CN112504277A - Emergency navigation method based on unmanned aerial vehicle data link - Google Patents

Emergency navigation method based on unmanned aerial vehicle data link Download PDF

Info

Publication number
CN112504277A
CN112504277A CN202011313493.6A CN202011313493A CN112504277A CN 112504277 A CN112504277 A CN 112504277A CN 202011313493 A CN202011313493 A CN 202011313493A CN 112504277 A CN112504277 A CN 112504277A
Authority
CN
China
Prior art keywords
aerial vehicle
unmanned aerial
signal
control station
measurement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011313493.6A
Other languages
Chinese (zh)
Inventor
耿炎
许瑞生
崔项飞
张俊凯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CETC 54 Research Institute
Original Assignee
CETC 54 Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CETC 54 Research Institute filed Critical CETC 54 Research Institute
Priority to CN202011313493.6A priority Critical patent/CN112504277A/en
Publication of CN112504277A publication Critical patent/CN112504277A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/08—Systems for determining distance or velocity not using reflection or reradiation using radio waves using synchronised clocks
    • 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
    • G01S3/04—Details
    • G01S3/12—Means for determining sense of direction, e.g. by combining signals from directional antenna or goniometer search coil with those from non-directional antenna

Abstract

The invention discloses an emergency navigation method based on an unmanned aerial vehicle data chain, and belongs to the technical field of unmanned aerial vehicle measurement and control. The invention uses the uplink and downlink bidirectional links to measure the distance from the unmanned aerial vehicle to the ground measurement and control station; the ground measurement and control station adopts a directional antenna to receive downlink signals of the unmanned aerial vehicle, and can measure the azimuth angle of the unmanned aerial vehicle through a monopulse self-tracking function; through to unmanned aerial vehicle real-time ranging, angle measurement, calculate unmanned aerial vehicle's real-time position coordinate, realize emergent navigation. The invention can provide emergency navigation information for the unmanned aerial vehicle when the satellite navigation signal is interfered.

Description

Emergency navigation method based on unmanned aerial vehicle data link
Technical Field
The invention relates to the technical field of unmanned aerial vehicle measurement and control, in particular to an emergency navigation method based on an unmanned aerial vehicle data chain.
Background
In modern information war, unmanned aerial vehicle can satisfy zero casualties and the high requirement of reuse rate, can carry out the task of high risk to provide investigation information for the military, assist and acquire the electromagnetism right, have the position of playing a vital role in modern battlefield. The basic task of the navigation system is to control the unmanned aerial vehicle to fly according to a predetermined task route.
Navigation systems typically employ a variety of navigation approaches, primarily satellite navigation. The satellite navigation has the characteristics of omnibearing, all-weather, all-time and high precision, but is easy to be interfered. Because the signal transmitting power of the navigation satellite is limited to a certain extent, the distance from the satellite to the earth surface is about more than twenty thousand meters, and the strength of the signal is very small when the navigation signal reaches the earth, the navigation receiver is very easy to be interfered by the outside world, so that the unmanned aerial vehicle gets lost.
Disclosure of Invention
In view of the above, the invention provides an emergency navigation method based on an unmanned aerial vehicle data chain, and aims to provide navigation information for an unmanned aerial vehicle under the condition that a satellite navigation signal is interfered.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an emergency navigation method based on an unmanned aerial vehicle data chain comprises the following steps:
(1) ranging the unmanned aerial vehicle by utilizing an uplink bidirectional link and a downlink bidirectional link of the unmanned aerial vehicle data link;
(2) measuring the angle of the unmanned aerial vehicle by utilizing the monopulse self-tracking function of the directional antenna of the ground measurement and control station of the unmanned aerial vehicle;
(3) and calculating the longitude and latitude coordinates of the unmanned aerial vehicle according to the known coordinates of the ground measurement and control station and the distance and azimuth information obtained by observing the unmanned aerial vehicle, so as to realize the navigation of the unmanned aerial vehicle.
Further, the specific mode of the step (1) is as follows:
(101) taking a remote control telemetering data frame head in an unmanned aerial vehicle data chain as a ranging pulse, and starting a first timer when a ground measurement and control station sends an uplink remote control data frame head;
(102) when the airborne measurement and control terminal receives the head of the uplink remote control data frame, a second timer is started;
(103) when the airborne measurement and control terminal sends a downlink telemetering data frame header, stopping the second timer, and simultaneously sending the timing time T2 of the second timer to the ground measurement and control station through downlink telemetering;
(104) when the ground measurement and control station receives the head of the downlink telemetry data frame, stopping the first timer and simultaneously outputting the timing time T1 of the first timer;
(105) taking the value of T1-T2 as the sum of the bidirectional transmission time of the telemetering radio signal and the processing time delay tau of the equipment; zero calibration is carried out on the distance measurement value, the equipment processing time delay tau is removed, and the distance r from the unmanned aerial vehicle to the ground measurement and control station is obtained:
r＝(T1-T2-τ)*C/2
wherein C is the speed of light;
(106) and acquiring a plurality of ranging values, analyzing and calculating according to the frame period of the remote control and telemetry data frame and the action distance of the link, eliminating fuzzy values, and smoothing the residual ranging values to obtain a ranging result.
Further, the specific mode of the step (2) is as follows:
(201) performing initial calibration on the ground measurement and control station to determine the latitude B of the ground station0Longitude L, longitude0And height H0(ii) a Obtaining initial azimuth angle A of antenna zero position0Performing distance zero calibration, and reading the height H of the target airplane from remote measurement;
(202) a directional antenna of the ground measurement and control station receives downlink radio frequency signals of the unmanned aerial vehicle, wherein the amplitude-comparing monopulse antenna receives signals through two offset feed horns, and the phase-comparing monopulse antenna receives signals through two sub-arrays arranged at intervals; the two paths of signals generate a sum path signal and a difference path signal through a high-frequency sum and difference device;
(203) performing 0-pi modulation on the difference signal by using a low-frequency square wave of 1-10 kHz;
(204) synthesizing the modulated difference path signal and the modulated sum path signal by a coupler, wherein the coupling degree is selected to be-6 to-14 dB, and forming a single-channel carrier signal;
(205) the synthesized single-channel signal is subjected to low-noise amplification and frequency conversion to become an intermediate-frequency signal with stronger amplitude, and then the intermediate-frequency signal is sent to a tracking receiver;
(206) the tracking receiver carries out coherent amplitude detection on the signal and takes out a low-frequency modulation signal; then, carrying out synchronous detection by using a reference square wave signal to separate an azimuth angle error voltage signal;
(207) sending the azimuth angle error signal to an antenna servo to carry out closed-loop control, and driving a directional antenna to track and align a target; servo system reports azimuth angle A when directional antenna tracks alignment target1；
(208) The azimuth reported by an initial azimuth superposition servo system of the antenna zero is used as a geographical azimuth A of the airplane:
A＝A0+A1。
further, the specific mode of the step (3) is as follows:
(301) calculating coordinates (x, y and z) of the target unmanned aerial vehicle under a station center coordinate system of the ground measurement and control station:
Figure BDA0002790580810000021
in the formula: q is the elevation angle of the target unmanned aerial vehicle, the initial value is 0, r is the distance from the target unmanned aerial vehicle to the ground measurement and control station, and A is the azimuth angle of the target unmanned aerial vehicle;
(302) calculating coordinates (X, Y, Z) of the target unmanned aerial vehicle under a space rectangular coordinate system:
Figure BDA0002790580810000031
in the formula:
Figure BDA0002790580810000032
is the radius of curvature of the prime;
Figure BDA0002790580810000033
is the square of the first eccentricity, a is the ellipsoid major semi-axis, and b is the ellipsoid minor semi-axis; B. l, H the initial value is latitude B of ground measurement and control station0Longitude L, longitude0And height H0；
(303) Calculating geodetic coordinates (B) of the target droneT、LT、HT)：
Figure BDA0002790580810000034
Figure BDA0002790580810000035
Figure BDA0002790580810000036
(304) Judgment of H-HTIf the value is less than the threshold value, go to step (306) if yes, otherwise go to step (305);
(305) calculating the correction d of the elevation angleq＝(H-HT) R, and let q be q + dq，B＝BT，L＝LT，H＝HTRepeating the steps (301) to (304) to perform iterative calculation;
(306) outputting geodetic coordinates (B) of the target drone under WGS84T、LT) And emergency navigation data are provided for the unmanned aerial vehicle.
The invention has the beneficial effects that:
1. the method is simple, convenient for programming execution and easy to realize.
2. The invention can provide emergency navigation information for the unmanned aerial vehicle when the satellite navigation signal is interfered.
Drawings
Fig. 1 is a flowchart of an emergency navigation method according to an embodiment of the present invention.
Fig. 2 is a processing flow chart of a single-pulse tracking angle measurement signal of the ground measurement and control station in the embodiment of the invention.
Fig. 3 is a flowchart of resolving a target latitude and longitude in an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings and the detailed implementation mode.
As shown in fig. 1, an emergency navigation method based on a data link of an unmanned aerial vehicle includes the following steps:
(1) and the ranging of the unmanned aerial vehicle is realized by utilizing an uplink bidirectional link and a downlink bidirectional link of the unmanned aerial vehicle data link. The concrete mode is as follows:
(1.1) in the data chain of the unmanned aerial vehicle, a remote telemetry data frame head is generally adopted as a ranging pulse. And starting the timer 1 when the ground measurement and control station sends the head of the uplink remote control data frame.
And (1.2) starting the timer 2 when the airborne measurement and control terminal receives the head of the uplink remote control data frame.
And (1.3) stopping the timer 2 when the airborne measurement and control terminal sends the downlink telemetering data frame header, and simultaneously sending the timing time T2 of the timer 2 to the ground measurement and control station through downlink telemetering.
And (1.4) when the ground measurement and control station receives the head of the downlink telemetry data frame, stopping the timer 1 and simultaneously outputting the timing time T1 of the timer 1.
And (1.5) (T1-T2) correcting the ranging value to zero and removing the processing time delay of the equipment for the two-way transmission time of the remote control and telemetry radio signal and the processing time delay tau of the equipment. Knowing the transmission speed C of the electric wave in the free space, the distance from the unmanned aerial vehicle to the ground measurement and control station can be obtained:
r＝(T1-T2-τ)*C/2。
and (1.6) analyzing and calculating according to the frame period of the remote control and telemetry data frame and the action distance of the link, eliminating a fuzzy value and smoothing the ranging value.
(2) The single-pulse self-tracking function of the directional antenna of the ground measurement and control station of the unmanned aerial vehicle is utilized to realize the angle measurement of the unmanned aerial vehicle. The concrete mode is as follows:
(2.1) carrying out initial calibration on the ground measurement and control station, and determining the latitude, longitude and altitude coordinates (B) of the ground station0、L0、H0) Initial azimuth A of antenna null0Distance zeroing and reading the target aircraft altitude H from the telemetry.
And (2.2) receiving the downlink radio frequency signal of the unmanned aerial vehicle by the directional antenna of the ground measurement and control station. The amplitude comparison monopulse antenna receives signals through two bias feed horns, and the phase comparison monopulse antenna receives signals through two sub-arrays arranged at a certain interval; the two paths of signals generate a sum path signal and a difference path signal through a high-frequency sum and difference device.
And (2.3) carrying out 0-pi modulation on the difference signal by using a low-frequency (1-10) kHz square wave.
And (2.4) synthesizing the modulated difference path signal and the modulated sum path signal through a coupler, and selecting the coupling degree between (-6 to-14) dB to form a single-channel carrier signal.
And (2.5) carrying out low-noise amplification and frequency conversion on the synthesized single-channel signal to obtain an intermediate-frequency signal with a sufficiently strong amplitude, and then sending the intermediate-frequency signal to a tracking receiver.
(2.6) carrying out coherent amplitude detection on the signal by the tracking receiver, and taking out a low-frequency modulation signal; and then, carrying out synchronous detection on the reference square wave signal to separate the azimuth angle error voltage signal.
And (2.7) sending the azimuth angle error signal to an antenna servo to carry out closed-loop control, and driving a directional antenna to track and align the target. Servo system reports azimuth angle A when directional antenna tracks alignment target1；
(2.8) the geographical azimuth A of the airplane is the initial azimuth A reported by the antenna null position superposition servo system0+A1。
(3) And calculating the longitude and latitude coordinates of the unmanned aerial vehicle by using the known coordinates of the ground measurement and control station and the distance and azimuth angle for observing the unmanned aerial vehicle. The concrete mode is as follows:
(3.1) solving the longitude and latitude of the target airplane, as shown in figure 2. Assuming that the elevation angle q of the target point is 0, the data is known: geodetic coordinate B of measurement and control station under WGS84 coordinate system0、L0、H0Distance r, azimuth A, and ground height H of the target point.
And (3.2) according to the formula (1), the coordinates (x, y and z) of the target point in the station center coordinate system of the measurement and control station can be obtained.
Figure BDA0002790580810000051
In the formula: q is the elevation of the target, r is the distance, and A is the azimuth.
(3.3) obtaining the target compound from the formula (2)Coordinates (X) of output target point under space rectangular coordinate systemT、YT、ZT)。
Figure BDA0002790580810000052
In the formula: b is0、L0、H0The latitude, longitude and altitude of the ground measurement and control station.
Figure BDA0002790580810000053
Is the radius of curvature of the prime;
Figure BDA0002790580810000054
is the square of the first eccentricity, a is the ellipsoid major semi-axis, and b is the ellipsoid minor semi-axis.
(3.4) obtaining the geodetic coordinate B of the target point according to the formula (3)T、LT、HT
Figure BDA0002790580810000055
(3.5) judgment of (H-H)T) And (4) whether the iteration precision eps is smaller than the iteration precision eps (0.000001 can be taken), if so, outputting the coordinates, namely the finally obtained geodetic coordinates, and otherwise, turning to the next step.
(3.6) calculating the correction number d of the elevation angleq＝(H-HT) R, then q is q + dqThe iterative calculation is continued by the equation (2).
Finally, the output target aircraft is geodetic (B) under WGS84T、LT) And providing emergency navigation data for the aircraft.
The unmanned aerial vehicle data link is the kite line of unmanned aerial vehicle, provides the unmanned aerial vehicle and goes upward remote control, down telemetering measurement and reconnaissance information transmission function. The invention uses the uplink and downlink bidirectional links to measure the distance from the unmanned aerial vehicle to the ground measurement and control station; the ground measurement and control station adopts a directional antenna to receive downlink signals of the unmanned aerial vehicle, and can measure the azimuth angle of the unmanned aerial vehicle through a monopulse self-tracking function; through to unmanned aerial vehicle real-time range finding, angle measurement, calculate unmanned aerial vehicle's real-time longitude and latitude coordinate, can provide emergent navigation information for unmanned aerial vehicle when satellite navigation signal receives the interference.
It should be noted that the above-described embodiments are intended to enable any person skilled in the art to make or use the invention, and that various modifications to these embodiments will be apparent to those skilled in the art. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (4)

1. An emergency navigation method based on an unmanned aerial vehicle data chain is characterized by comprising the following steps:
(1) ranging the unmanned aerial vehicle by utilizing an uplink bidirectional link and a downlink bidirectional link of the unmanned aerial vehicle data link;
(2) measuring the angle of the unmanned aerial vehicle by utilizing the monopulse self-tracking function of the directional antenna of the ground measurement and control station of the unmanned aerial vehicle;
(3) and calculating the longitude and latitude coordinates of the unmanned aerial vehicle according to the known coordinates of the ground measurement and control station and the distance and azimuth information obtained by observing the unmanned aerial vehicle, so as to realize the navigation of the unmanned aerial vehicle.
2. The emergency navigation method based on the data chain of the unmanned aerial vehicle as claimed in claim 1, wherein the specific manner of step (1) is as follows:
(101) taking a remote control telemetering data frame head in an unmanned aerial vehicle data chain as a ranging pulse, and starting a first timer when a ground measurement and control station sends an uplink remote control data frame head;
(102) when the airborne measurement and control terminal receives the head of the uplink remote control data frame, a second timer is started;
(103) when the airborne measurement and control terminal sends a downlink telemetering data frame header, stopping the second timer, and simultaneously sending the timing time T2 of the second timer to the ground measurement and control station through downlink telemetering;
(104) when the ground measurement and control station receives the head of the downlink telemetry data frame, stopping the first timer and simultaneously outputting the timing time T1 of the first timer;
(105) taking the value of T1-T2 as the sum of the bidirectional transmission time of the telemetering radio signal and the processing time delay tau of the equipment; zero calibration is carried out on the distance measurement value, the equipment processing time delay tau is removed, and the distance r from the unmanned aerial vehicle to the ground measurement and control station is obtained:
r＝(T1-T2-τ)*C/2
wherein C is the speed of light;
(106) and acquiring a plurality of ranging values, analyzing and calculating according to the frame period of the remote control and telemetry data frame and the action distance of the link, eliminating fuzzy values, and smoothing the residual ranging values to obtain a ranging result.
3. The emergency navigation method based on the data chain of the unmanned aerial vehicle as claimed in claim 1, wherein the specific manner of step (2) is as follows:
(201) performing initial calibration on the ground measurement and control station to determine the latitude B of the ground measurement and control station0Longitude L, longitude0And height H0(ii) a Obtaining initial azimuth angle A of antenna zero position0Performing distance zero calibration, and reading the height H of the target airplane from remote measurement;
(202) a directional antenna of the ground measurement and control station receives downlink radio frequency signals of the unmanned aerial vehicle, wherein the amplitude-comparing monopulse antenna receives signals through two offset feed horns, and the phase-comparing monopulse antenna receives signals through two sub-arrays arranged at intervals; the two paths of signals generate a sum path signal and a difference path signal through a high-frequency sum and difference device;
(203) performing 0-pi modulation on the difference signal by using a low-frequency square wave of 1-10 kHz;
(204) synthesizing the modulated difference path signal and the modulated sum path signal by a coupler, wherein the coupling degree is selected to be-6 to-14 dB, and forming a single-channel carrier signal;
(205) the synthesized single-channel signal is subjected to low-noise amplification and frequency conversion to become an intermediate-frequency signal with stronger amplitude, and then the intermediate-frequency signal is sent to a tracking receiver;
(206) the tracking receiver carries out coherent amplitude detection on the signal and takes out a low-frequency modulation signal; then, carrying out synchronous detection by using a reference square wave signal to separate an azimuth angle error voltage signal;
(207) sending the azimuth angle error signal to an antenna servo to carry out closed-loop control, and driving a directional antenna to track and align a target; servo system reports azimuth angle A when directional antenna tracks alignment target1；
(208) The azimuth reported by an initial azimuth superposition servo system of the antenna zero is used as a geographical azimuth A of the airplane:
A＝A0+A1。
4. the emergency navigation method based on the data chain of the unmanned aerial vehicle as claimed in claim 1, wherein the specific manner of step (3) is as follows:
(301) calculating coordinates (x, y and z) of the target unmanned aerial vehicle under a station center coordinate system of the ground measurement and control station:
Figure FDA0002790580800000021
in the formula: q is the elevation angle of the target unmanned aerial vehicle, the initial value is 0, r is the distance from the target unmanned aerial vehicle to the ground measurement and control station, and A is the azimuth angle of the target unmanned aerial vehicle;
(302) calculating coordinates (X, Y, Z) of the target unmanned aerial vehicle under a space rectangular coordinate system:
Figure FDA0002790580800000022
in the formula:
Figure FDA0002790580800000023
is the radius of curvature of the prime;
Figure FDA0002790580800000024
is the square of the first eccentricity, a is the ellipsoid major semi-axis, and b is the ellipsoid minor semi-axis; B. l, H the initial value is latitude B of ground measurement and control station0Longitude L, longitude0And height H0；
(303) Eyes of calculationGeodetic coordinates of the drone (B)T、LT、HT)：
Figure FDA0002790580800000025
Figure FDA0002790580800000026
Figure FDA0002790580800000027
(304) Judgment of H-HTIf the value is less than the threshold value, go to step (306) if yes, otherwise go to step (305);
(305) calculating the correction d of the elevation angleq＝(H-HT) R, and let q be q + dq，B＝BT，L＝LT，H＝HTRepeating the steps (301) to (304) to perform iterative calculation;
(306) outputting geodetic coordinates (B) of the target drone under WGS84T、LT) And emergency navigation data are provided for the unmanned aerial vehicle.
CN202011313493.6A 2020-11-20 2020-11-20 Emergency navigation method based on unmanned aerial vehicle data link Pending CN112504277A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011313493.6A CN112504277A (en) 2020-11-20 2020-11-20 Emergency navigation method based on unmanned aerial vehicle data link

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011313493.6A CN112504277A (en) 2020-11-20 2020-11-20 Emergency navigation method based on unmanned aerial vehicle data link

Publications (1)

Publication Number Publication Date
CN112504277A true CN112504277A (en) 2021-03-16

Family

ID=74959350

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011313493.6A Pending CN112504277A (en) 2020-11-20 2020-11-20 Emergency navigation method based on unmanned aerial vehicle data link

Country Status (1)

Country Link
CN (1) CN112504277A (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100123617A1 (en) * 2008-11-18 2010-05-20 Lockheed Martin Corporation Method and system for monopulse radar target angle determination
CN105391489A (en) * 2015-10-18 2016-03-09 中国电子科技集团公司第十研究所 Noncoherent range finding method for data link in measurement and control of unmanned aerial vehicle
CN105891821A (en) * 2016-05-24 2016-08-24 北京环境特性研究所 Automatic tracking method of airborne downward-looking measurement target
CN106886028A (en) * 2017-02-28 2017-06-23 四川九洲电器集团有限责任公司 A kind of distance-finding method and terminal device
CN206835101U (en) * 2017-06-22 2018-01-02 西安爱生技术集团公司 A kind of unmanned plane Tracking Angle Measurement zero adjuster
CN107607933A (en) * 2017-08-24 2018-01-19 中国电子科技集团公司第五十四研究所 A kind of long-range unmanned aerial vehicle's high-precision locating method based on angle of pitch iteration
CN109633625A (en) * 2018-12-14 2019-04-16 北京遥测技术研究所 Monopulse estimation method and tracking application based on ofdm signal normalization first moment
CN110531325A (en) * 2019-07-30 2019-12-03 中国人民解放军91550部队 Digital if receiver and method for monopulse radar
CN111137453A (en) * 2019-11-05 2020-05-12 西安羚控电子科技有限公司 Measurement and control tracking system and method for carrier-based vertical take-off and landing detection unmanned aerial vehicle
CN111464397A (en) * 2020-04-08 2020-07-28 清华大学 Method and system for measuring bidirectional distance and clock error

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100123617A1 (en) * 2008-11-18 2010-05-20 Lockheed Martin Corporation Method and system for monopulse radar target angle determination
CN105391489A (en) * 2015-10-18 2016-03-09 中国电子科技集团公司第十研究所 Noncoherent range finding method for data link in measurement and control of unmanned aerial vehicle
CN105891821A (en) * 2016-05-24 2016-08-24 北京环境特性研究所 Automatic tracking method of airborne downward-looking measurement target
CN106886028A (en) * 2017-02-28 2017-06-23 四川九洲电器集团有限责任公司 A kind of distance-finding method and terminal device
CN206835101U (en) * 2017-06-22 2018-01-02 西安爱生技术集团公司 A kind of unmanned plane Tracking Angle Measurement zero adjuster
CN107607933A (en) * 2017-08-24 2018-01-19 中国电子科技集团公司第五十四研究所 A kind of long-range unmanned aerial vehicle's high-precision locating method based on angle of pitch iteration
CN109633625A (en) * 2018-12-14 2019-04-16 北京遥测技术研究所 Monopulse estimation method and tracking application based on ofdm signal normalization first moment
CN110531325A (en) * 2019-07-30 2019-12-03 中国人民解放军91550部队 Digital if receiver and method for monopulse radar
CN111137453A (en) * 2019-11-05 2020-05-12 西安羚控电子科技有限公司 Measurement and control tracking system and method for carrier-based vertical take-off and landing detection unmanned aerial vehicle
CN111464397A (en) * 2020-04-08 2020-07-28 清华大学 Method and system for measuring bidirectional distance and clock error

Similar Documents

Publication Publication Date Title
ES2869858T3 (en) Evaluation of the position of an aerial vehicle
CN103746757A (en) Single-satellite interference source positioning method based on satellite-borne multi-wave-beam antenna
CN109782289B (en) Underwater vehicle positioning method based on baseline geometric structure constraint
EP3176598A1 (en) Low frequency/medium frequency (lf/mf) multi mode antenna/receiver
US11294071B2 (en) Apparatus for determining precise location and method for determining precise location in woodlands
CN109975755B (en) Short-wave multi-station direct positioning method under condition of existence of correction source
US20220082707A1 (en) Techniques for Determining Geolocations
CN111199280B (en) Multi-station target source geographic coordinate estimation method combining signal complex envelope and carrier phase information in presence of short wave channel model error
CN111273298A (en) Underwater acoustic target positioning and tracking method based on wave glider networking technology
CN102749620A (en) Monopulse foresight imaging processing method of missile-borne/airborne radar
CN110907936B (en) Underwater three-dimensional terrain matching positioning navigation sonar and navigation method
CN104267420A (en) Satellite-borne three-dimensional moving object positioning method, device and system
CN105445757B (en) A kind of vehicles guiding system and bootstrap technique
CN111638514B (en) Unmanned aerial vehicle height measurement method and unmanned aerial vehicle navigation filter
JP4019149B2 (en) Radio wave arrival direction identification system
US10890659B2 (en) Light-weight radar system
CN112083420B (en) Unmanned aerial vehicle collision avoidance method and device and unmanned aerial vehicle
CN112504277A (en) Emergency navigation method based on unmanned aerial vehicle data link
CN111722632A (en) Automobile electronic rail automatic driving system based on Internet of vehicles
Randall et al. Skywatch: A passive multistatic radar network for the measurement of object position and velocity
CN113281702B (en) Method for directly positioning beyond-view-range target by cooperating short-wave multi-station angle with satellite time frequency
CN115616636A (en) Multi-constellation low-orbit satellite fusion positioning method and device for unmanned aerial vehicle
CN112505694B (en) Space target imaging method of on-orbit SAR satellite
CN113189585A (en) Motion error compensation algorithm based on unmanned aerial vehicle bistatic SAR system
RU2287169C2 (en) Method for radio monitoring

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20210316

RJ01 Rejection of invention patent application after publication