CN114362854A - Communication anti-interference auxiliary decision-making equipment, system and method suitable for unmanned ship - Google Patents
Communication anti-interference auxiliary decision-making equipment, system and method suitable for unmanned ship Download PDFInfo
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Abstract
The application discloses a communication anti-interference auxiliary decision-making device, a system and a method suitable for an unmanned ship, wherein a direction-finding frequency-sweeping antenna in the auxiliary decision-making device is formed by combining a Vivaldi antenna and a circular polarization frequency-sweeping antenna, the output end of the circular polarization frequency-sweeping antenna is connected to a first receiving end of a receiver, and the output end of the Vivaldi antenna is connected to a second receiving end of the receiver through an isolating switch; the output end of the receiver is electrically connected with the data processing unit; the data processing unit is used for determining monitoring data of the detection signal when the detection signal is judged to be an interference signal; the receiving end of the carrier-based emergency communication equipment is connected to the output end of the data processing unit, and the carrier-based emergency communication equipment is used for sending monitoring data determined by the data processing unit through the Beidou communication satellite. By the technical scheme, the effect of monitoring the frequency and the direction of the interference signal influencing radio signal communication by the aid of the auxiliary decision-making equipment is optimized, and the frequency coverage range is enlarged.
Description
Technical Field
The application relates to the technical field of unmanned ship equipment, in particular to communication anti-interference auxiliary decision-making equipment suitable for an unmanned ship, a communication anti-interference auxiliary decision-making system suitable for the unmanned ship and a communication anti-interference auxiliary decision-making method suitable for the unmanned ship.
Background
The unmanned ship has the functions of remote control and autonomous navigation, wherein the wireless communication technology is the key technology of unmanned ship communication. However, since a large amount of radio signals are transmitted in the air, the communication frequency coverage is wide, so that the electromagnetic environment in which the unmanned ship remote control and telemetry operates safely becomes more complex and even worsens, the signal-to-noise ratio of the unmanned ship communication system is reduced due to the interference of the radio signals, the demodulation performance is affected, the error rate is greatly increased, and the communication interruption condition occurs in severe cases.
Therefore, it is necessary to perform direction finding and positioning on an interference signal in a wireless communication environment of the unmanned ship, detect the signal amplitude, frequency and interference type of an interference source, and further perform effective interference avoidance and interference suppression by measures such as frequency change, amplification, antenna azimuth switching, and the like, thereby ensuring safe, reliable and stable operation of the unmanned ship.
However, the interference signal direction-finding device in the prior art has at least the following problems:
1. although the ultra-wideband antenna has many frequency types and a relatively large coverage range of corresponding dedicated frequency band and frequency, the ultra-wideband antenna cannot completely cover 0.5G to 6GHz, cannot realize full-range coverage, has a relatively low automation degree, generally needs manual operation, and cannot realize unmanned operation.
2. The direction-finding antenna is limited in installation space due to the fact that the unmanned ship is loaded more, the existing high-gain ultra-wideband antenna is large in size, the installation is inconvenient for ships with limited space, and other loading equipment can interfere with the direction-finding sweep antenna, particularly an electronic switch for switching a direction-finding channel in the direction-finding antenna.
Disclosure of Invention
The purpose of this application lies in: the problem of interference signal direction finding can't realize unmanned operation and frequency coverage narrower in unmanned ship is solved to the effect of monitoring interference signal frequency and the position that influences radio signal communication has been optimized.
The technical scheme of the first aspect of the application is as follows: the utility model provides an anti-interference aid decision-making equipment of communication suitable for unmanned ship, this aid decision-making equipment sets up on unmanned ship, and aid decision-making equipment is used for acquireing the detection signal of unmanned ship navigation in-process, and its characterized in that, aid decision-making equipment includes: the system comprises a direction-finding sweep-frequency antenna, an isolating switch, a receiver, a data processing unit and carrier-borne emergency communication equipment; the direction-finding frequency-sweeping antenna is formed by combining a Vivaldi antenna and a circular polarization frequency-sweeping antenna, the output end of the circular polarization frequency-sweeping antenna is connected to a first receiving end of the receiver, and the output end of the Vivaldi antenna is connected to a second receiving end of the receiver through an isolation switch; the output end of the receiver is electrically connected with the data processing unit, and the receiver is used for forwarding the detection signal received by the direction-finding swept frequency antenna to the data processing unit; the data processing unit is used for determining monitoring data of the detection signal when the detection signal is judged to be an interference signal; the receiving end of the carrier-based emergency communication equipment is connected to the output end of the data processing unit, and the carrier-based emergency communication equipment is used for sending monitoring data determined by the data processing unit through the Beidou communication satellite.
In any one of the above technical solutions, further, a multi-stage PCB is disposed on the direction-finding swept-frequency antenna, wherein a plurality of paired sets of card slots are disposed on the first-stage PCB and the second-stage PCB; the circular polarization frequency sweeping antenna is arranged above the first-stage PCB, a circular substrate is arranged at the top of the circular polarization frequency sweeping antenna, and an equiangular spiral feed structure and an Archimedes spiral feed structure which are connected in a gathering mode are arranged on the circular substrate; bosses are arranged on the upper side and the lower side of the Vivaldi antenna and inserted into the clamping grooves so as to install the Vivaldi antennas between the first-stage PCB and the second-stage PCB, and the Vivaldi antennas are used for forming the direction-finding array antenna.
In any of the above technical solutions, further, the circular substrate is provided with an equiangular spiral feed structure and an archimedean spiral feed structure that are connected in a converging manner, and the method specifically includes: a feed point is arranged at the center of the circular substrate, and two rectangular feed structures are arranged on two sides of the feed point along the radial direction; one end of the equiangular spiral feed structure converges and spirals to the position of the feed point to be connected with one end of the rectangular feed structure; the other ends of the equiangular spiral feed structures converge and spiral to a first preset position in the opposite direction of the position of the feed point to be connected with one end of the Archimedes spiral feed structure; and the other end of the Archimedes spiral feed structure rotates from inside to outside and converges at a second preset position, wherein the second preset position is right opposite to the other end of the rectangular feed structure.
In any of the above technical solutions, further, the circular polarization swept-frequency antenna further includes: an impedance board; the impedance board is arranged below the circular substrate, one end of the impedance board is connected to the feed point, and the other end of the impedance board is connected to the signal input end of the electronic switch.
In any one of the above technical solutions, further, the disconnecting switch includes: a shell and a switch group; a shielding structure is arranged in the shell and divides the interior of the shell into a plurality of chambers, wherein the first chamber is positioned in the middle area of the interior of the shell, and the plurality of second chambers are distributed between the outer side of the first chamber and the inner wall of the shell; the switch group comprises a first switch and a second switch, the first switch is arranged in the first cavity, the second switch is arranged in the second cavity, one end of the second switch is arranged at the input end of the isolating switch, the other end of the second switch is connected with the input end of the first switch, the output end of the first switch is arranged at the output end of the isolating switch, the first switch is a multi-way gating switch, the second switch is a Pin switch, and the Pin switch and the multi-way gating switch are connected in a radio frequency mode.
In any of the above technical solutions, further, the process of determining, by the data processing unit, whether the detection signal is an interference signal specifically includes: step 1, calculating detection statistics of a detection signal by adopting an accumulation summation mode based on an observed value of the detection signal; step 2, when the detection statistic is judged to be smaller than a first threshold value, judging that the detection signal is not an interference signal; step 3, when the detection statistic is judged to be larger than a second threshold value, judging that the detection signal is an interference signal, wherein the first threshold value is smaller than the second threshold value; step 4, when the detection statistic is judged to be larger than or equal to the first threshold value and is smaller than or equal to the second threshold value, discretizing sampling is carried out on the detection signal, and the correlation coefficient of the detection signal after discretizing sampling is calculated; and 5, when the correlation coefficient is judged to be larger than or equal to the preset threshold value, judging that the detection signal is an interference signal, otherwise, judging that the detection signal is not the interference signal.
The technical scheme of the second aspect of the application is as follows: an anti-interference communication assistant decision system suitable for an unmanned ship is provided, wherein the assistant decision system comprises assistant decision equipment, a shore-side main control computer and shore-side equipment, which are provided by any one of the technical schemes in the first aspect; the shore-end main control computer is internally provided with a Beidou communication all-in-one machine which is used for receiving monitoring data sent by carrier-borne emergency communication equipment in the auxiliary decision-making equipment; the shore end equipment is electrically connected to the shore end main control computer and used for generating an auxiliary decision instruction based on the monitoring data.
The third aspect of the present application is the following technical solution: the method for the auxiliary decision-making of the communication anti-interference suitable for the unmanned ship comprises the following steps: step A, acquiring a detection signal received by a direction-finding sweep frequency antenna; b, judging whether the detection signal is an interference signal, if so, determining monitoring data corresponding to the detection signal, and sending the monitoring data to shore-based equipment through the carrier-based emergency communication equipment, wherein the shore-based equipment is used for generating an auxiliary decision instruction corresponding to the detection signal according to the monitoring data; and C, receiving an auxiliary decision instruction through the ship-based emergency communication equipment, and adjusting communication parameters of the communication equipment in the unmanned ship based on the auxiliary decision instruction, wherein the communication parameters at least comprise frequency, amplitude, bandwidth and antenna orientation.
In any of the above technical solutions, further, the process of determining whether the detection signal is an interference signal specifically includes: step 1, calculating detection statistics of a detection signal by adopting an accumulation summation mode based on an observed value of the detection signal; step 2, when the detection statistic is judged to be smaller than a first threshold value, judging that the detection signal is not an interference signal; step 3, when the detection statistic is judged to be larger than a second threshold value, judging that the detection signal is an interference signal, wherein the first threshold value is smaller than the second threshold value; step 4, when the detection statistic is judged to be larger than or equal to the first threshold value and is smaller than or equal to the second threshold value, discretizing sampling is carried out on the detection signal, and the correlation coefficient of the detection signal after discretizing sampling is calculated; and 5, when the correlation coefficient is judged to be larger than or equal to the preset threshold value, judging that the detection signal is an interference signal, otherwise, judging that the detection signal is not the interference signal.
In any of the above technical solutions, further, the calculation formula of the correlation coefficient is:
in the formula, ρi,i+1Is the correlation coefficient, y, of the detection signal at the sampling time i and the sampling time i +1i(k) For the sampling point of the detection signal corresponding to the kth sampling point in the sampling time i, k is 0,1,2, …, m, yi+1(k) And the sampling value of the detection signal corresponding to the kth sampling point in the sampling time i + 1.
The beneficial effect of this application is:
according to the technical scheme, the direction-finding scanning antenna which is integrally designed by integrating the Vivaldi antenna and the circularly polarized frequency sweeping antenna is adopted in the auxiliary decision-making equipment, the size of the direction-finding scanning antenna equipment is reduced, the whole frequency coverage range of the direction-finding scanning antenna is favorably improved, and the monitoring effect of the anti-interference auxiliary decision-making equipment on interference signals is further optimized. And by arranging the isolating switch with high isolation, the signal isolation of the Vivaldi antenna is realized, the accuracy and the reliability of a detection signal transmitted to a receiver are ensured, and the stable operation of the direction finding sweep antenna is favorably ensured.
In this application, still through setting up carrier-borne emergency communication equipment to guarantee that unmanned ship can carry out the interference by the supplementary decision-making of bank base equipment with real-time supervision data transmission to bank base equipment through big dipper communication satellite when receiving the interference, in time adjust communication equipment's frequency, range, bandwidth, antenna position isoparametric, carry out effectual anti-jamming, guarantee unmanned ship's safe navigation.
Drawings
The advantages of the above and/or additional aspects of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic block diagram of a communication anti-jamming aid decision-making device adapted for use with an unmanned boat according to an embodiment of the present application;
FIG. 2 is a front view of a direction finding swept antenna according to one embodiment of the present application;
FIG. 3 is a front view of a circularly polarized swept antenna according to one embodiment of the present application;
FIG. 4 is a top view of a circularly polarized swept antenna according to one embodiment of the present application;
fig. 5(a) is a schematic diagram of a front side of an impedance board according to one embodiment of the present application;
FIG. 5(b) is a schematic illustration of the reverse side of an impedance board according to one embodiment of the present application;
fig. 6(a) is a front view of a vivaldi antenna according to one embodiment of the present application;
fig. 6(b) is a rear view of a vivaldi antenna according to one embodiment of the present application;
FIG. 7 is a diagram of isolation simulations of a direction finding swept antenna according to one embodiment of the present application;
FIG. 8 is a port standing wave ratio simulation plot of a direction finding swept antenna according to one embodiment of the present application;
FIG. 9 is a directional simulation diagram of a direction finding swept antenna according to one embodiment of the present application;
FIG. 10 is a top view of a housing according to an embodiment of the present application;
FIG. 11 is a schematic diagram of a disconnector according to an embodiment of the application;
FIG. 12 is a schematic block diagram of a receiver according to one embodiment of the present application;
FIG. 13 is a schematic flow chart diagram of determining whether a probe signal is an interference signal according to one embodiment of the present application;
FIG. 14 is a schematic block diagram of a data processing unit according to an embodiment of the present application;
FIG. 15 is a schematic diagram of a probe signal processing flow according to one embodiment of the present application;
fig. 16 is a schematic block diagram of a communication interference rejection aid decision system suitable for use in an unmanned boat according to an embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
The first embodiment is as follows:
as shown in fig. 1, the present embodiment provides an anti-interference communication decision-making assisting device suitable for an unmanned ship, which realizes that an assistant decision-making device 100 having an interference direction-finding positioning function is disposed in the unmanned ship, and the miniaturization of the assistant decision-making device 100 and the frequency coverage of a direction-finding swept frequency antenna 10 are improved, where the assistant decision-making device 100 is disposed on the unmanned ship, and the assistant decision-making device 100 is used to obtain a detection signal during the navigation process of the unmanned ship.
In this embodiment, the assistant decision device 100 includes: the direction-finding frequency-sweeping antenna 10, the isolating switch 60, the receiver 30, the data processing unit 40 and the ship-borne emergency communication equipment 50; the direction-finding frequency-sweeping antenna 10 is an integrated antenna with direction-finding and frequency-sweeping functions, the direction-finding frequency-sweeping antenna 10 is formed by combining a vivaldi antenna 101 and a circular polarization frequency-sweeping antenna 102, an output end of the circular polarization frequency-sweeping antenna 102 is connected to a first receiving end of the receiver 30, an output end of the vivaldi antenna 101 is connected to a second receiving end of the receiver 30 through an isolating switch 60, and therefore frequency monitoring and direction positioning of interference signals can be achieved.
As shown in fig. 2, in this embodiment, an implementation manner of the direction-finding swept-frequency antenna 10 is further shown, where multiple stages of PCB boards are disposed on the direction-finding swept-frequency antenna 10, and multiple paired sets of card slots are disposed on the first stage PCB board 31 and the second stage PCB board 32; the circular polarization frequency sweep antenna 102 is arranged above the first-stage PCB 31, a circular substrate 21 is arranged at the top of the circular polarization frequency sweep antenna 102, and an equiangular spiral feed structure 22 and an Archimedes spiral feed structure 23 which are connected in a converging manner are arranged on the circular substrate 21; bosses 11 are arranged on the upper side and the lower side of the vivaldi antenna 101, the bosses 11 are inserted into the card slots, so that the vivaldi antennas 101 are installed between the first-stage PCB 31 and the second-stage PCB 32, and the vivaldi antennas 101 are used for forming a direction-finding array antenna.
Specifically, the circular polarization swept-frequency antenna 102 is installed above the first-stage PCB board 31, i.e., at the top of the antenna device, so as to effectively receive electromagnetic wave signals transmitted in the air and on the shore. In addition, in order to reduce the overall weight of the antenna device, the overall structure of the antenna device adopts the first-stage PCB 31 and the second-stage PCB 32 as supporting plates according to a modular design concept, and the vivaldi antenna 101 and the circular polarization frequency-sweeping antenna 102 are fixed together by using a proper slot or hole as a clamping slot without using fixing parts such as screws, structural members and the like, so that the overall weight of the antenna device can be reduced, the installation space of each part of the antenna is saved, the miniaturization of the antenna device is facilitated, and the antenna device is more suitable for the interference monitoring and positioning of unmanned ships.
As shown in fig. 3 and 4, this embodiment further illustrates an implementation manner of a circularly polarized swept antenna 102, where the circularly polarized swept antenna 102 includes: the antenna comprises a circular substrate 21, an equiangular spiral feed structure 22, an Archimedes spiral feed structure 23 and an impedance plate 24, wherein the equiangular spiral feed structure 22 and the Archimedes spiral feed structure 23 are arranged on the circular substrate 21 in a convergence connection mode; the circular substrate 21 is arranged at the top of the circular polarization sweep antenna 102, the feed point 25 is arranged at the center of the circular substrate 21, and two rectangular feed structures 26 are arranged on two sides of the feed point 25 along the radial direction; one end of the equiangular spiral feed structure 22 converges and spirals toward the location of the feed point 25 to connect to one end of the rectangular feed structure 26; the other ends of the equiangular spiral feed structures 22 converge and spiral to a first preset position in the opposite direction of the position of the feed point 25 to be connected to one end of the Archimedes spiral feed structure 23; the other end of the archimedes spiral feed structure 23 rotates from inside to outside and converges to a second preset position, wherein the second preset position is opposite to the other end of the rectangular feed structure 26; the impedance plate 24 is disposed below the circular substrate 21, one end of the impedance plate 24 is connected to the feeding point 25, and the other end of the impedance plate 24 is connected to the electronic switch.
Specifically, the helical antenna has broadband characteristics in many aspects, such as directional characteristics, impedance characteristics, and polarization characteristics, and has advantages of small size, light weight, stable structure, and good circular polarization characteristics, thereby drawing high attention and being widely used. However, in general, in the case of a planar helical antenna or a conical helical antenna, it is difficult to further reduce the size of the antenna in terms of design size in determining a frequency band.
Although the equiangular helical antenna has good broadband characteristics, the overall size becomes very large if compatible with low frequency bands, and therefore, the physical size of the antenna can be reduced while widening the frequency band by means of the archimedes helical loading characteristics. Therefore, the standard archimedean spiral and the equiangular spiral antenna are improved to combine the advantages of the two.
In this embodiment, the setting of the indexes of the circular polarization swept antenna 102 includes: the frequency band fH/fL is 12, VSWR is not less than 3, axial ratio is not more than 3dB, and the diameter of the antenna size is not more than one sixth of the wavelength. The simulation index of the circularly polarized swept antenna 102 is shown in table 1.
TABLE 1
Specifically, the equiangular spiral feed structure 22 and the archimedean spiral feed structure 23 are provided on the upper surface of the circular substrate 21, and the equiangular spiral feed structures 22 are divided into two groups of symmetrical feed structures. A plane rectangular coordinate system is established on the plane of the circular substrate 21, the origin is the center of the circular substrate 21, two rectangular feed structures 26 are set to be arranged oppositely, the connecting line of the center lines of the two rectangular feed structures 26 in the length direction is coincident with the y-axis, the counterclockwise rotation direction is the positive direction, and taking any equiangular spiral feed structure 22 as an example.
One end of the equiangular spiral feed structure 22 converges and rotates inwardly to connect with one end of a rectangular feed structure 26. The other end of the equiangular spiral feed structure 22 converges and rotates outward, and when rotating to a first preset position, the other end of the equiangular spiral feed structure is connected with one end of the archimedean spiral feed structure 23, wherein the first preset position is determined by simulation of the antenna index of the circular polarization frequency sweep antenna 102, and an included angle between the first preset position and the rectangular feed structure 26 connected with the first preset position is 7/4 pi.
Similarly, the other end of the archimedes spiral feed structure 23 rotates from inside to outside and converges to a second predetermined position, which is opposite to the other end of the rectangular feed structure 26, and the included angle between the rectangular feed structures 26 connected to the second predetermined position is 3/2 pi.
In the embodiment, the circular polarization swept-frequency antenna is formed by the equiangular spiral feed structure and the Archimedes spiral feed structure, the broadband characteristic of the equiangular spiral feed structure is fully utilized by means of the loading characteristic of the Archimedes spiral feed structure, the physical size of the antenna is reduced while the frequency band is widened, and the miniaturization design of the interference direction finding swept-frequency antenna in the unmanned ship is realized.
Further, this embodiment also shows an implementation manner of the impedance board 24, and the structure of the implementation manner is as shown in fig. 5(a) and fig. 5(b), the front and back sides of the impedance board 24 are respectively provided with an index gradual change microstrip line, the start end of the index gradual change microstrip line on the front and back sides is located at the top of the impedance board 24 and connected to the feed point, the termination end of the index gradual change microstrip line on the front and back sides is located at the bottom of the impedance board 24, wherein the width of the termination end of the index gradual change microstrip line on the front side is smaller than the width of the termination end of the index gradual change microstrip line on the back side.
Specifically, a central protrusion 28 is disposed at a top center position of the impedance board 24, and serves as a starting end of an exponential gradient microstrip line on both sides, and meanwhile, a groove is disposed at a center position of the circular substrate 21, and after the central protrusion 28 is inserted, the feeding point 25 of the circular substrate 21 is formed by means of copper plating.
It should be noted that the shape of the exponential gradient microstrip line on the front and back surfaces is determined by the index of the circular polarization swept-frequency antenna, and the implementation manner may adopt a balun impedance transformation line.
By arranging the parallel double lines on the front side and the back side, the non-balanced feed mode is converted into the balanced feed mode by gradually changing the reference floor indexes of the microstrip lines on the front side and the back side to the same width, so that impedance matching and balun (balanced/unbalanced) conversion are realized, a wider bandwidth is obtained, and good performance is kept.
In this embodiment, the impedance board 24 is mounted below the circular substrate 21 by the card slot connection. Therefore, at least two slots 29 are arranged above the circular substrate 21, corresponding protrusions 27 are arranged above the impedance board 24, and the impedance board 24 and the circular substrate 21 are installed by matching the protrusions 27 with the slots 29.
The circularly polarized swept-frequency antenna 102 in this embodiment is helpful for improving the gain of the antenna and realizing good radiation characteristics of the antenna, and the equiangular helix and the archimedean helix are combined in the above manner, so that on one hand, the low-frequency characteristics of the equiangular helix antenna are improved, and on the other hand, the characteristics of the archimedean helix antenna, such as long arm, large transmission loss and low antenna efficiency, are overcome. The variant spiral antenna not only improves the ultra-wideband characteristic, but also greatly reduces the size of the antenna, and is beneficial to engineering design.
In this embodiment, bosses 11 are disposed on upper and lower sides of the vivaldi antenna 101, the bosses 11 are inserted into the card slots, so as to install the vivaldi antennas 101 between the first-stage PCB 31 and the second-stage PCB 32, and the vivaldi antennas 101 are used to form a direction-finding array antenna.
Specifically, the vivaldi antenna 101 includes a square substrate 12, a radiation slot line 13, a dielectric lens 14, a gradation strip line 15, and the like. When the antenna is designed, the two sides of the long edge of the square substrate 12 are additionally provided with the corresponding bosses 11, so that the bosses are matched with the clamping grooves which are regularly arranged on the first-stage PCB 31 and the second-stage PCB 32, the Vivaldi antenna 101 is clamped by the two PCBs, redundant structural parts and mounting screws are omitted, the weight can be reduced, and the mounting is convenient.
In the present embodiment, as shown in fig. 6(a) and 6(b), the number of the vivaldi antennas 101 is 8, and the installation position of any one of the vivaldi antennas 101 coincides with the line connecting one vertex of the regular octagon with the center of the circle.
Specifically, the vivaldi antenna 101 in this embodiment is also called a tapered slot antenna TSA, and is an ideal antenna for broadband application, and is composed of a radiation slot line 13, a square substrate 12, a dielectric lens 14, and a tapered strip line 15, where the opening width of the radiation slot line 13 is 200mm, the tapered strip line 15 is used as a feeder portion of the vivaldi antenna 101, and a feed port of the tapered strip line is disposed at the bottom of a side edge of the square substrate 12, so that an interface between the tapered strip line and the isolation switch 60 below the tapered strip line is located in an approximate straight line, thereby making a connection line between the tapered strip line and the square substrate shortest, and contributing to realizing miniaturization of the direction-finding array antenna.
In this embodiment, the vivaldi antenna 101 has a width of 262mm and a length of 300 mm.
Through an electric loading mode, the size of the standard Vivaldi antenna in the horizontal direction is reduced, so that the direction-finding array antenna can be formed by 8 Vivaldi antennas 101, and the performance of the standard Vivaldi antenna can still keep the index of the Vivaldi antenna.
The simulation indexes for forming the direction-finding array antenna by setting 8 vivaldi antennas 101 are shown in table 2.
TABLE 2
The conventional vivaldi antenna is an antenna with a gradually changing slot, and uses a microstrip to feed, and electromagnetic waves in a microstrip feed line radiate outwards through a slot opened on a metal layer. The slots with different forms can be realized by using surface micro-strips, and the micro-strip slot antennas with different structures and performances obtain the optimal radiation gain and port impedance by changing the dielectric substrate material of the antenna, adjusting the feed point impedance of the antenna, and adjusting the gradient line and the overall dimension of the antenna.
In this embodiment, the dielectric lens 14 and the tapered strip line 15 form a feeding structure, so as to realize the functions of feeding and impedance transformation, and obtain the optimal port impedance and radiation effect of the broadband antenna by modifying the size of the feeding structure and the external dimensions of the antenna. And the array structure is adjusted, the feed port is adjusted to the bottom of the side edge, the bus connection with the isolating switch 60 is convenient, the tail space can be used as a base of the circularly polarized omnidirectional antenna, and the isolation between the antennas can be improved by utilizing a metal partition plate.
Through simulation tests, the antenna gain of the vivaldi antenna 101 in the frequency range of 0.5-6G is 8dbi on average, the standing wave ratio VSWR of the vivaldi antenna 101 in the frequency range of 0.5-6G is less than 2, and the port impedance meets the requirement of the direction-finding array antenna.
In this embodiment, a form of setting a card slot on a PCB is adopted, and the vivaldi antenna and the circular polarization frequency sweep antenna are designed in an integrated manner, so that on the premise of improving the frequency coverage of the array antenna, the volume of the array antenna is reduced, in particular, 8 vivaldi antennas are enclosed into a circular array with equal spacing distribution, and an aluminum pipe is reinforced by setting to insert an impedance board of the circular polarization frequency sweep antenna, which is beneficial to signal shielding between the vivaldi antenna and the circular polarization frequency sweep antenna, and thus, the miniaturized design of the interference direction finding frequency sweep antenna in the unmanned ship is realized.
Further, the aid decision device 100 further includes: an electronic switch; the PCB further comprises a third-stage PCB 33, the third-stage PCB 33 is arranged below the second-stage PCB 32 through a plurality of connecting columns 4, the isolating switch 60 and the electronic switch are arranged on the third-stage PCB 33, wherein the signal input end of the isolating switch 60 is electrically connected to the Vivaldi antenna 101, the signal input end of the electronic switch is electrically connected to the circularly polarized swept frequency antenna 102, and when the isolating switch 60 and the electronic switch are closed, the received detection signal can be provided outwards.
Specifically, the isolating switch 60 is designed by a high-speed high-isolation electric control switch, and has functions of quick response, remote control and the like, wherein the isolating switch 60 is provided with a plurality of interfaces, and the number of the interfaces is the same as that of the vivaldi antennas 101.
The isolation switch 60 and the electronic switch may be integrated by an integrated design.
Further, the center department of first level PCB board 31 is provided with the through-hole, and the center department of second level PCB board 32 is provided with the mounting hole, and the device still includes: a reinforcing aluminum pipe 5; the upper end of the reinforcing pipe passes through the through hole to be connected to the bottom of the circular polarization sweep antenna 102, and the lower end of the reinforcing pipe is installed on the second-stage PCB 32 through the installation hole.
Specifically, the impedance board 24 of the circularly polarized swept-frequency antenna 102 is electrically connected to the signal input terminal interface of the electronic switch provided on the third-stage PCB board 33 through the reinforcing aluminum pipe 5, and the provision of the reinforcing aluminum pipe 5 contributes to the improvement of the isolation between the circularly polarized swept-frequency antenna 102 and the vivaldi antenna 101. Meanwhile, the signal input terminal interface of the isolating switch 60 is electrically connected to the 8 vivaldi antennas 101, so that the received two detection signals can be collected in a bus form and then are uniformly and externally connected, and the miniaturization of the array antenna is facilitated.
By simulating the direction finding swept frequency antenna 10, as shown in fig. 7 to 9, it can be seen from the simulation curves that the directivity factor is greater than 4dbi in the operating frequency band of 0.5 to 6 GHz. The average input standing wave ratio is less than 2, the coupling of the low frequency bands of the adjacent units is large, the overall isolation is greater than 30dB, the isolation between the units is good, the isolation is mainly realized by the large space between the units, and a metal circular pipe is arranged in the middle of the array for isolation.
On the basis of the above embodiment, in order to improve the isolation of the isolating switch 60 by matching with the 8 vivaldi antennas, this embodiment also shows an implementation manner of the isolating switch 60, as shown in fig. 10 and 11, the isolating switch 60 includes: a shell and a switch group; a shielding structure is arranged in the shell and divides the interior of the shell into a plurality of chambers, wherein the first chamber 62 is positioned in the middle area of the interior of the shell, and the plurality of second chambers 61 are distributed between the outer side of the first chamber 62 and the inner wall of the shell; the switch group comprises a first switch 603 and a second switch 601, the first switch 603 is arranged in the first chamber 62, the second switch 601 is arranged in the second chamber 61, one end of the second switch 601 is arranged at the input end of the isolating switch 60, the other end of the second switch 601 is connected to the input end of the first switch 603, the output end of the first switch 603 is arranged at the output end of the isolating switch 60, wherein the first switch 603 is a multi-way gating switch, the second switch 601 is a Pin switch, and the Pin switch and the multi-way gating switch are connected in a radio frequency mode.
Further, the second switch 601 is a single-pole double-throw switch, a moving end of the second switch 601 is electrically connected to the first switch 603, a first fixed end of the second switch 601 is electrically connected to the vivaldi antenna, a second fixed end of the second switch 601 is electrically connected to one end of the isolation resistor, and the other end of the isolation resistor is grounded, wherein the second switch 601 is linked with the first switch 603.
Specifically, a shielding structure is arranged in the shell, an independent cavity is provided for each switch, radiation interference in the isolating switch 60 is isolated in a physical isolation mode, isolation degree of each switch in the isolating switch 60 is increased, corresponding characteristics of the overall frequency of the isolating switch 60 are kept consistent, and errors of the direction-finding amplitude of the Vivaldi antenna interfered by different frequencies are reduced.
In this embodiment, in order to cooperate with 8 vivaldi antennas and improve the isolation of the isolating switch 60, a shielding structure is disposed in the housing, and a separate chamber is provided for each switch, so that the radiation interference in the isolating switch 60 is isolated by means of physical isolation, and the isolation of each switch in the isolating switch 60 is increased, which helps to keep the corresponding characteristics of the overall frequency of the isolating switch 60 consistent, and reduces errors in the direction-finding amplitude of the vivaldi antennas with different frequency interferences.
In this embodiment, an output end of the receiver 30 is electrically connected to the data processing unit 40, the receiver 30 is configured to forward the detection signal received by the direction finding swept frequency antenna 10 to the data processing unit 40, and the data processing unit 40 determines whether the detection signal is an interference signal, where the determination method may be an energy detection method, a correlation detection method, or the like. When the detection signal is determined to be an interference signal, the data processing unit 40 determines monitoring data of the detection signal and transmits the monitoring data to the ship-based emergency communication device 50.
Specifically, the receiver 30 is a dual-channel broadband receiver 30, the broadband communication frequency band of the receiver includes but is not limited to UHF, L, S, and C frequency bands, the frequency range at least covers 0.5 to 2.7GHz, and the standard may include dedicated communication, GPS/beidou, mobile communication (2G/3G/4G/5G), satellite communication, and the like, so as to meet the requirement of monitoring the communication frequency band. As shown in fig. 12, the hardware of the receiver 30 is composed of a radio frequency analog part and a digital baseband part, wherein the radio frequency analog part mainly realizes functions of acquiring, amplifying, filtering, shifting spectrum, etc. of free space electromagnetic waves, and in consideration of that the radio frequency analog part is easily damaged by strong interference, the radio frequency analog part adopts a hot backup mode to improve product reliability, and main module circuits include a main/standby switching circuit, a frequency selection amplifying circuit, an analog down-conversion circuit, an intermediate frequency amplifying circuit, an AD conversion circuit, etc. The digital baseband part mainly realizes the functions of analog signal digitization, high-speed data acquisition, storage, analysis, external interface management and the like; the main module circuit comprises an FPGA high-speed data processing unit 40, an ARM processing unit, a clock unit, a power supply conversion circuit unit and the like.
The implementation of the dual-channel wideband receiver 30 is not limited in this embodiment.
As shown in fig. 13, this embodiment further shows a process of determining, by the data processing unit 40, whether the detection signal is an interference signal, which specifically includes:
specifically, the expression for any detection signal is set as follows:
wherein x (n) is the observed value of the probe signal received at the time n, w (n) is the mean value 0, and the variance is
S (n) is the sampling value of the interference signal at n time, and H is used0Indicating the absence of interfering signals, H1Indicating the presence of an interfering signal.
The calculation formula for setting the detection statistic is as follows:
where T (x) is the detection statistic and N is the total number of sample times.
specifically, the first threshold is set based on the idea of energy detection and dual thresholdsThreshold lambda0And a second threshold λ1When the calculated detection statistic is less than the first threshold, T (x)<λ0If the detected signal is not an interference signal, it is determined as H0(ii) a When the detection statistic is greater than a second threshold, T (x)>λ1Then directly determining that the detected signal is an interference signal as H1。
However, in order to avoid false and missed judgment, the detection statistic is not within the range of the first threshold and the second threshold (lambda)0≤T(x)≤λ1) The detection signal is judged whether to be an interference signal or not based on the detection statistic, but a correlation coefficient is introduced, if the correlation coefficient of the detection signals at two adjacent sampling moments is 1, the two signals are proved to have good similarity and linear correlation, and the two signals are coherent signals. Since the interference signals are the same signal, after passing through different channels of the direction-finding swept-frequency antenna 10, the signals between the channels have correlation. That is, if the similarity of two signals is good, the two signals are determined to be interference signals.
in the formula, ρi,i+1Is the correlation coefficient, y, of the detection signal at the sampling time i and the sampling time i +1i(k) For the sampling point of the detection signal corresponding to the kth sampling point in the sampling time i, k is 0,1,2, …, m, yi+1(k) And the sampling value of the detection signal corresponding to the kth sampling point in the sampling time i + 1.
And 5, when the correlation coefficient is judged to be larger than or equal to the preset threshold value, judging that the detection signal is an interference signal, otherwise, judging that the detection signal is not the interference signal.
Specifically, a parameter can be selected within the range of (0-1) as a preset threshold, and when the value of the parameter is larger, the coherence of the two signals is stronger, that is, the possibility that the detection signal is an interference signal is higher.
In this embodiment, the output end of the data processing unit 40 is connected to the receiving end of the carrier-based emergency communication device 50, and the carrier-based emergency communication device 50 is configured to send the monitoring data determined by the data processing unit 40 through the beidou communication satellite. Monitoring data can be sent to shore-based equipment, and corresponding assistant decision instructions are generated by the shore-based equipment, so that the assistant decision equipment can assist the unmanned ship to carry out communication interference resistance.
As shown in fig. 14, a Radio Frequency (RF) acquisition signal needs to be down-converted to an Intermediate Frequency (IF) in the data processing unit 40, and converted to a digital signal by a dedicated acquisition chip for processing.
After received signals (detection signals) are digitized, various functions of broadband digital filtering, direct digital frequency synthesis, digital down-conversion, modulation and demodulation, error coding, signaling control, source coding and decoding and encryption and decryption are flexibly realized in a software programming mode.
It should be noted that the implementation of the data processing unit 40 is not limited in this embodiment.
During reception, the detection signal from the direction-finding swept antenna 10 is subjected to RF processing and conversion, digitized by a broadband a/D, and then subjected to various signal processing by a programmable digital signal processor (FPGA) module, and the processed data (monitoring data of the detection signal) is transmitted to the shore-based device 200. The whole detection signal processing flow is shown in fig. 15, and the detailed process is not repeated.
Example two:
as shown in fig. 16, the present embodiment provides an anti-interference communication decision-making assisting system suitable for an unmanned ship, where the decision-making assisting system is composed of two parts, that is, a decision-making assisting device 100 and a shore-based device 200, in the above embodiments, the decision-making assisting device 100 is disposed on the unmanned ship, the decision-making assisting device 100 is configured to obtain a detection signal during a navigation process of the unmanned ship and send monitoring data of the detection signal to the shore-based device 200, and the shore-based device 200 is configured to generate a decision-making assisting instruction according to the received monitoring data.
In this embodiment, the shore-based device 200 is composed of a shore-side main control computer and a shore-side device, and the shore-side main control computer and the shore-side device can communicate with each other through a USB interface, where the shore-side main control computer may include a communication device and a beidou communication all-in-one machine, and the beidou communication all-in-one machine and the ship-borne emergency communication device 50 perform emergency communication under the condition that the unmanned ship is interfered, and transmit monitoring data of a detection signal and an auxiliary decision instruction.
The shore end equipment is electrically connected to the shore end main control computer and used for generating an auxiliary decision instruction based on the monitoring data. The shore-end device at least comprises a directional antenna, a broadband receiver and a signal processing, analyzing and deciding module, wherein the signal processing, analyzing and deciding module mainly generates an auxiliary decision instruction corresponding to an interference signal, and the signal processing, analyzing and deciding module can determine interference frequency point distribution, interference amplitude level, interference azimuth information and information of the type of the interference signal, and the specific implementation mode is not limited in this embodiment.
Specifically, in the navigation process of the unmanned ship, the auxiliary decision device 100 analyzes the detection signal received by the direction finding swept-frequency antenna 10, and determines whether the detection signal is an interference signal by using methods such as an energy detection method and a related detection method in a spectrum sensing technology.
When the communication equipment in the unmanned ship is interfered by an interference source to normally work, the auxiliary decision-making equipment 100 utilizes the ship-based emergency communication equipment 50 arranged on the auxiliary decision-making equipment to transmit the real-time monitoring data of the received detection signal back to the shore-based equipment 200 by utilizing a Beidou communication system, the shore-based equipment 200 collects the monitoring results of electromagnetic spectrum around the communication parties and comprehensively judges the interference direction to generate an auxiliary decision-making instruction, and effective anti-interference is carried out by modifying the communication parameters such as the frequency, amplitude, bandwidth and antenna direction of the communication equipment in the unmanned ship and the shore-based equipment 200.
In this embodiment, because big dipper communication satellite sends data once per minute, so big dipper communication satellite's self signal disturbance can be ignored to the detection result of auxiliary decision-making equipment 100, bank base equipment 200 is the mode of manual and automatic combining together, through manual detection interference direction, information such as automatic identification signal frequency, range, type detects the uplink and receives the influence, auxiliary decision-making equipment 100 and bank base equipment 200 simultaneous working, and the detection data fuses the display at bank base equipment 200.
By utilizing the assistant decision-making equipment 100 and the shore-based equipment 200, the frequency and the direction of an interference signal source influencing radio signal communication are monitored and identified, an assistant decision-making instruction is generated, automatic unmanned operation is realized by utilizing communication equipment equipped for an unmanned ship, and the problem that the existing radio direction finding equipment cannot be operated without the human is solved.
Example three:
the present embodiment also provides an anti-interference communication assistant decision method suitable for an unmanned ship, where the assistant decision method is suitable for the assistant decision device 100 in the above embodiment, and the assistant decision method includes:
step A, acquiring a detection signal received by a direction-finding sweep frequency antenna 10;
step B, judging whether the detection signal is an interference signal, if so, determining monitoring data corresponding to the detection signal, and sending the monitoring data to shore-based equipment through the carrier-based emergency communication equipment 50, wherein the shore-based equipment is used for generating an auxiliary decision instruction corresponding to the detection signal according to the monitoring data;
specifically, the process of determining whether the detection signal is an interference signal includes:
in the formula, ρi,i+1Is the correlation coefficient, y, of the detection signal at the sampling time i and the sampling time i +1i(k) For the sampling point of the detection signal corresponding to the kth sampling point in the sampling time i, k is 0,1,2, …, m, yi+1(k) A detection signal sampling value corresponding to the kth sampling point in the sampling time i + 1;
and 5, when the correlation coefficient is judged to be equal to 1, judging that the detection signal is an interference signal, otherwise, judging that the detection signal is not the interference signal.
And step C, receiving an auxiliary decision instruction through the ship-based emergency communication equipment 50, and adjusting communication parameters of communication equipment in the unmanned ship based on the auxiliary decision instruction, wherein the communication parameters at least comprise frequency, amplitude, bandwidth and antenna orientation.
The technical scheme of the present application is described in detail above with reference to the accompanying drawings, and the present application provides a communication anti-interference auxiliary decision device, a system and a method suitable for an unmanned ship, wherein a direction-finding frequency-sweeping antenna in the auxiliary decision device is formed by combining a vivaldi antenna and a circular polarization frequency-sweeping antenna, an output end of the circular polarization frequency-sweeping antenna is connected to a first receiving end of a receiver, and an output end of the vivaldi antenna is connected to a second receiving end of the receiver through an isolation switch; the output end of the receiver is electrically connected with the data processing unit; the data processing unit is used for determining monitoring data of the detection signal when the detection signal is judged to be an interference signal; the receiving end of the carrier-based emergency communication equipment is connected to the output end of the data processing unit, and the carrier-based emergency communication equipment is used for sending monitoring data determined by the data processing unit through the Beidou communication satellite. By the technical scheme, the effect of monitoring the frequency and the direction of the interference signal influencing radio signal communication by the aid of the auxiliary decision-making equipment is optimized, and the frequency coverage range is enlarged.
Through the technical scheme in the application, the effect of monitoring the frequency and the direction of the interference signals influencing the radio signal communication is optimized, and the frequency coverage range is improved.
In the present application, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The shapes of the various elements in the drawings are illustrative and do not preclude the existence of certain differences from the actual shapes, and the drawings are used for the purpose of illustrating the principles of the present application and are not intended to limit the present application.
Although the present application has been disclosed in detail with reference to the accompanying drawings, it is to be understood that such description is merely illustrative and not restrictive of the application of the present application. The scope of the present application is defined by the appended claims and may include various modifications, adaptations, and equivalents of the invention without departing from the scope and spirit of the application.
Claims (10)
1. The communication anti-interference assistant decision-making equipment is suitable for an unmanned ship, the assistant decision-making equipment (100) is arranged on the unmanned ship, and the assistant decision-making equipment (100) is used for acquiring a detection signal in the sailing process of the unmanned ship, and is characterized in that the assistant decision-making equipment (100) comprises: the system comprises a direction-finding sweep antenna (10), an isolating switch (60), a receiver (30), a data processing unit (40) and a ship-borne emergency communication device (50);
the direction-finding swept frequency antenna (10) is formed by combining a Vivaldi antenna (101) and a circularly polarized swept frequency antenna (102), the output end of the circularly polarized swept frequency antenna (102) is connected to a first receiving end of the receiver (30), and the output end of the Vivaldi antenna (101) is connected to a second receiving end of the receiver (30) through the isolating switch (60);
the output end of the receiver (30) is electrically connected to the data processing unit (40), and the receiver (30) is used for forwarding the detection signal received by the direction-finding swept frequency antenna (10) to the data processing unit (40);
the data processing unit (40) is used for determining monitoring data of the detection signal when the detection signal is judged to be an interference signal;
the receiving end of the ship-based emergency communication equipment (50) is connected to the output end of the data processing unit (40), and the ship-based emergency communication equipment (50) is used for sending the monitoring data determined by the data processing unit (40) through a Beidou communication satellite.
2. The communication anti-interference aid decision-making equipment suitable for the unmanned ship according to claim 1, wherein the direction-finding swept antenna (10) is provided with a multi-stage PCB, and a plurality of paired sets of card slots are arranged on the first stage PCB (31) and the second stage PCB (32);
the circular polarization frequency sweeping antenna (102) is arranged above the first-stage PCB (31), a circular substrate (21) is arranged at the top of the circular polarization frequency sweeping antenna (102), and an equiangular spiral feed structure (22) and an Archimedes spiral feed structure (23) which are connected in a converging mode are arranged on the circular substrate (21);
bosses (11) are arranged on the upper side and the lower side of the Vivaldi antenna (101), the bosses (11) are inserted into the clamping grooves, so that the Vivaldi antennas (101) are installed between the first-stage PCB (31) and the second-stage PCB (32), and the Vivaldi antennas (101) are used for forming a direction-finding array antenna.
3. The communication anti-interference auxiliary decision-making equipment suitable for the unmanned ship according to claim 2, wherein the circular substrate (21) is provided with an equiangular spiral feed structure (22) and an archimedean spiral feed structure (23) which are connected in a converging manner, and specifically comprises:
a feeding point (25) is arranged at the center of the circular substrate (21), and two rectangular feeding structures (26) are arranged on two sides of the feeding point (25) along the radial direction;
one end of the equiangular spiral feeding structure (22) converges and spirals toward the position of the feeding point (25) to be connected to one end of the rectangular feeding structure (26);
the other ends of the equiangular spiral feed structures (22) converge and spiral to a first preset position in the opposite direction of the position of the feed point (25) to be connected with one end of the Archimedes spiral feed structure (23);
the other end of the Archimedes spiral feeding structure (23) rotates from inside to outside and converges at a second preset position, wherein the second preset position is right opposite to the other end of the rectangular feeding structure (26).
4. The communication interference rejection aid decision making equipment for unmanned boats of claim 3, wherein said circularly polarized swept antenna (102) further comprises: an impedance plate (24);
the impedance plate (24) is arranged below the circular substrate (21), one end of the impedance plate (24) is connected to the feeding point (25), and the other end of the impedance plate (24) is connected to the signal input end of the electronic switch.
5. The communication interference rejection aid decision making device for unmanned surface vehicles according to any of claims 1 to 4, wherein said isolation switch (60) comprises: a shell and a switch group;
a shielding structure is arranged in the shell and divides the interior of the shell into a plurality of chambers, wherein a first chamber (62) is positioned in the middle area of the interior of the shell, and a plurality of second chambers (61) are distributed between the outer side of the first chamber (62) and the inner wall of the shell;
the switch group comprises a first switch (603) and a second switch (601), the first switch (603) is arranged in the first chamber (62), the second switch (601) is arranged in the second chamber (61), one end of the second switch (601) is arranged at the input end of the isolating switch (60), the other end of the second switch (601) is connected with the input end of the first switch (603), the output end of the first switch (603) is arranged at the output end of the isolating switch (60),
the first switch (603) is a multi-channel gating switch, the second switch (601) is a Pin switch, and the Pin switch is connected with the multi-channel gating switch in a radio frequency mode.
6. The communication interference rejection aid decision making device for unmanned surface vehicle according to any of claims 1 to 4, wherein said data processing unit (40) is a process for determining whether said probe signal is an interference signal, specifically comprising:
step 1, calculating detection statistics of the detection signal by adopting an accumulation summation mode based on the observed value of the detection signal;
step 2, when the detection statistic is judged to be smaller than a first threshold value, judging that the detection signal is not an interference signal;
step 3, when the detection statistic is judged to be larger than a second threshold value, judging that the detection signal is an interference signal, wherein the first threshold value is smaller than the second threshold value;
step 4, when the detection statistic is judged to be larger than or equal to the first threshold value and smaller than or equal to the second threshold value, discretizing sampling is carried out on the detection signal, and a correlation coefficient of the detection signal after discretizing sampling is calculated;
and 5, when the correlation coefficient is judged to be larger than or equal to a preset threshold value, judging that the detection signal is an interference signal, otherwise, judging that the detection signal is not the interference signal.
7. A communication anti-jamming aid decision making system suitable for unmanned boats, the aid decision making system comprising an aid decision making apparatus (100) according to any one of claims 1 to 6, and a shore-side master control computer, a shore-side apparatus;
a Beidou communication all-in-one machine is arranged in the shore-side main control computer and is used for receiving the monitoring data sent by the carrier-based emergency communication equipment (50) in the auxiliary decision-making equipment (100);
the shore end equipment is electrically connected to the shore end main control computer and used for generating an auxiliary decision instruction based on the monitoring data.
8. The communication anti-interference assistant decision method suitable for the unmanned ship is characterized by comprising the following steps:
step A, acquiring the detection signal received by the direction-finding swept frequency antenna (10);
step B, judging whether the detection signal is an interference signal, if so, determining monitoring data corresponding to the detection signal, and sending the monitoring data to shore-based equipment through the carrier-based emergency communication equipment (50), wherein the shore-based equipment is used for generating an auxiliary decision instruction corresponding to the detection signal according to the monitoring data;
and C, receiving the assistant decision instruction through the ship-based emergency communication equipment (50), and adjusting communication parameters of the communication equipment in the unmanned ship based on the assistant decision instruction, wherein the communication parameters at least comprise frequency, amplitude, bandwidth and antenna orientation.
9. The communication anti-interference assistant decision method suitable for the unmanned ship according to claim 8, wherein the process of determining whether the detection signal is an interference signal specifically includes:
step 1, calculating detection statistics of the detection signal by adopting an accumulation summation mode based on the observed value of the detection signal;
step 2, when the detection statistic is judged to be smaller than a first threshold value, judging that the detection signal is not an interference signal;
step 3, when the detection statistic is judged to be larger than a second threshold value, judging that the detection signal is an interference signal, wherein the first threshold value is smaller than the second threshold value;
step 4, when the detection statistic is judged to be larger than or equal to the first threshold value and smaller than or equal to the second threshold value, discretizing sampling is carried out on the detection signal, and a correlation coefficient of the detection signal after discretizing sampling is calculated;
and 5, when the correlation coefficient is judged to be larger than or equal to a preset threshold value, judging that the detection signal is an interference signal, otherwise, judging that the detection signal is not the interference signal.
10. The communication anti-interference aiding decision-making method for the unmanned ship according to claim 9, wherein the correlation coefficient is calculated by the formula:
in the formula, ρi,i+1Is the correlation coefficient, y, of the detection signal at sampling time i and sampling time i +1i(k) For the sampling point of the detection signal corresponding to the kth sampling point in the sampling time i, k is 0,1,2, …, m, yi+1(k) And the sampling value of the detection signal corresponding to the kth sampling point in the sampling time i + 1.
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