CN112086729A - Vehicle-mounted antenna system for automatically tracking unmanned aerial vehicle - Google Patents
Vehicle-mounted antenna system for automatically tracking unmanned aerial vehicle Download PDFInfo
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- CN112086729A CN112086729A CN202010762730.0A CN202010762730A CN112086729A CN 112086729 A CN112086729 A CN 112086729A CN 202010762730 A CN202010762730 A CN 202010762730A CN 112086729 A CN112086729 A CN 112086729A
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- 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
- H01Q1/125—Means for positioning
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- 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
- H01Q1/125—Means for positioning
- H01Q1/1264—Adjusting different parts or elements of an aerial unit
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
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Abstract
The invention discloses a vehicle-mounted antenna system for automatically tracking an unmanned aerial vehicle, which belongs to the field of unmanned aerial vehicles and comprises a plurality of antennas arranged on the top of a vehicle to form an ad hoc network device with wide-angle signals; the system comprises a positioning device for acquiring the position of the unmanned aerial vehicle in a wide-angle signal, and a control device for adjusting the orientation of the wide-angle signal of an ad hoc network device according to the relative position of the unmanned aerial vehicle and the ad hoc network device; compared with the traditional ground single-antenna tracking unmanned aerial vehicle, the wide-angle signal formed by the multiple antennas has a large range, even if the relative speed between the unmanned aerial vehicle and the vehicle is high, the unmanned aerial vehicle can still be in the wide-angle range for a long time, and only the angle of the antennas needs to be finely adjusted, so that the orientation of the wide-angle signal is changed or the range of the wide-angle signal is enlarged, and the unmanned aerial vehicle is always in the range of the wide-angle signal; compare in prior art and reduced the frequency of adjusting the antenna angle to and the demand to unmanned aerial vehicle positioning accuracy, strengthened the intensity of communication signal between ground and the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a vehicle-mounted antenna system for automatically tracking an unmanned aerial vehicle.
Background
Unmanned aerial vehicle is popular with all countries in recent years, and it not only can be used for military fields such as battlefield monitoring, early warning in advance, has wider application prospect in civilian field. The portable high-definition visible light or infrared camera system can be carried, can conveniently enter an area which a human cannot reach for aerial reconnaissance and aerial photography, and can be used for topographic mapping, disaster monitoring and the like.
At present, people have invented some different forms of automatic tracking antenna systems for unmanned aerial vehicles, which are used for enhancing the strength of signals received by the unmanned aerial vehicles in the flight process; for example, patent No. 201710954259.3 discloses an automatic tracking antenna system for unmanned aerial vehicles and a tracking method thereof; the unmanned aerial vehicle antenna and the ground antenna can be aligned in real time under the control of the corresponding controllers; however, the mode of directly utilizing the ground antenna to align the unmanned aerial vehicle needs to accurately obtain the real-time relative position between the unmanned aerial vehicle and the ground antenna; the positioning mode has fixed requirements and the relative speed of the unmanned aerial vehicle and the ground antenna cannot be too high; this results in the automatic tracking disclosed in this patent not being suitable for ground antenna movement.
At present, unmanned aerial vehicles taking off and landing on static ground cannot meet the requirements of vast users, and particularly, when natural disasters or outdoor work occur, the landing position of the unmanned aerial vehicle is difficult to set at a certain fixed point but set on a vehicle; the unmanned aerial vehicle is required to land on a vehicle, and the vehicle is still in continuous movement when the unmanned aerial vehicle lands, so that the difficulty of landing the unmanned aerial vehicle on the vehicle is greatly increased; therefore, an automatic tracking antenna system suitable for dynamically retracting and releasing the motor train vehicle without people is needed.
Disclosure of Invention
Aiming at the defects in the technology, the invention provides a vehicle-mounted antenna system of an automatic tracking unmanned aerial vehicle, wherein a plurality of inclined antennas are arranged on a vehicle, and an ad hoc network with a wide angle is formed among the antennas; strong wireless communication signals can be provided for the unmanned aerial vehicle in the wide angle of the ad hoc network; the unmanned aerial vehicle is tracked without adjusting the angle of the antenna at high frequency.
In order to achieve the above object, the present invention provides a vehicle-mounted antenna system for automatically tracking an unmanned aerial vehicle, comprising
A plurality of antennas arranged on the top of the vehicle, wherein radiation ranges of the antennas are mutually overlapped to form an ad hoc network device with wide-angle signals;
the positioning device acquires the position of the unmanned aerial vehicle in the wide-angle signal through a positioning signal sent by the unmanned aerial vehicle and received by the ad hoc network device;
the control device controls at least one antenna to rotate according to the relative position of the unmanned aerial vehicle and the ad hoc network device, and adjusts the orientation of the wide-angle signal of the ad hoc network device, so that the unmanned aerial vehicle is always located in the coverage range of the wide-angle signal.
In the preferred scheme, at least two antennae are arranged, the lower ends of the two antennae are rotatably connected with the vehicle, the upper ends of the two antennae are used for generating radiation signals, and the distance between the upper ends of the two antennae is greater than that between the lower ends of the two antennae; forming a flared shape.
In the specific scheme, the number of the antennas is four, and the antennas are arranged at intervals; the relation is satisfied between any two antennas, and the four antennas form a mouth-opening shape; the maximum radiation angle formed by overlapping the radiation ranges of the four antennas is a wide-angle signal.
According to the specific scheme, the wide-angle signal is in a spherical cone shape, the geometric center of the connecting ends of the plurality of antennas and the vehicle is the vertex of the spherical cone shape, and the farthest end of the antenna radiation range is a cambered surface end of the spherical cone shape; when the positioning device receives a positioning signal sent by the unmanned aerial vehicle through the ad hoc network device, the distance between the unmanned aerial vehicle and the vertex of the spherical conical surface and the included angle between the connecting line between the unmanned aerial vehicle and the vertex of the conical surface and any edge of the spherical conical surface are obtained.
According to the specific scheme, when the positioning device receives a positioning signal sent by the unmanned aerial vehicle through the ad hoc network device, the unmanned aerial vehicle acquires the relative position of the distance from the vertex of the spherical conical surface through the composite sensor.
In a preferred scheme, the composite sensor comprises a horizontal plane sensor for acquiring the relative position of the unmanned aerial vehicle and the moving vehicle on a horizontal plane, and a vertical distance sensor for acquiring the relative distance between the unmanned aerial vehicle and the vehicle on a vertical plane; the relative position between the unmanned aerial vehicle and the moving vehicle is obtained through the relative position of the unmanned aerial vehicle and the moving vehicle on the horizontal plane and the relative distance of the vertical plane.
In the preferred scheme, a base is arranged at the top of the vehicle, and the antenna is rotatably connected with the base; the antenna is also provided with an angle sensor; the control device controls the antenna to rotate according to the relative angle between the antenna and the base transmitted by the angle sensor and the position of the unmanned aerial vehicle in the wide-angle signal.
According to the specific scheme, when the control device controls the antennas to rotate, part or all of the antennas are controlled to rotate towards different directions, and the field angle between the antennas is enlarged so as to enlarge wide-angle signals; or all the antennas are controlled to rotate to the same angle, and the orientation of the wide-angle signal is changed.
According to the preferable scheme, when the control device acquires the position of the unmanned aerial vehicle in the wide-angle signal, the control device also acquires the speed vector of the unmanned aerial vehicle and the vehicle-mounted speed vector; and control the antenna rotation for unmanned aerial vehicle is close to the direction that is close to the ball toper center pin.
The meaning that the direction that the unmanned aerial vehicle is close to the central axis of the spherical cone is that each included angle value between the unmanned aerial vehicle and any edge of the spherical cone connected between the vertex of the conical surface is always changed to the direction that the difference value is reduced.
The invention has the beneficial effects that: the invention provides a vehicle-mounted antenna system for automatically tracking an unmanned aerial vehicle, which comprises
A plurality of antennas arranged on the top of the vehicle form an ad hoc network device with wide-angle signals; the system comprises a positioning device for acquiring the position of the unmanned aerial vehicle in a wide-angle signal, and a control device for adjusting the orientation of the wide-angle signal of an ad hoc network device according to the relative position of the unmanned aerial vehicle and the ad hoc network device; compared with the traditional ground single-antenna tracking unmanned aerial vehicle, the wide-angle signal formed by the multiple antennas has a large range, even if the relative speed between the unmanned aerial vehicle and the vehicle is high, the unmanned aerial vehicle can still be in the wide-angle range for a long time, and only the angle of the antennas needs to be finely adjusted, so that the orientation of the wide-angle signal is changed or the range of the wide-angle signal is enlarged, and the unmanned aerial vehicle is always in the range of the wide-angle signal; compare in prior art and reduced the frequency of adjusting the antenna angle to and the demand to unmanned aerial vehicle positioning accuracy, strengthened the intensity of communication signal between ground and the unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic diagram of the drone of the present invention in a wide angle signal.
1. An antenna; 2. a wide-angle signal; 3. unmanned aerial vehicle.
Detailed Description
In order to more clearly describe the present invention, the present invention will be further described with reference to the accompanying drawings.
As described in the background art, as the application range of the unmanned aerial vehicle 3 is wider and wider, the conventional mode of taking off or landing the unmanned aerial vehicle 3 on the stationary ground cannot meet the outdoor work requirement of the unmanned aerial vehicle 3, especially when a war or a natural disaster occurs; more modes are that the vehicle is used for directly carrying the unmanned aerial vehicle 3 to the outdoor for real-time acquisition of various data; however, in the process that the unmanned aerial vehicle 3 detects various data outdoors, the vehicle needs to be driven to the next point at a fire speed; if the traditional antenna 1 is adopted to track the unmanned aerial vehicle 3 to acquire the acquired data of the unmanned aerial vehicle 3 in real time, the relative speed between the vehicle and the unmanned aerial vehicle 3 is high due to the fact that the vehicle itself moves, and the unmanned aerial vehicle 3 can fly out of the signal coverage range of the ground antenna 1 within a period of time, so that the angle of the antenna 1 needs to be adjusted frequently, the antenna 1 always faces the unmanned aerial vehicle 3, and the coverage range of the signal of the antenna 1 is small, so that the position precision is required to be high when the position of the unmanned aerial vehicle 3 is acquired; this makes it easy for the antenna 1 to "follow and lose" the drone 3 in practical applications; leading to the unable real-time upload of unmanned aerial vehicle 3's data collection.
Based on this, the present invention provides a vehicle-mounted antenna system for automatically tracking an unmanned aerial vehicle, which is described with reference to fig. 1 and includes
A plurality of antennas 1 arranged on the top of the vehicle, wherein radiation ranges of the antennas 1 are mutually overlapped to form an ad hoc network device with wide-angle signals 2;
the positioning device acquires the position of the unmanned aerial vehicle 3 in the wide-angle signal 2 through a positioning signal sent by the unmanned aerial vehicle 3 received by the ad hoc network device;
controlling means according to the relative position of unmanned aerial vehicle 3 and ad hoc network device, controls an at least antenna 1 and takes place the rotation, adjusts the orientation of 2 wide angle signals of ad hoc network device for unmanned aerial vehicle 3 is located 2 wide angle signals's coverage all the time.
Compared with the traditional method that a single antenna 1 is arranged on the ground to track the unmanned aerial vehicle 3, the wide-angle signal 2 formed by the multiple antennas 1 has a large range, and the strength and the range of communication signals between the ground and the unmanned aerial vehicle 3 are enhanced; even if the relative speed between the unmanned aerial vehicle 3 and the vehicle is high, the unmanned aerial vehicle 3 can still be in a wide-angle range for a long time, and the frequency for adjusting the angle of the antenna 1 is reduced; the orientation of the wide-angle signal 2 can be changed or the range of the wide-angle signal 2 can be enlarged only by finely adjusting the angle of the antenna 1, so that the unmanned aerial vehicle 3 is always in the range of the wide-angle signal 2; the requirement on the positioning precision of the unmanned aerial vehicle 3 is reduced; the unmanned aerial vehicle 3 can be ensured to be always in the wide-angle signal 2 formed by the ad hoc network; the vehicle antenna 1 will not lose the unmanned aerial vehicle 3.
In the preferred scheme, at least two antennas 1 are provided, the lower ends of the two antennas 1 are rotatably connected with the vehicle, the upper ends of the two antennas 1 are used for generating radiation signals, and the distance between the upper ends of the two antennas 1 is greater than that between the lower ends; forming an open mouth shape; the two antennas 1 are located in different planes; the range of the wide-angle signal 2 generated by the ad hoc network formed at this time is larger than the range of the wide-angle signal 2 formed when the two antennas 1 are in the same plane.
In the embodiment, the antenna 1 on the vehicle is a polarized antenna 1, and the distance between the upper ends of the antennas 1 is greater than the distance between the lower ends; forming an open mouth shape; the wide-angle signal 2 can be formed in a wider range than when the antennas 1 are arranged in parallel.
In this embodiment, the unmanned aerial vehicle 3 employs an omnidirectional antenna 1; in the wide-angle signal 2 range formed by the vehicle-mounted antenna 1, the signal radiation ranges of different antennas 1 are mutually superposed; the position where the radiation ranges of different antennas 1 are superposed most is the position where the signal is strongest in the wide-angle signal 2; the edge of the signal radiation range of each antenna 1 is the edge position of the wide-angle signal 2.
In the specific scheme, the number of the antennas 1 is four, and the antennas are arranged at intervals; the distance between the upper ends of any two antennas 1 is larger than that between the lower ends of the two antennas 1, and the four antennas 1 form a mouth-opening shape; the maximum radiation angle formed by overlapping the radiation ranges of the four antennas 1 is a wide-angle signal 2; the specific positions of the four antennas 1 are in the same plane in pairs, the radiation superposition range of the plurality of antennas 1 in the obtained wide-angle signal 2 is the largest, and the signal intensity is larger.
According to the specific scheme, the wide-angle signal 2 is in a spherical cone shape, the geometric center of the connecting ends of the plurality of antennas 1 and the vehicle is the vertex of the spherical cone shape, and the farthest end of the radiation range of the antennas 1 is a cambered surface end of the spherical cone shape; when the positioning device receives a positioning signal sent by the unmanned aerial vehicle 3 through the ad hoc network device, the distance between the unmanned aerial vehicle 3 and the vertex of the spherical conical surface and the included angle between the connecting line between the unmanned aerial vehicle 3 and the vertex of the conical surface and any edge of the spherical conical surface are obtained.
In the embodiment, after the unmanned aerial vehicle 3 communicates with the wide-angle signal 2 of the ad hoc network device, the acquired real-time data is sent to the vehicle-mounted end; when the unmanned aerial vehicle 3 is positioned in the three-dimensional range of the spherical conical wide-angle signal 2, the unmanned aerial vehicle can communicate with the vehicle-mounted end in real time; when the unmanned aerial vehicle 3 leaves the range of the wide-angle signal 2, real-time communication with the vehicle-mounted end can not be realized any more; the ad hoc network device adopts the polar antennas 1, and each antenna 1 is arranged in a flaring mode; the wide-angle signal 2 is far away and has a large range; even if the speed of the unmanned aerial vehicle 3 relative to the vehicle is high, a long time is required for flying out of the range of the wide-angle signal 2; the frequency of adjusting the angle of the antenna 1 is greatly reduced, and the requirement on the positioning precision of the unmanned aerial vehicle 3 is also greatly reduced; the ad hoc network device does not lose the unmanned aerial vehicle 3 any more.
In this embodiment, the intensity of a connecting line signal between the unmanned aerial vehicle 3 and the vertex of the conical surface is the maximum, and when an included angle between the connecting line between the unmanned aerial vehicle 3 and the vertex of the conical surface and any edge of the spherical conical surface is smaller than a threshold value, the unmanned aerial vehicle 3 is about to fly out of the range of the wide-angle signal 2, and at the moment, the angle of the antenna 1 is adjusted to enable the unmanned aerial vehicle 3 to approach the direction close to the central axis of the spherical conical surface; namely, the antenna 1 is adjusted to ensure that all included angle values between the connection between the unmanned aerial vehicle 3 and the vertex of the conical surface and any edge of the spherical conical surface are always changed towards the direction of reducing the difference value.
According to the specific scheme, when the positioning device receives the positioning signal sent by the unmanned aerial vehicle 3 through the ad hoc network device, the unmanned aerial vehicle 3 is connected with the composite sensor to acquire the relative position of the distance from the vertex of the spherical conical surface.
In a preferred scheme, the composite sensor comprises a horizontal plane sensor for acquiring the relative position of the unmanned aerial vehicle 3 and the moving vehicle on a horizontal plane, and a vertical distance sensor for acquiring the relative distance between the unmanned aerial vehicle 3 and the vehicle on a vertical plane; wherein, the horizontal sensor is an optical flow sensor, and the vertical distance sensor is an ultrasonic sensor and a laser sensor; when the composite sensor acquires the relative position between the vehicle and the unmanned aerial vehicle 3, the optical flow sensor is used for acquiring the relative position on the horizontal plane between the unmanned aerial vehicle 3 and the vehicle, and the ultrasonic sensor and the laser sensor are used for acquiring the relative distance on the vertical plane between the unmanned aerial vehicle 3 and the vehicle; through two quantities of the relative position and the vertical distance of the horizontal plane, the displacement position relation of the unmanned aerial vehicle 3 and the vehicle-mounted vehicle in the space can be determined.
In the embodiment, the vehicle-mounted device and the vehicle have the same meaning; the vehicle may be, but is not limited to, a bus, a pick-up truck, an off-road vehicle, a military vehicle, and the like.
In the preferred scheme, a base is arranged at the top of the vehicle, and the antenna 1 is rotatably connected with the base; the antenna 1 is also provided with an angle sensor; the control device controls the antenna 1 to rotate according to the relative angle between the antenna 1 and the base transmitted by the angle sensor and the position of the unmanned aerial vehicle 3 in the wide-angle signal 2.
In a specific scheme, when the control device controls the antennas 1 to rotate, part or all of the antennas 1 are controlled to rotate towards different directions, and the field angle between the antennas 1 is enlarged to enlarge the wide-angle signal 2; or all the antennas 1 are controlled to rotate to the same angle, and the orientation of the wide-angle signal 2 is changed.
For example, the control device controls a single antenna 1 or a plurality of antennas 1 to tilt in the direction of expanding the opening of the original antenna 1, so that the coverage range of the wide-angle signal 2 is expanded; wherein, the expansion of the original opening of the antenna 1 means that the distance between the upper ends of the antenna 1 is increased, and the distance between the lower ends is unchanged or reduced; this condition adaptation and unmanned aerial vehicle 3 one side data acquisition in on-vehicle direction of motion, and unmanned aerial vehicle 3 and the on-vehicle condition when the maximum distance increases.
For example, the control device rotates all the antennas 1 to the same angle, and changes the orientation of the wide-angle signal 2; at this time, the direction of the whole wide angle is changed, and the wide angle signal 2 covers a new space range again; this condition adaptation and unmanned aerial vehicle 3 the on-vehicle motion direction on the condition of data acquisition all around, the central point that the signal strength of ad hoc network is big this moment puts and can all the time face unmanned aerial vehicle 3, can keep strong contact with between 3 with unmanned aerial vehicle.
Specifically, when the control device acquires the position of the unmanned aerial vehicle 3 in the wide-angle signal 2, the control device also acquires a speed vector of the unmanned aerial vehicle 3 and a vehicle-mounted speed vector; and obtaining a speed vector of the unmanned aerial vehicle 3 relative to the vehicle-mounted speed vector according to the speed vector, and controlling the antenna 1 to rotate so that the unmanned aerial vehicle 3 approaches to the direction close to the central axis of the spherical cone.
The invention has the advantages that:
1. because the Ad hoc network device adopts polar antennas, and each antenna is arranged in a flaring way; the wide-angle signal has long distance and wide range; the unmanned aerial vehicle can fly out of the range of the wide-angle signal for a long time even if the speed of the unmanned aerial vehicle relative to the vehicle is high; the frequency of adjusting the angle of the antenna is greatly reduced, and the requirement on the positioning precision of the unmanned aerial vehicle is also greatly reduced; the ad hoc network device cannot lose the unmanned aerial vehicle.
2. The vehicle-mounted antenna is a polarized antenna, and the distance between the upper ends of the antennas is larger than that between the lower ends of the antennas; forming an open mouth shape; the antenna is arranged in parallel to each other, so that a wide-angle signal can be formed in a wider range.
3. When the control device controls the antennas to rotate, part or all of the antennas are controlled to rotate towards different directions, and the field angle between the antennas is enlarged to enlarge wide-angle signals; or all the antennas are controlled to rotate to the same angle, and the orientation of the wide-angle signal is changed; when the control part or all antennas rotate in different directions and can not meet the requirements of the automatic tracking unmanned aerial vehicle, the control part or all antennas are switched to control all antennas to rotate in the same angle, the orientation mode of the wide-angle signal is changed, and different tracking modes are switched according to different requirements.
The above disclosure is only for a few specific embodiments of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. Automatic trail unmanned aerial vehicle's on-vehicle antenna system, a serial communication port, include
A plurality of antennas arranged on the top of the vehicle, wherein radiation ranges of the antennas are mutually overlapped to form an ad hoc network device with wide-angle signals;
the positioning device acquires the position of the unmanned aerial vehicle in the wide-angle signal through a positioning signal sent by the unmanned aerial vehicle and received by the ad hoc network device;
the control device controls at least one antenna to rotate according to the relative position of the unmanned aerial vehicle and the ad hoc network device, and adjusts the orientation of the wide-angle signal of the ad hoc network device, so that the unmanned aerial vehicle is always located in the coverage range of the wide-angle signal.
2. The vehicle-mounted antenna system for automatically tracking the unmanned aerial vehicle according to claim 1, wherein the number of the antennas is at least two, the lower ends of the two antennas are rotatably connected with the vehicle, the upper ends of the two antennas are used for generating radiation signals, and the distance between the upper ends of the two antennas is larger than that between the lower ends of the two antennas; forming a flared shape.
3. The vehicle-mounted antenna system for automatically tracking the unmanned aerial vehicle according to claim 2, wherein the number of the antennas is four, and the antennas are arranged at intervals; the distance between the upper ends of any two antennas is larger than that between the lower ends of the two antennas, and the four antennas form a mouth opening shape; the maximum radiation angle formed by overlapping the radiation ranges of the four antennas is a wide-angle signal.
4. The vehicle-mounted antenna system of the automatic tracking unmanned aerial vehicle of claim 1, wherein the wide-angle signal is in a spherical cone shape, the geometric center of the connecting ends of the plurality of antennas and the vehicle is the vertex of the spherical cone shape, and the farthest end of the radiation range of the antennas is the cambered surface end of the spherical cone shape; when the positioning device receives a positioning signal sent by the unmanned aerial vehicle through the ad hoc network device, the distance between the unmanned aerial vehicle and the vertex of the spherical conical surface and the included angle between the connecting line between the unmanned aerial vehicle and the vertex of the conical surface and any edge of the spherical conical surface are obtained.
5. The vehicle-mounted antenna system for automatically tracking the unmanned aerial vehicle as claimed in claim 4, wherein when the positioning device receives the positioning signal sent by the unmanned aerial vehicle through the ad hoc network device, the unmanned aerial vehicle acquires the relative position of the distance from the vertex of the spherical conical surface through the composite sensor.
6. The vehicle-mounted antenna system for automatically tracking the unmanned aerial vehicle of claim 5, wherein the composite sensor comprises a horizontal plane sensor for acquiring the relative position of the unmanned aerial vehicle and the moving vehicle on a horizontal plane, and a vertical distance sensor for acquiring the relative distance on a vertical plane between the unmanned aerial vehicle and the moving vehicle; the relative position between the unmanned aerial vehicle and the moving vehicle is obtained through the relative position of the unmanned aerial vehicle and the moving vehicle on the horizontal plane and the relative distance of the vertical plane.
7. The vehicle-mounted antenna system of the automatic tracking unmanned aerial vehicle of claim 4, wherein a base is arranged on the vehicle-mounted top, and the antenna is rotatably connected with the base; the antenna is also provided with an angle sensor; the control device controls the antenna to rotate according to the relative angle between the antenna and the base transmitted by the angle sensor and the position of the unmanned aerial vehicle in the wide-angle signal.
8. The vehicle-mounted antenna system for automatically tracking the unmanned aerial vehicle as claimed in claim 7, wherein the control device further obtains a velocity vector of the unmanned aerial vehicle and a vehicle-mounted velocity vector when obtaining the position of the unmanned aerial vehicle in the wide-angle signal; and control the antenna rotation for unmanned aerial vehicle is close to the direction that is close to the ball toper center pin.
9. The vehicle-mounted antenna system for automatically tracking the unmanned aerial vehicle according to claim 1, wherein when the control device controls the antennas to rotate, part or all of the antennas are controlled to rotate in different directions, and the field angle between the antennas is enlarged to enlarge wide-angle signals; or all the antennas are controlled to rotate to the same angle, and the orientation of the wide-angle signal is changed.
10. The vehicle-mounted antenna system for automatically tracking the unmanned aerial vehicle as claimed in claim 1, wherein the positioning device obtains the position of the unmanned aerial vehicle by GPS positioning when obtaining the position of the unmanned aerial vehicle in the wide-angle signal.
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