electronic switch assembly comprises a single-pole double-throw switch which is respectively connected with the first antenna array and the second antenna array.
6. A detection system as claimed in claim 5 wherein: the radio frequency receiver comprises a superheterodyne receiver, which comprises: the system comprises a local oscillation module, a receiving module and a communication control module;
the communication control module is communicated with the local oscillator module, and after the local oscillator signal generated by the local oscillator module is mixed with the output signal of the electronic switch assembly, the signal is amplified, frequency-converted and attenuated by the receiving module and then output.
7. A detection system as claimed in claim 3 wherein: the embedded processing board card comprises a power supply module, a second FPGA chip, a third FPGA chip and a DSP chip, wherein the second FPGA chip, the third FPGA chip and the DSP chip are communicated with the first FPGA chip;
the power module is used for supplying power to the first FPGA chip, the second FPGA chip, the third FPGA chip and the DSP chip.
8. The detection system as claimed in claim 7, wherein: the system comprises a GPS and an electronic compass;
the GPS is used for realizing automatic positioning of the unmanned aerial vehicle;
the electronic compass is used for realizing automatic north correction of the unmanned aerial vehicle.
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