CN114142954B - Unmanned aerial vehicle method and system applied to multi-interference source detection and positioning - Google Patents
Unmanned aerial vehicle method and system applied to multi-interference source detection and positioning Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle method and system applied to multi-interference source detection and positioning, comprising the following steps: step S1: positioning an interference source when the absolute power of the signal is detected to be larger than the absolute power of a preset radio signal; step S2: detecting the real distance from the unmanned aerial vehicle to the interference source at the moment; and step S3: estimating the initial position of an interference source by using the arrival angle of the received signal; if the initial position is not unique, executing step S4; if the obtained initial position is unique, directly jumping to the step S5; and step S4: filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources; step S5: and obtaining an estimated distance value by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, obtaining a distance error function by making a difference with a real distance value between the unmanned aerial vehicle and the interference source, and obtaining the position of the interference source by using least square. According to the invention, the DOA is used for positioning to obtain a more accurate initial interference source position so as to achieve a more accurate positioning effect.
Description
Technical Field
The invention relates to the technical field of wireless communication, in particular to an unmanned aerial vehicle method and system applied to multi-interference source detection and positioning.
Background
Aiming at the problem that an unmanned aerial vehicle is easily interfered by a radio interference source in the flying process, the invention adopts a signal amplitude detection technology and a signal arrival angle detection technology to respectively realize the detection and the initial position estimation of the interference source, further estimates the accurate position and achieves the aims of detecting and positioning in advance, thereby effectively eliminating the hidden danger and creating a safe environment for the formation and the performance of the unmanned aerial vehicle.
When standing, the method therein is closest to the invention herein, based on a low-complexity interferer positioning algorithm of the drone. When Taylor expansion is carried out to estimate the position of a true interference source, the initial estimation position is randomly given, and the condition of subsequent convergence is poor; according to the method, the DOA traditional positioning method is used as an initial value in the initial value selection, so that the position of the true interference source can be obtained more accurately and more quickly in convergence in the subsequent Taylor expansion.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an unmanned aerial vehicle method and system applied to multi-interference source detection and positioning.
The invention provides an unmanned aerial vehicle method applied to multi-interference source detection and positioning, which comprises the following steps:
step S1: positioning an interference source when the absolute power of the signal is detected to be larger than the absolute power of a preset radio signal;
step S2: detecting the real distance from the unmanned aerial vehicle to the interference source at the moment;
and step S3: estimating the initial position of an interference source by using the arrival angle of the received signal;
if the initial position is not unique, executing the step S4; if the obtained initial position is unique, directly jumping to the step S5;
and step S4: filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
step S5: and obtaining an estimated distance value by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, obtaining a distance error function by making a difference with a real distance value between the unmanned aerial vehicle and the interference source, and obtaining the position of the interference source by using least square.
Preferably, in the step S1:
the method comprises the steps that an interference detection module is started in the operation process of the unmanned aerial vehicle, when the interference detection module detects that the absolute power of a signal is larger than the absolute power of a preset radio signal, radio interference exists, an interference source is positioned, and the interference detection module judges whether the existing unmanned aerial vehicle is interfered or not;
the method for detecting whether the unmanned aerial vehicle is interfered or not adopts absolute power detection in signal amplitude detection, and when the absolute power value of the unmanned aerial vehicle signal is greater than a preset threshold value, the unmanned aerial vehicle signal is regarded as an interference source to position the interference source;
in the step S2:
when a radio interference source exists, a signal receiving intensity ranging module is opened, and the distance between the unmanned aerial vehicle and the real interference source at the moment is detected;
and after the operation module obtains the initial interference source position, performing real-time signal receiving intensity detection between the interference source and the unmanned aerial vehicle, resolving the distance of the obtained signal receiving intensity, and obtaining the distance Di between the current unmanned aerial vehicle and the real interference source according to a signal receiving intensity ranging model.
Preferably, in the step S3:
when a radio interference source is determined to exist, an interference source initial position resolving module is executed, the position of the initial interference source is estimated by utilizing the arrival angle of the received signal, and if the number of the estimated initial positions is not unique, false interference source filtering is carried out;
when the interference detection module judges that the interference is received at present, the module detects the arrival angle of the signal and performs initial estimation of the position of the interference source; obtaining the estimated initial position of the interference source by using a signal arrival angle two-point positioning method;
the signal arrival angle measurement positioning utilizes the directions of at least two different positions to the same target to determine the position of a target interference source, and the unmanned aerial vehicle is positioned at two points A (x) 1 ,y 1 )、B(x 2 ,y 2 ) At a respectively measured arrival angle of the signal of theta 1 、θ 2 Respectively making rays along the arrival direction of the signals to obtain the positions of the intersection points which are the positions of the interference sources;
solving the triangle to obtain the estimated value of the real coordinate of the interference source
Wherein A (x) 1 ,y 1 ),B(x 2 ,y 2 )，
The values are respectively the initial values (x) of Taylor expansion 0 ,y 0 )，θ 1 ,θ 2 Respectively measuring the arrival angles of A and B; x is the number of 1 Is the abscissa of point A, y 1 Is the ordinate of point A, x 2 Is the abscissa of point B, y 2 Point B ordinate.
Preferably, in the step S4:
when the initial position is not unique, executing a multi-interference source filtering module, and filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
when a plurality of interference sources exist, checking the authenticity of the interference sources by using distance information obtained by a signal receiving strength ranging module, filtering the interference sources which do not conform to the actual distance, screening positions obtained by measuring angles of arrival of signals by using real distance values obtained by measuring the distance of the signal receiving strength, wherein points C and D are actually existing interference sources, an unmanned aerial vehicle respectively obtains signals from C and D at A and B, rays AC, AD and BC and BD can be obtained according to the measured angles of arrival, the positions C and D of the real interference sources can be obtained by pairwise intersection, but meanwhile, a false locating point E is generated, and the false locating point E needs to be filtered;
using the real distance of the unmanned aerial vehicle from the interference source obtained by the signal receiving intensity ranging as the radius, making circles at the positions A and B, observing from the point A, if a certain interference source which is calculated is not on the circle, and determining that points which are not on each circle at the same time are false positioning points generated by angle measurement of the arrival angle of the signal when a plurality of interference sources exist; when observing from the position B, if a certain interference source is not calculated on the circle, the point which is not on each circle is determined as a false positioning point generated by angle measurement of the arrival angle of the signal when a plurality of interference sources exist; the true interferer should meet on a certain circle when viewed at both a, B.
Preferably, in the step S5:
when the initial position is unique or false interference sources are filtered by using the real distance value of the unmanned aerial vehicle from the interference source, the position of the interference source is calculated, the estimated distance value is obtained by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, a distance error function is obtained by subtracting the actual distance value between the unmanned aerial vehicle and the interference source, and the position of the interference source is optimized by using least square to the position of the interference source, so that the position of the interference source is obtained;
when the unmanned aerial vehicle is detected to be interfered, recording the current position of the unmanned aerial vehicle, taking the result obtained by the interference source initial position resolving module as an initial value of Taylor expansion, and calculating the distance di of the unmanned aerial vehicle from the estimated interference source; the result is differed with the distance data obtained by the signal receiving intensity ranging module to obtain a distance error function, and then the distance error function is solved by using least square to obtain the position of the interference source;
because the taylor expansion has high requirement on the initial value, the position obtained by the initial positioning of the signal arrival angle is used as the initial value of the taylor series expansion to carry out the positioning algorithm, and the specific algorithm is as follows:
setting a true interference source position (X, Y), true distance:
wherein i is the ith measurement process, i =1, 2.. Multidot.n, and n is measured for a total of n times; d i The distance between the unmanned plane and the real interference source at the moment i is obtained by a signal receiving intensity module, and x i ,y i The position information of the unmanned aerial vehicle at the moment i; f. of i Calculating the distance between the current unmanned aerial vehicle position and the position of the real interference source for a two-dimensional distance formula;
assuming initial estimation of the interference source location (x) 0 ,y 0 ) And estimating the distance:
the position error Δ R represents the currently estimated interference source position (x) 0 ,y 0 ) Distance true interference source location (X, Y) value:
substituting the above formula into D i ＝f i (X, Y) is as follows:
the following transformations are carried out:
is provided with
In the above formula, n is each state information recorded by the unmanned aerial vehicle at the selected 1-n moment;
the final formulation is:
ΔD＝H·ΔR
selecting a proper intermediate point according to the flight track of the unmanned aerial vehicle so as to enable the H to be H T H is reversible, then:
ΔR＝(H T H) -1 H T ΔD
for Δ R with respect to (x) 0 ,y 0 ) And performing least square to obtain an optimal solution, so that the absolute value of the optimal solution is smaller than a set threshold, and the true interference source at the moment is as follows:
(X,Y)＝(x 0 ,y 0 )+(Δx,Δy)。
the invention provides an unmanned aerial vehicle system applied to multi-interference source detection and positioning, which comprises:
a module M1: positioning an interference source when the absolute power of the signal is detected to be larger than the absolute power of a preset radio signal;
a module M2: detecting the real distance between the unmanned aerial vehicle and the interference source at the moment;
a module M3: estimating the initial position of an interference source by using the arrival angle of the received signal;
if the obtained initial position is not unique, the module M4 is operated; if the obtained initial position is unique, directly jumping to a module M5;
a module M4: filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
a module M5: and obtaining an estimated distance value by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, obtaining a distance error function by making a difference with a real distance value between the unmanned aerial vehicle and the interference source, and obtaining the position of the interference source by using least square.
Preferably, in said module M1:
the method comprises the steps that an interference detection module is started in the operation process of the unmanned aerial vehicle, when the interference detection module detects that the absolute power of a signal is larger than the absolute power of a preset radio signal, radio interference exists, an interference source is positioned, and the interference detection module judges whether the existing unmanned aerial vehicle is interfered or not;
the method for detecting whether the unmanned aerial vehicle is interfered or not adopts absolute power detection in signal amplitude detection, and when the absolute power value of the unmanned aerial vehicle signal is greater than a preset threshold value, the unmanned aerial vehicle signal is regarded as an interference source to position the interference source;
in said module M2:
when a radio interference source exists, a signal receiving intensity ranging module is opened, and the distance between the unmanned aerial vehicle and the real interference source at the moment is detected;
and after the operation module obtains the initial interference source position, performing real-time signal receiving intensity detection between the interference source and the unmanned aerial vehicle, resolving the distance of the obtained signal receiving intensity, and obtaining the distance Di between the current unmanned aerial vehicle and the real interference source according to a signal receiving intensity ranging model.
Preferably, in said module M3:
when a radio interference source is determined to exist, an interference source initial position resolving module is executed, the position of the initial interference source is estimated by utilizing the arrival angle of the received signal, and if the number of the estimated initial positions is not unique, false interference source filtering is carried out;
when the interference detection module judges that the interference is received at present, the module detects the arrival angle of the signal and performs initial estimation of the position of the interference source; obtaining the estimated initial position of the interference source by using a signal arrival angle two-point positioning method;
the signal arrival angle measurement positioning utilizes the directions of at least two different positions to the same target to determine the position of a target interference source, and the unmanned aerial vehicle is positioned at two points A (x) 1 ,y 1 )、B(x 2 ,y 2 ) At a respectively measured arrival angle of the signal of theta 1 、θ 2 Respectively making rays along the arrival direction of the signals to obtain the positions of the intersection points which are the positions of the interference sources;
solving the triangle to obtain the estimated value of the real coordinate of the interference source
Wherein A (x) 1 ,y 1 ),B(x 2 ,y 2 )，
The values are the initial values (x) at Taylor expansion 0 ,y 0 )，θ 1 ,θ 2 Respectively measuring the arrival angles of A and B; x is the number of 1 Is the abscissa of point A, y 1 Is the ordinate, x, of point A 2 Is the abscissa of point B, y 2 Point B ordinate.
Preferably, in said module M4:
when the initial position is not unique, executing a multi-interference source filtering module, and filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
when a plurality of interference sources exist, checking the authenticity of the interference sources by distance information obtained by a signal receiving strength ranging module, filtering the interference sources which do not accord with actual distances, screening positions obtained by measuring angles of arrival of signals by using real distance values obtained by signal receiving strength ranging, wherein points C and D are actually existing interference sources, the unmanned aerial vehicle respectively obtains signals from the points C and D at the points A and B, rays AC, AD, BC and BD can be obtained according to the measured angles of arrival, the positions C and D of the real interference sources can be obtained by pairwise intersection of the rays AC, AD, BC and BD, but a false locating point E can be generated at the same time, and the false locating point is required to be filtered;
the real distance between the unmanned aerial vehicle and an interference source obtained by using the signal receiving intensity ranging is taken as a radius, circles are made at the positions A and B, and if a certain interference source is not calculated on the circle from the point A, a false positioning point generated by the angle of arrival of the signal when the point which is not on each made circle is determined as a plurality of interference sources is observed; when observing from the position B, if a certain interference source is not calculated on the circle, the point which is not on each circle is determined as a false positioning point generated by angle measurement of the arrival angle of the signal when a plurality of interference sources exist; the true interferer should meet on a certain circle when viewed at both a, B.
Preferably, in said module M5:
when the initial position is unique or false interference sources are filtered by using the real distance value of the unmanned aerial vehicle from the interference source, the position of the interference source is calculated, the estimated distance value is obtained by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, a distance error function is obtained by subtracting the actual distance value between the unmanned aerial vehicle and the interference source, and the position of the interference source is optimized by using least square to the position of the interference source, so that the position of the interference source is obtained;
when the unmanned aerial vehicle is detected to be interfered, recording the current position of the unmanned aerial vehicle, taking the result obtained by the interference source initial position resolving module as an initial value of Taylor expansion, and calculating the distance di of the unmanned aerial vehicle from the estimated interference source; the result is differed with the distance data obtained by the signal receiving intensity ranging module to obtain a distance error function, and then the distance error function is solved by using least square to obtain the position of the interference source;
because the taylor expansion has high requirement on the initial value, the position obtained by the initial positioning of the signal arrival angle is used as the initial value of the taylor series expansion to carry out the positioning algorithm, and the specific algorithm is as follows:
setting a true interference source position (X, Y), true distance:
wherein i is the ith measurement process, i =1, 2.., n, and n is measured n times in total; d i The distance between the unmanned plane and the real interference source at the moment i is obtained by a signal receiving intensity module, x i ,y i The position information of the unmanned aerial vehicle at the moment i; f. of i Calculating the distance between the current unmanned aerial vehicle position and the position of the real interference source for a two-dimensional distance formula;
assuming initial estimation of the interference source location (x) 0 ,y 0 ) Estimating the distance:
the position error Δ R represents the currently estimated interference source position (x) 0 ,y 0 ) Distance true interference source location (X, Y) value:
substituting the above formula into D i ＝f i (X, Y) includes:
the following transformations are carried out:
is provided with
In the above formula, n is each state information recorded by the selected unmanned aerial vehicle at 1-n moments;
the final formulation is:
ΔD＝H·ΔR
selecting a proper intermediate point according to the flight track of the unmanned aerial vehicle so as to enable the H to be H T H is reversible, then:
ΔR＝(H T H) -1 H T ΔD
for Δ R with respect to (x) 0 ,y 0 ) Performing least square to obtain an optimal solution, and enabling the absolute value of the optimal solution to be smaller than a set threshold, wherein the real interference source at the moment is as follows:
(X,Y)＝(x 0 ,y 0 )+(Δx,Δy)。
compared with the prior art, the invention has the following beneficial effects:
1. according to the method, the position of a relatively accurate initial interference source is obtained by using DOA positioning, so that a better initial value is created for Taylor expansion convergence, and a more accurate positioning effect is achieved;
2. according to the method, the problem that false positioning points exist when DOA angle measurement is carried out on a plurality of interference sources is solved by using RSSI ranging screening, and the effect of more accurate judgment of the interference points is achieved;
3. according to the method, the distance error function is obtained through Taylor expansion, the optimal solution is obtained through least square, the problem of angle error generated in pure DOA angle measurement positioning is solved, and the effect of enabling the positioning result to be more accurate is achieved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a two-point DOA positioning diagram;
FIG. 2 is a diagram of a situation where multiple interferers are present as spurious interferers;
fig. 3 is a block diagram of an unmanned aerial vehicle interference source detection and positioning system.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
Example 1:
according to the present invention, an unmanned aerial vehicle method applied to multi-interference source detection and positioning is provided, as shown in fig. 1 to 3, including:
step S1: positioning an interference source when the absolute power of the signal is detected to be larger than the absolute power of a preset radio signal;
step S2: detecting the real distance from the unmanned aerial vehicle to the interference source at the moment;
and step S3: estimating the initial position of an interference source by using the arrival angle of the received signal;
if the initial position is not unique, executing the step S4; if the obtained initial position is unique, directly jumping to the step S5;
and step S4: filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
step S5: and obtaining an estimated distance value by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, obtaining a distance error function by making a difference with a real distance value between the unmanned aerial vehicle and the interference source, and obtaining the position of the interference source by using least square.
Specifically, in the step S1:
the method comprises the steps that an interference detection module is started in the operation process of the unmanned aerial vehicle, when the interference detection module detects that the absolute power of a signal is larger than the absolute power of a preset radio signal, radio interference exists, an interference source is positioned, and the interference detection module judges whether the existing unmanned aerial vehicle is interfered or not;
the method for detecting whether the unmanned aerial vehicle is interfered or not adopts absolute power detection in signal amplitude detection, and when the absolute power value of the unmanned aerial vehicle signal is greater than a preset threshold value, the unmanned aerial vehicle signal is regarded as an interference source to position the interference source;
in the step S2:
when a radio interference source exists, a signal receiving intensity ranging module is opened, and the distance between the unmanned aerial vehicle and the real interference source at the moment is detected;
and after the operation module obtains the initial interference source position, performing real-time signal receiving intensity detection between the interference source and the unmanned aerial vehicle, resolving the distance of the obtained signal receiving intensity, and obtaining the distance Di between the current unmanned aerial vehicle and the real interference source according to a signal receiving intensity ranging model.
Specifically, in the step S3:
when a radio interference source is determined to exist, an interference source initial position resolving module is executed, the position of the initial interference source is estimated by utilizing the arrival angle of the received signal, and if the number of the estimated initial positions is not unique, false interference source filtering is carried out;
when the interference detection module judges that the interference is received at present, the module detects the arrival angle of the signal and performs initial estimation on the position of the interference source; obtaining an estimated interference source initial position by using a signal arrival angle two-point positioning method;
the signal arrival angle measurement positioning utilizes the directions of at least two different positions to the same target to determine the position of a target interference source, and the unmanned aerial vehicle is positioned at two points A (x) 1 ,y 1 )、B(x 2 ,y 2 ) Respectively measured arrival angle of the signals is theta 1 、θ 2 Respectively making rays along the arrival direction of the signals to obtain the positions of the intersection points which are the positions of the interference sources;
solving the triangle to obtain the estimated value of the real coordinate of the interference source
Wherein A (x) 1 ,y 1 ),B(x 2 ,y 2 )，
The values are the initial values (x) at Taylor expansion 0 ,y 0 )，θ 1 ,θ 2 Respectively measuring the arrival angles of A and B; x is the number of 1 Is the abscissa, y, of point A 1 Is the ordinate, x, of point A 2 Is the abscissa of point B, y 2 Point B ordinate.
Specifically, in the step S4:
when the initial position is not unique, a multi-interference source filtering module is executed, and false interference sources are filtered by using the real distance value of the unmanned aerial vehicle from the interference sources;
when a plurality of interference sources exist, checking the authenticity of the interference sources by distance information obtained by a signal receiving strength ranging module, filtering the interference sources which do not accord with actual distances, screening positions obtained by measuring angles of arrival of signals by using real distance values obtained by signal receiving strength ranging, wherein points C and D are actually existing interference sources, the unmanned aerial vehicle respectively obtains signals from the points C and D at the points A and B, rays AC, AD, BC and BD can be obtained according to the measured angles of arrival, the positions C and D of the real interference sources can be obtained by pairwise intersection of the rays AC, AD, BC and BD, but a false locating point E can be generated at the same time, and the false locating point is required to be filtered;
using the real distance of the unmanned aerial vehicle from the interference source obtained by the signal receiving intensity ranging as the radius, making circles at the positions A and B, observing from the point A, if a certain interference source which is calculated is not on the circle, and determining that points which are not on each circle at the same time are false positioning points generated by angle measurement of the arrival angle of the signal when a plurality of interference sources exist; when observing from the position B, if a certain interference source is not calculated on the circle, the point which is not on each circle is determined as a false positioning point generated by angle measurement of the arrival angle of the signal when a plurality of interference sources exist; the true interferer should meet on a certain circle when viewed at both a, B.
Specifically, in the step S5:
when the initial position is unique or false interference sources are filtered by using the real distance value of the unmanned aerial vehicle from the interference source, the position of the interference source is calculated, the estimated distance value is obtained by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, a distance error function is obtained by subtracting the actual distance value between the unmanned aerial vehicle and the interference source, and the position of the interference source is optimized by using least square to the position of the interference source, so that the position of the interference source is obtained;
when the unmanned aerial vehicle is detected to be interfered, recording the current position of the unmanned aerial vehicle, taking the result obtained by the interference source initial position resolving module as an initial value of Taylor expansion, and calculating the distance di of the unmanned aerial vehicle from the estimated interference source; the result is differed with the distance data obtained by the signal receiving intensity ranging module to obtain a distance error function, and then the distance error function is solved by using least square to obtain the position of the interference source;
because the taylor expansion has high requirement on the initial value, the position obtained by the initial positioning of the signal arrival angle is used as the initial value of the taylor series expansion to carry out the positioning algorithm, and the specific algorithm is as follows:
setting a true interference source position (X, Y), true distance:
wherein i is the ith measurement process, i =1, 2.., n, and n is measured n times in total; d i The distance between the unmanned plane and the real interference source at the moment i is obtained by a signal receiving intensity module, x i ,y i The position information of the unmanned aerial vehicle at the moment i; f. of i Calculating the distance between the current unmanned aerial vehicle position and the position of the real interference source for a two-dimensional distance formula;
assuming initial estimation of the interference source location (x) 0 ,y 0 ) Estimating the distance:
the position error Δ R represents the currently estimated location (x) of the interfering source 0 ,y 0 ) Distance true stemSource perturbation position (X, Y) value:
substituting the above formula into D i ＝f i (X, Y) includes:
the following transformations are carried out:
is provided with
In the above formula, n is each state information recorded by the unmanned aerial vehicle at the selected 1-n moment;
the final formulation is:
ΔD＝H·ΔR
selecting a proper intermediate point according to the flight track of the unmanned aerial vehicle so as to enable the H to be H T H is reversible, then:
ΔR＝(H T H) -1 H T ΔD
for Δ R with respect to (x) 0 ,y 0 ) Performing least square to obtain an optimal solution, and enabling the absolute value of the optimal solution to be smaller than a set threshold, wherein the real interference source at the moment is as follows:
(X,Y)＝(x 0 ,y 0 )+(Δx,Δy)。
example 2:
example 2 is a preferred example of example 1, and the present invention will be described in more detail.
The unmanned aerial vehicle method applied to multi-interference source detection and positioning provided by the invention can be understood as a specific implementation of the unmanned aerial vehicle system applied to multi-interference source detection and positioning by those skilled in the art, that is, the unmanned aerial vehicle system applied to multi-interference source detection and positioning can be realized by executing the step flow of the unmanned aerial vehicle method applied to multi-interference source detection and positioning.
The invention provides an unmanned aerial vehicle system applied to multi-interference source detection and positioning, which comprises:
a module M1: positioning an interference source when the absolute power of the signal is detected to be larger than the absolute power of a preset radio signal;
a module M2: detecting the real distance from the unmanned aerial vehicle to the interference source at the moment;
a module M3: estimating the initial position of an interference source by using the arrival angle of the received signal;
if the obtained initial position is not unique, the module M4 is operated; if the obtained initial position is unique, directly jumping to a module M5;
a module M4: filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
a module M5: and obtaining an estimated distance value by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, obtaining a distance error function by making a difference with a real distance value between the unmanned aerial vehicle and the interference source, and obtaining the position of the interference source by using least square.
Specifically, in the module M1:
the method comprises the steps that an interference detection module is started in the operation process of the unmanned aerial vehicle, when the interference detection module detects that the absolute power of a signal is larger than the absolute power of a preset radio signal, radio interference exists, an interference source is positioned, and the interference detection module judges whether the existing unmanned aerial vehicle is interfered or not;
the method for detecting whether the unmanned aerial vehicle is interfered or not adopts absolute power detection in signal amplitude detection, and when the absolute power value of the unmanned aerial vehicle signal is greater than a preset threshold value, the unmanned aerial vehicle signal is regarded as an interference source to position the interference source;
in the module M2:
when a radio interference source exists, a signal receiving strength ranging module is opened, and the distance between the unmanned aerial vehicle and the real interference source at the moment is detected;
and after the operation module obtains the initial interference source position, performing real-time signal receiving intensity detection between the interference source and the unmanned aerial vehicle, resolving the distance of the obtained signal receiving intensity, and obtaining the distance Di between the current unmanned aerial vehicle and the real interference source according to a signal receiving intensity ranging model.
In particular, in said module M3:
when a radio interference source is determined to exist, an interference source initial position resolving module is executed, the position of the initial interference source is estimated by utilizing the arrival angle of the received signal, and if the number of the estimated initial positions is not unique, false interference source filtering is carried out;
when the interference detection module judges that the interference is received at present, the module detects the arrival angle of the signal and performs initial estimation of the position of the interference source; obtaining the estimated initial position of the interference source by using a signal arrival angle two-point positioning method;
the signal arrival angle measurement positioning utilizes the directions of at least two different positions to the same target to determine the position of a target interference source, and the unmanned aerial vehicle is positioned at two points A (x) 1 ,y 1 )、B(x 2 ,y 2 ) At a respectively measured arrival angle of the signal of theta 1 、θ 2 Respectively making rays along the arrival direction of the signals to obtain the position of the intersection point, namely the interference source;
solving the triangle to obtain the estimated value of the real coordinate of the interference source
Wherein A (x) 1 ,y 1 ),B(x 2 ,y 2 )，
The values are respectively the initial values (x) of Taylor expansion 0 ,y 0 )，θ 1 ,θ 2 Respectively measuring arrival angles at A and B;x 1 is the abscissa, y, of point A 1 Is the ordinate, x, of point A 2 Is the abscissa of point B, y 2 Point B ordinate.
Specifically, in the module M4:
when the initial position is not unique, executing a multi-interference source filtering module, and filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
when a plurality of interference sources exist, checking the authenticity of the interference sources by using distance information obtained by a signal receiving strength ranging module, filtering the interference sources which do not conform to the actual distance, screening positions obtained by measuring angles of arrival of signals by using real distance values obtained by measuring the distance of the signal receiving strength, wherein points C and D are actually existing interference sources, an unmanned aerial vehicle respectively obtains signals from C and D at A and B, rays AC, AD and BC and BD can be obtained according to the measured angles of arrival, the positions C and D of the real interference sources can be obtained by pairwise intersection, but meanwhile, a false locating point E is generated, and the false locating point E needs to be filtered;
using the real distance of the unmanned aerial vehicle from the interference source obtained by the signal receiving intensity ranging as the radius, making circles at the positions A and B, observing from the point A, if a certain interference source which is calculated is not on the circle, and determining that points which are not on each circle at the same time are false positioning points generated by angle measurement of the arrival angle of the signal when a plurality of interference sources exist; when observing from the position B, if a certain interference source is not calculated on the circle, the point which is not on each circle is determined as a false positioning point generated by angle measurement of the arrival angle of the signal when a plurality of interference sources exist; the true interferer should meet on a certain circle when viewed at both a, B.
In particular, in said module M5:
when the initial position is unique or false interference sources are filtered by using the real distance value of the unmanned aerial vehicle from the interference source, the position of the interference source is calculated, the estimated distance value is obtained by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, a distance error function is obtained by subtracting the actual distance value between the unmanned aerial vehicle and the interference source, and the position of the interference source is optimized by using least square to the position of the interference source, so that the position of the interference source is obtained;
when the unmanned aerial vehicle is detected to be interfered, recording the current position of the unmanned aerial vehicle, taking the result obtained by the interference source initial position resolving module as an initial value of Taylor expansion, and calculating the distance di of the unmanned aerial vehicle from the estimated interference source; the result is differed with the distance data obtained by the signal receiving intensity ranging module to obtain a distance error function, and then the distance error function is solved by using least square to obtain the position of the interference source;
because the Taylor expansion has high requirement on the initial value, the position obtained by the initial positioning of the arrival angle of the signal is used as the initial value of the Taylor series expansion to carry out the positioning algorithm, and the specific algorithm is as follows:
let true interference source location (X, Y), true distance:
wherein i is the ith measurement process, i =1, 2.., n, and n is measured n times in total; d i The distance between the unmanned plane and the real interference source at the moment i is obtained by a signal receiving intensity module, and x i ,y i The position information of the unmanned aerial vehicle at the moment i; f. of i Calculating the distance between the current unmanned aerial vehicle position and the true interference source position for a two-dimensional distance formula;
assuming initial estimation of the interference source location (x) 0 ,y 0 ) Estimating the distance:
the position error Δ R represents the currently estimated interference source position (x) 0 ,y 0 ) Distance true interference source location (X, Y) value:
substituting the above formula into D i ＝f i (X, Y) includes:
the continued transformation is as follows:
is provided with
In the above formula, n is each state information recorded by the unmanned aerial vehicle at the selected 1-n moment;
the final formulation is:
ΔD＝H·ΔR
selecting a proper intermediate point according to the flight track of the unmanned aerial vehicle so as to enable the H to be H T H is reversible, then:
ΔR＝(H T H) -1 H T ΔD
for Δ R with respect to (x) 0 ,y 0 ) And performing least square to obtain an optimal solution, so that the absolute value of the optimal solution is smaller than a set threshold, and the true interference source at the moment is as follows:
(X,Y)＝(x 0 ,y 0 )+(Δx,Δy)。
example 3:
example 3 is a preferred example of example 1, and the present invention will be described in more detail.
The system comprises five modules: the system comprises an interference detection module, an interference source initial position calculating module, an RSSI ranging module, a multi-interference source filtering module and an interference source position calculating module. According to the scheme, whether the unmanned aerial vehicle is influenced by an interference source is obtained by using a signal amplitude detection algorithm, if the interference source exists, initial positioning of the interference source is carried out by using two signal arrival angles, and subsequently, taylor is used for carrying out continuous convergence on the estimated position so as to obtain more accurate interference source position information. If multiple interference sources exist, the distance between the unmanned aerial vehicle and the interference source is obtained by using the Received Signal Strength Indicator (RSSI) to eliminate false interference sources.
The method comprises the following steps:
step 1: the method comprises the steps that an interference detection module is started in the normal operation process of the unmanned aerial vehicle, when the interference detection module detects that the absolute power of a signal is larger than the absolute power of a conventional radio signal, namely radio interference possibly exists, and an interference source is positioned at the moment;
step 2: when a radio interference source is found to possibly exist, the RSSI ranging module is started, the distance between the unmanned aerial vehicle and the real interference source at the moment is detected, and the measured real distance value is used in the subsequent establishment of an error function;
and step 3: when a radio interference source is determined to exist, an interference source initial position resolving module is executed, the position of the initial interference source is estimated by utilizing the arrival angle of the received signal, and if the number of the estimated initial positions is not unique, the possible false interference source is filtered;
and 4, step 4: when the initial position obtained in the step 3 is not unique, executing a multi-interference source filtering module, and filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources obtained in the step 2;
and 5: when the initial position obtained in the step 3 is unique or the step 4 is finished, the position of the interference source is resolved, an estimated distance value is obtained by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, a distance error function is obtained by making a difference with the real distance value between the unmanned aerial vehicle and the interference source obtained in the step 2, and the distance error function is optimized by using least square to the position of the interference source, so that the final solution of the position of the interference source is obtained.
Example 4:
example 4 is a preferred example of example 1, and the present invention will be described in more detail.
An interference detection module: the module is used for judging whether the existing unmanned aerial vehicle is interfered or not, and a method for detecting whether the unmanned aerial vehicle is interfered or not mainly comprises signal amplitude detection, signal arrival angle detection, signal arrival time detection, consistency detection with other navigation equipment and change of an encryption authentication system. From the implementation cost and the implementation effect of each detection scheme, the absolute power detection in the signal amplitude detection is adopted, and when the absolute power detection value is larger than a certain threshold value (the threshold value can be set by self and is generally a normal radio signal absolute power value in the flight process of the unmanned aerial vehicle), the absolute power detection value is regarded as an interference source, and then the interference source positioning can be carried out.
The interference source initial position resolving module: when the interference detection module judges that the interference is received at present, the module detects the arrival angle of the signal and performs initial estimation on the position of the interference source.
The estimated initial position of the interference source is obtained by two-point positioning method of direction of arrival (DOA).
DOA goniometric positioning utilizes the direction of at least two different locations to the same target to determine the location of the target's interferer. As shown in FIG. 1, assume that the drone is at two points A (x) 1 ,y 1 )、B(x 2 ,y 2 ) At a respectively measured angle of arrival of the signals of
θ 1 、θ 2 Then rays are taken along the direction of arrival AC, BC of the signal to obtain the intersection point C, which is then the location of the interference source.
Solving the triangle to obtain the estimated value of the real coordinate of the interference source
Wherein A (x) 1 ,y 1 ),B(x 2 ,y 2 )，
The values are respectively the initial values (x) of Taylor expansion 0 ,y 0 )，θ 1 ,θ 2 Respectively measuring arrival angles at A and B; x is the number of 1 Is the abscissa of point A, y 1 Is the ordinate, x, of point A 2 Is the abscissa of point B, y 2 Is a pointB, the ordinate.
RSSI range finding module: after the operation module obtains the initial interference source position, the signal receiving intensity between the interference source and the unmanned aerial vehicle is detected in real time, and the obtained signal receiving intensity is subjected to distance calculation, namely the distance Di between the current unmanned aerial vehicle and the real interference source is obtained according to the RSSI ranging model.
A multi-interference source filtering module: when a plurality of interference sources exist, namely the interference source initial position resolving module obtains more than one value, the distance information obtained by the RSSI ranging module is used for verifying the authenticity of the interference sources, and the interference sources which do not accord with the actual distance are filtered. The positions obtained by measuring angles by DOA are screened by using the true distance values obtained by RSSI ranging, as shown in figure 2, points C and D are interference sources which exist really, the unmanned aerial vehicle respectively obtains signals from the points C and D at the points A and B, rays AC, AD, BC and BD can be obtained according to the measured arrival angles, the positions C and D of the real interference sources can be obtained by pairwise intersection, however, false positioning points such as E can be generated at the same time, and at the moment, the false positioning points need to be filtered. The true distance between the unmanned aerial vehicle and the interference source obtained by RSSI ranging is a radius, circles are drawn at the positions A and B, and if a certain calculated interference source is not on the circle (namely, the point E in the figure), the false positioning point generated by DOA angle measurement when the point which is not on each drawn circle is a plurality of interference sources can be determined (when the point B is observed, the true interference source is required to be on the circle when the point A and the point B are observed).
The interference source position resolving module: when the unmanned aerial vehicle is detected to be interfered, continuously recording the current position of the unmanned aerial vehicle, taking the result obtained by the interference source initial position resolving module as an initial value of Taylor expansion, and calculating the distance di of the unmanned aerial vehicle from the estimated interference source; and subtracting the result from the distance data obtained by the RSSI ranging module to obtain a distance error function, and then solving the distance error function by using least square to obtain the final position of the interference source.
Because the Taylor expansion has high requirement on the initial value (the smaller the difference value between the initial value and the true value is, the closer the Taylor approximation is), the position obtained by the initial positioning of the DOA is used as the initial value of the Taylor series expansion to carry out the positioning algorithm, and the specific algorithm is as follows:
setting a true interference source position: (X, Y), true distance:
D i is obtained from RSSI, where x i ,y i And the position information of the unmanned aerial vehicle at the moment i.
Assuming initial estimation of the interference source location: (x) 0 ,y 0 ) Estimating the distance:
then there is the following formula:
the following transformations are carried out:
is provided with
In the above formula, n is each state information recorded by the selected unmanned aerial vehicle at 1-n moments.
Then the final formulation is:
ΔD＝H·ΔR (1-4)
selecting a proper intermediate point according to the flight track of the unmanned aerial vehicle so as to enable the H to be H T H is reversible, then:
ΔR＝(H T H) -1 H T ΔD (1-5)
following pair of Δ R(x 0 ,y 0 ) Performing least square to obtain an optimal solution, and enabling the absolute value of the optimal solution to be smaller than a set threshold, wherein the true interference source at the moment is (X, Y) = (X) 0 ,y 0 )+(Δx,Δy)。
Example 5:
example 5 is a preferred example of example 1, and the present invention will be described more specifically.
The implementation principle is as follows: continuously recording the position of the unmanned aerial vehicle during the operation of the unmanned aerial vehicle, keeping the interference detection module in operation, and when detecting that the absolute power is greater than a set threshold value (taking-153 decibel watt as an example); opening an RSSI ranging module to record the distance from the unmanned aerial vehicle to a real interference source at each moment in real time, starting to receive a signal arrival angle, and calculating the initial position of the interference source by using DOA; when the initial position of the interference source is not unique, filtering the false interference source; and when the interference source is unique or after the false interference source is filtered, obtaining an estimated distance by using the obtained initial position of the interference source and the position of the unmanned aerial vehicle, obtaining a distance error function by subtracting the estimated distance from the actual distance obtained by RSSI ranging, performing least square solution, and finally outputting the position of the interference source at the moment.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the apparatus, and the modules thereof provided by the present invention may be considered as a hardware component, and the modules included in the system, the apparatus, and the modules for implementing various programs may also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (4)
1. An unmanned aerial vehicle method applied to multi-interference source detection and positioning is characterized by comprising the following steps:
step S1: positioning an interference source when the absolute power of the signal is detected to be larger than the absolute power of a preset radio signal;
step S2: detecting the real distance from the unmanned aerial vehicle to the interference source at the moment;
and step S3: estimating the initial position of an interference source by using the arrival angle of the received signal;
if the initial position is not unique, executing the step S4; if the obtained initial position is unique, directly jumping to the step S5;
and step S4: filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
step S5: obtaining an estimated distance value by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, obtaining a distance error function by making a difference with a real distance value between the unmanned aerial vehicle and the interference source, and obtaining the position of the interference source by using least square;
in the step S3:
when a radio interference source is determined to exist, an interference source initial position resolving module is executed, the position of the initial interference source is estimated by utilizing the arrival angle of the received signal, and if the number of the estimated initial positions is not unique, false interference source filtering is carried out;
when the interference detection module judges that the interference is received at present, the initial position resolving module detects the arrival angle of the signal and performs initial estimation on the position of the interference source; obtaining an estimated interference source initial position by using a signal arrival angle two-point positioning method;
the two-point positioning method of the arrival angle of the signal utilizes the directions of at least two different positions to the same target to determine the position of a target interference source, and the unmanned aerial vehicle is positioned at two points A (x) 1 ,y 1 )、B(x 2 ,y 2 ) Respectively measured arrival angle of the signals is theta 1 、θ 2 Respectively making rays along the arrival direction of the signals to obtain the positions of the intersection points which are the positions of the interference sources;
solving the triangle to obtain the estimated value of the real coordinate of the interference source
Wherein A (x) 1 ,y 1 ),B(x 2 ,y 2 )，
The values are the initial values (x) at Taylor expansion 0 ,y 0 )，θ 1 ,θ 2 Respectively measuring the arrival angles of A and B; x is the number of 1 Is the abscissa, y, of point A 1 Is the ordinate, x, of point A 2 Is the abscissa of point B, y 2 Is the ordinate of point B;
in the step S5:
when the initial position is unique or false interference source filtering is completed by using the real distance value between the unmanned aerial vehicle and the interference source, the position of the interference source is resolved, an estimated distance value is obtained by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, a distance error function is obtained by subtracting the actual distance value between the unmanned aerial vehicle and the interference source, and the position of the interference source is optimized by using least square to relate to the position of the interference source, so that the position of the interference source is obtained;
when the unmanned aerial vehicle is detected to be interfered, recording the current position of the unmanned aerial vehicle, taking the result obtained by the interference source initial position resolving module as an initial value of Taylor expansion, and calculating the distance di of the unmanned aerial vehicle from the estimated interference source; the result is differed with the distance data obtained by the signal receiving intensity ranging module to obtain a distance error function, and then the distance error function is solved by using least square to obtain the position of the interference source;
because the Taylor expansion has high requirement on the initial value, the position obtained by the initial positioning of the arrival angle of the signal is used as the initial value of the Taylor series expansion to carry out the positioning algorithm, and the specific algorithm is as follows:
let true interference source location (X, Y), true distance:
wherein i is the ith measurement process, i =1, 2.. Multidot.n, and n is measured for a total of n times; d i The distance between the unmanned aerial vehicle and the real interference source at the moment i is obtained by a signal receiving strength ranging module, and x i ,y i The position information of the unmanned aerial vehicle at the moment i; f. of i Calculating the distance between the current unmanned aerial vehicle position and the true interference source position for a two-dimensional distance formula;
assuming initial estimation of the interference source location (x) 0 ,y 0 ) And estimating the distance:
the position error Δ R represents the currently estimated interference source position (x) 0 ,y 0 ) Distance from the true interference source location (X, Y) value:
substituting the above formula into D i ＝f i (X, Y) includes:
the continued transformation is as follows:
in the above formula, n is each state information recorded by the selected unmanned aerial vehicle at 1-n moments;
the final formulation is:
ΔD＝H·ΔR
selecting a proper intermediate point according to the flight track of the unmanned aerial vehicle so as to enable the H to be H T H is reversible, then:
ΔR＝(H T H) -1 H T ΔD
for Δ R with respect to (x) 0 ,y 0 ) And performing least square to obtain an optimal solution, so that the absolute value of the optimal solution is smaller than a set threshold, and the true interference source at the moment is as follows:
(X,Y)＝(x 0 ,y 0 )+(Δx,Δy)。
2. the drone method for multi-interference source detection and localization according to claim 1, wherein:
in the step S1:
the method comprises the steps that an interference detection module is started in the operation process of the unmanned aerial vehicle, when the interference detection module detects that the absolute power of a signal is larger than the absolute power of a preset radio signal, radio interference exists, and an interference source is positioned; the interference detection module adopts absolute power detection in signal amplitude detection, and when the absolute power of a signal detected in the unmanned aerial vehicle interference detection module is greater than a set threshold, a target sending the signal is set as an interference source to perform interference source positioning;
in the step S2:
when a radio interference source exists, a signal receiving intensity ranging module is opened, and the distance between the unmanned aerial vehicle and the real interference source at the moment is detected;
after the initial position resolving module obtains the initial interference source position, real-time signal receiving intensity detection between the interference source and the unmanned aerial vehicle is carried out, the obtained signal receiving intensity is resolved, and the distance Di between the current unmanned aerial vehicle and the real interference source is obtained according to a signal receiving intensity ranging model.
3. The drone method for multi-interference source detection and positioning according to claim 1, wherein in the step S4:
when the initial position is not unique, executing a multi-interference source filtering module, and filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
when a plurality of interference sources exist, checking the authenticity of the interference sources by using distance information obtained by a signal receiving strength ranging module, filtering the interference sources which do not accord with actual distances, screening positions obtained by measuring angles of arrival of signals by using real distance values obtained by the signal receiving strength ranging module, wherein points C and D are actually existing interference sources, the unmanned aerial vehicle respectively obtains signals from the points C and D at the points A and B, rays AC, AD, BC and BD can be obtained according to the measured angles of arrival, the positions C and D of the actual interference sources can be obtained by pairwise intersection, but meanwhile, a false locating point E can be generated, and the false locating point is required to be filtered;
using the real distance of the unmanned aerial vehicle from the interference source obtained by the signal receiving intensity ranging module as a radius, making circles at the positions A and B, observing from the point A, if a certain interference source calculated is not on the circle, and identifying a false positioning point generated by angle measurement of arrival of the signal when the point which is not on each made circle is a plurality of interference sources; when observing from the position B, if a certain interference source is not calculated on the circle, the point which is not on each circle is determined as a false positioning point generated by angle measurement of the arrival angle of the signal when a plurality of interference sources exist; the true interferer should fit on a circle when viewed at both a, B.
4. A drone system for multiple interference source detection and localization for performing the drone method of multiple interference source detection and localization according to any one of claims 1-3, characterized in that it comprises:
an interference detection module: judging whether the existing unmanned aerial vehicle is interfered, and detecting whether the unmanned aerial vehicle is interfered, wherein when the absolute power of a detected signal is larger than the absolute power of a preset radio signal, the method carries out positioning of an interference source;
the signal receiving strength ranging module: detecting the real distance between the unmanned aerial vehicle and the interference source at the moment;
the interference source initial position resolving module: estimating the initial position of an interference source by using the arrival angle of the received signal;
if the obtained initial position is not unique, operating a multi-interference source filtering module; if the obtained initial position is unique, directly jumping to an interference source position resolving module;
when the interference detection module judges that the interference is received at present, the initial position resolving module detects the arrival angle of the signal and performs initial estimation on the position of the interference source; obtaining the estimated initial position of the interference source by using a signal arrival angle two-point positioning method;
the multi-interference source filtering module: filtering false interference sources by using the real distance value of the unmanned aerial vehicle from the interference sources;
interference source position resolving module: and obtaining an estimated distance value by using the current position of the unmanned aerial vehicle and the obtained initial estimated position of the interference source, obtaining a distance error function by making a difference with a real distance value between the unmanned aerial vehicle and the interference source, and obtaining the position of the interference source by using least square.
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