CN114362854B - 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 communication anti-interference auxiliary decision-making equipment, a system and a method suitable for an unmanned ship, wherein a direction-finding sweep antenna in the auxiliary decision-making equipment is formed by combining a Vivaldi antenna and a circularly polarized sweep antenna, the output end of the circularly polarized sweep antenna is connected with a first receiving end of a receiver, and the output end of the Vivaldi antenna is connected with 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 the monitoring data determined by the data processing unit through the Beidou communication satellite. By the technical scheme, the effect of the auxiliary decision-making equipment in monitoring the frequency and the azimuth of the interference signal affecting the radio signal communication is optimized, and the frequency coverage range is improved.
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 a key technology of unmanned ship communication. However, because a large number of radio signals are propagated in the air, the coverage range of communication frequency is wider, so that the electromagnetic environment on which unmanned ship remote control and telemetry are operated safely becomes more complicated and even worse, 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 influenced, the bit error rate is greatly increased, and the communication interruption condition can occur in severe cases.
Therefore, the direction finding and positioning are required to be carried out on the interference signals in the unmanned ship wireless communication environment, the signal amplitude, the frequency and the interference type of the interference source are detected, and further effective interference avoidance and interference suppression are carried out through measures such as frequency changing, amplification and antenna azimuth switching, so that safe, reliable and stable operation of the unmanned ship is ensured.
The interference signal direction-finding device in the prior art has at least the following problems:
1. Although ultra-wideband antennas are more in frequency types and larger in corresponding special frequency bands and frequency coverage ranges, the ultra-wideband antennas cannot completely cover 0.5G to 6GHz, cannot realize full-range coverage, are low in automation degree, generally require manual operation, and cannot realize unmanned operation.
2. Because unmanned ship load is more, lead to the direction finding antenna installation space limited, and for current high gain ultra wide band antenna, its volume is generally great, and for the limited ship in space, the installation is inconvenient, and other load equipment also can cause the interference to the direction finding sweep antenna, especially to the electronic switch of switching direction finding passageway in the direction finding antenna.
Disclosure of Invention
The application aims at: the unmanned ship has the advantages that the problems that unmanned operation cannot be achieved due to direction finding of interference signals in the unmanned ship and the frequency coverage range is narrow are solved, and the effect of monitoring the frequency and the azimuth of the interference signals affecting radio signal communication is optimized.
The technical scheme of the first aspect of the application is as follows: the utility model provides a communication anti-interference auxiliary decision-making equipment suitable for unmanned ship, this auxiliary decision-making equipment sets up on unmanned ship, and auxiliary decision-making equipment is used for acquireing the detection signal of unmanned ship navigation in-process, its characterized in that, auxiliary decision-making equipment includes: the system comprises a direction-finding sweep frequency antenna, an isolating switch, a receiver, a data processing unit and ship-based emergency communication equipment; the direction-finding sweep antenna is formed by combining a Vivaldi antenna and a circularly polarized sweep antenna, the output end of the circularly polarized sweep antenna is connected with a first receiving end of a receiver, and the output end of the Vivaldi antenna is connected with 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, and the receiver is used for forwarding the detection signal received by the direction-finding sweep 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 the monitoring data determined by the data processing unit through the Beidou communication satellite.
In any of the above technical solutions, further, a multi-stage PCB board is provided on the direction-finding sweep antenna, wherein pairs of multiple groups of slots are provided on the first-stage PCB board and the second-stage PCB board; the circular polarization sweep frequency antenna is arranged above the first-stage PCB, a circular substrate is arranged at the top of the circular polarization sweep frequency antenna, and an equiangular spiral feed structure and an Archimedes spiral feed structure which are connected in a converging way are arranged on the circular substrate; the upper and lower both sides of the Vivaldi antenna are provided with the boss, and the boss inserts the draw-in groove to install a plurality of Vivaldi antennas between first level PCB board and second level PCB board, a plurality of Vivaldi antennas are used for constituteing 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 archimedes spiral feed structure which are connected together, and specifically includes: the center of the circular substrate is provided with a feed point, 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 towards the position of the feed point to be connected with one end of the rectangular feed structure; the other end of the equiangular spiral feed structure converges and spirals to a first preset position in the opposite direction of the position of the feed point so as to be connected with one end of the Archimedes spiral feed structure; 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 opposite to the other end of the rectangular feed structure.
In any of the above technical solutions, further, the circularly polarized swept antenna further includes: an impedance plate; the impedance board is arranged below the circular substrate, one end of the impedance board is connected with the feed point, and the other end of the impedance board is connected with the signal input end of the electronic switch.
In any of the above technical solutions, further, the isolating switch includes: a housing and a switch group; the inside of the shell is provided with a shielding structure, the shielding structure divides the inside of the shell into a plurality of chambers, wherein the first chamber is positioned in the middle area of the inside 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, wherein the first switch is arranged in a first cavity, the second switch is arranged in a 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-path gating switch, the second switch is a Pin switch, and the Pin switch is connected with the multi-path gating switch in a radio frequency mode.
In any of the above technical solutions, further, the process of determining, by the data processing unit, whether the detected signal is an interference signal specifically includes: step 1, calculating detection statistics of the detection signals by adopting an accumulation and summation mode based on observation values of the detection signals; step 2, when the detection statistic is smaller than the 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 greater than or equal to a first threshold value and the detection statistic is judged to be less than or equal to a 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 larger than or equal to a preset threshold, 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: providing a communication anti-interference auxiliary decision-making system suitable for an unmanned ship, wherein the auxiliary decision-making system comprises auxiliary decision-making equipment, a shore-end main control computer and a shore-end device according to any one of the technical schemes of the first aspect; the shore-side main control computer is provided with a Beidou communication all-in-one machine which is used for receiving monitoring data sent by the carrier-based emergency communication equipment in the auxiliary decision-making equipment; the shore end equipment is electrically connected with the shore end main control computer and is used for generating an auxiliary decision-making instruction based on the monitoring data.
The technical scheme of the third aspect of the application is as follows: the communication anti-interference auxiliary decision-making method suitable for the unmanned ship is provided, and comprises the following steps: step A, obtaining a detection signal received by a direction-finding sweep antenna; 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 ship-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 azimuth.
In any of the above technical solutions, further, the process of determining whether the detected signal is an interference signal specifically includes: step 1, calculating detection statistics of the detection signals by adopting an accumulation and summation mode based on observation values of the detection signals; step 2, when the detection statistic is smaller than the 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 greater than or equal to a first threshold value and the detection statistic is judged to be less than or equal to a 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 larger than or equal to a preset threshold, 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, a calculation formula of the correlation coefficient is:
Where ρ i,i+1 is a correlation coefficient between the sampling time i and the sampling time i+1, y i (k) is a sampling value of the detection signal corresponding to the kth sampling point in the sampling time i, and k=0, 1,2, …, m, y i+1 (k) is a sampling value of the detection signal corresponding to the kth sampling point in the sampling time i+1.
The beneficial effects of the application are as follows:
According to the technical scheme, the direction-finding scanning antenna which is designed by integrating the Vivaldi antenna and the circularly polarized sweep antenna is adopted in the auxiliary decision device, so that the volume of the direction-finding scanning antenna device is reduced, the whole frequency coverage range of the direction-finding scanning antenna is improved, and the monitoring effect of the anti-interference auxiliary decision device on interference signals is optimized. And through setting up the isolator that has high isolation, realize the signal isolation to the Vivaldi antenna, guaranteed the accuracy and the reliability of the detected signal who transmits to the receiver, help guaranteeing the steady operation of direction finding sweep frequency antenna.
According to the application, the carrier-based emergency communication equipment is further arranged, so that when the unmanned ship is interfered, real-time monitoring data can be sent to the shore-based equipment through the Beidou communication satellite, interference auxiliary decision making is carried out by the shore-based equipment, parameters such as frequency, amplitude, bandwidth, antenna azimuth and the like of the communication equipment are timely adjusted, effective anti-interference is carried out, and safe navigation of the unmanned ship is ensured.
Drawings
The advantages of the foregoing 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, in which:
FIG. 1 is a schematic block diagram of a communication tamper-resistant aid decision making apparatus suitable for use in an unmanned boat according to one embodiment of the application;
FIG. 2 is a front view of a direction-finding swept antenna according to an embodiment of the application;
Fig. 3 is a front view of a circularly polarized swept antenna according to an embodiment of the application;
FIG. 4 is a top view of a circularly polarized swept antenna according to an embodiment of the application;
FIG. 5 (a) is a schematic diagram of the front side of an impedance board according to one embodiment of the application;
FIG. 5 (b) is a schematic diagram of the reverse side of an impedance plate according to one embodiment of the 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 simulation of the isolation of a direction-finding swept antenna according to an embodiment of the application;
FIG. 8 is a port standing wave ratio simulation diagram of a direction-finding swept antenna according to an embodiment of the application;
FIG. 9 is a directional simulation of a direction-finding swept antenna according to an embodiment of the application;
FIG. 10 is a top view of a housing according to one embodiment of the application;
FIG. 11 is a schematic diagram of an isolation switch according to one embodiment of the application;
FIG. 12 is a schematic block diagram of a receiver in accordance with an embodiment of the present application;
FIG. 13 is a schematic flow chart diagram of determining whether a probe signal is an interfering signal according to one embodiment of the application;
FIG. 14 is a schematic block diagram of a data processing unit in accordance with one embodiment of the application;
FIG. 15 is a schematic diagram of a probe signal processing flow according to one embodiment of the application;
Fig. 16 is a schematic block diagram of a communication tamper resistant aid decision making system adapted for use with an unmanned boat in accordance with one embodiment of the application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
Embodiment one:
As shown in fig. 1, the embodiment provides a communication anti-interference auxiliary decision device suitable for an unmanned ship, which realizes that an auxiliary decision device 100 with an interference direction-finding positioning function is arranged in the unmanned ship, and improves the miniaturization of the auxiliary decision device 100 and the frequency coverage of a direction-finding sweep antenna 10, wherein the auxiliary decision device 100 is arranged on the unmanned ship, and the auxiliary decision device 100 is used for acquiring a detection signal in the navigation process of the unmanned ship.
In this embodiment, the auxiliary decision device 100 includes: a direction-finding sweep antenna 10, an isolating switch 60, a receiver 30, a data processing unit 40 and a ship-based emergency communication device 50; the direction-finding sweep antenna 10 is an integrated antenna with direction-finding and sweep functions, the direction-finding sweep antenna 10 is formed by combining a Vivaldi antenna 101 and a circularly polarized sweep antenna 102, an output end of the circularly polarized sweep antenna 102 is connected to a first receiving end of the receiver 30, and an output end of the Vivaldi antenna 101 is connected to a second receiving end of the receiver 30 through an isolating switch 60, so that frequency monitoring and direction positioning of interference signals can be realized.
As shown in fig. 2, the present embodiment further shows an implementation manner of the direction-finding sweep antenna 10, where a multi-stage PCB board is disposed on the direction-finding sweep antenna 10, and pairs of multiple groups of slots are disposed on the first-stage PCB board 31 and the second-stage PCB board 32; the circular polarization sweep antenna 102 is arranged above the first-stage PCB 31, a circular substrate 21 is arranged at the top of the circular polarization 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; the upper and lower sides of the vivaldi antennas 101 are provided with bosses 11, and the bosses 11 are inserted into the clamping grooves to mount the multiple vivaldi antennas 101 between the first stage PCB board 31 and the second stage PCB board 32, and the multiple vivaldi antennas 101 are used to form a direction-finding array antenna.
Specifically, the circularly polarized swept antenna 102 is mounted above the first stage PCB 31, i.e. on top of the antenna device, and can effectively receive electromagnetic wave signals sent by the air and shore. In addition, in order to lighten the overall weight of the antenna device, the antenna device is integrally designed according to a modularized design thought, the first-stage PCB 31 and the second-stage PCB 32 are used as supporting plates, the Vivaldi antenna 101 and the circularly polarized swept-frequency antenna 102 are fixed together through proper grooves or holes as clamping grooves, and fixing components such as screws and structural members are not used, so that the overall weight of the antenna device can be reduced, the installation space of each component of the antenna device is saved, the miniaturization of the antenna device is facilitated, and the antenna device is more suitable for interference monitoring and positioning of unmanned ships.
As shown in fig. 3 and 4, this embodiment further illustrates an implementation manner of the circularly polarized swept antenna 102, where the circularly polarized swept antenna 102 includes: 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 converging connection manner; the top of the circular polarization sweep antenna 102 is provided with a circular substrate 21, the center of the circular substrate 21 is provided with a feed point 25, and two rectangular feed structures 26 are radially arranged on two sides of the feed point 25; one end of the equiangular spiral feed structure 22 converges and spirals towards the location of the feed point 25 to connect to one end of the rectangular feed structure 26; the other end of the equiangular spiral feed structure 22 converges and spirals to a first predetermined position opposite to 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 at a second preset position, which is opposite to the other end of the rectangular feed structure 26; an impedance plate 24 is provided below the circular substrate 21, one end of the impedance plate 24 is connected to a feeding point 25, and the other end of the impedance plate 24 is connected to an electronic switch.
In particular, the helical antenna has various broadband characteristics, whether the directional characteristic, the impedance characteristic, and the polarization characteristic are broadband, and has the advantages of small volume, light weight, stable structure, good circular polarization characteristic, and the like, thereby attracting high importance and being widely used. However, in the case of a general planar helical antenna or conical helical antenna, it is difficult to further achieve miniaturization in terms of design size in the case of determining a frequency band.
Although the equiangular helical antenna has good broadband characteristics, the overall size becomes very large if it is compatible with low frequency bands, and thus, by means of archimedes helical loading characteristics, the physical size of the antenna can be reduced while widening the frequency bands. Therefore, the advantages of the standard archimedes spiral and the equiangular spiral antenna are improved, and the advantages of the standard archimedes spiral and the equiangular spiral antenna are combined.
In this embodiment, setting the index of the circularly polarized swept antenna 102 includes: frequency band fH/fl=12, vswr less than 2, axial ratio no greater than 3dB, antenna size diameter no greater than one sixth of a wavelength. The simulation indexes of the circularly polarized swept antenna 102 are shown in table 1.
TABLE 1
Specifically, an equiangular spiral power feeding structure 22 and an archimedes spiral power feeding structure 23 are provided on the upper surface of the circular substrate 21, and the equiangular spiral power feeding structure 22 is divided into two groups of symmetrical power feeding structures. A rectangular planar coordinate system is established on the plane of the circular substrate 21, the center of which is the center of the circular substrate 21, two rectangular feed structures 26 are set to be opposite to each other, the connecting line of the center lines of the two rectangular feed structures 26 in the length direction coincides with the y axis, and the anticlockwise rotation direction is the positive direction, and any one of the rectangular feed structures 22 is taken as an example.
One end of the equiangular helical feed structure 22 converges and rotates inwardly, being connected to one end of a rectangular feed structure 26. The other end of the equiangular spiral feed structure 22 converges and rotates outwards, and when rotated to a first preset position, the equiangular spiral feed structure is connected with one end of an archimedes spiral feed structure 23, wherein the first preset position is determined by the antenna index of the circularly polarized swept antenna 102 through simulation, and the 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 at a second preset 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 with the second preset position is 3/2 pi.
In the embodiment, the circular polarization sweep-frequency antenna is formed by utilizing 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 miniaturized design of the interference direction-finding sweep-frequency antenna in the unmanned ship is realized.
Further, this embodiment also shows an implementation manner of the impedance board 24, where the structure is shown in fig. 5 (a) and fig. 5 (b), the front and back sides of the impedance board 24 are respectively provided with an exponential taper microstrip line, the start ends of the exponential taper microstrip lines on the front and back sides are located at the top of the impedance board 24 and connected to the feeding point, and the end ends of the exponential taper microstrip lines on the front and back sides are located at the bottom of the impedance board 24, where the width of the end ends of the front exponential taper microstrip line is smaller than the width of the end ends of the reverse exponential taper microstrip line.
Specifically, a central protrusion 28 is disposed at the top center of the impedance board 24 and serves as the start end of the exponentially graded microstrip line on the front and back sides, and a groove is disposed at the center 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 copper plating.
It should be noted that, the shape of the index graded microstrip line on the front and back sides is determined by the index of the circularly polarized sweep antenna, and the implementation mode can adopt balun impedance transformation lines.
By arranging parallel double lines on the front and back sides, the reference floor indexes of the microstrip lines on the front and back sides are gradually changed to the same width, and an unbalanced feed mode is converted into a balanced feed mode, so that impedance matching and balun (balanced/unbalanced) conversion are realized, a wider bandwidth is obtained, and good performance is maintained.
In this embodiment, the impedance plate 24 is also mounted below the circular substrate 21 by a snap-in connection. Therefore, at least two slots 29 are provided above the circular substrate 21, corresponding protrusions 27 are provided above the impedance plate 24, and the impedance plate 24 and the circular substrate 21 are mounted by the protrusions 27 being engaged with the slots 29.
The circularly polarized swept antenna 102 in this embodiment is beneficial to improving the gain of the antenna and realizing good radiation characteristics of the antenna, and by combining the equiangular helix and the archimedes helix in the above manner, on one hand, the low-frequency characteristics of the equiangular helix antenna are improved, and on the other hand, the characteristics of archimedes helix antenna arm length, large transmission loss and low antenna efficiency are overcome. The variant spiral antenna not only improves ultra-wideband characteristics, but also greatly reduces the size of the antenna, thereby being beneficial to engineering design.
In this embodiment, bosses 11 are disposed on the upper and lower sides of the vivaldi antennas 101, and the bosses 11 are inserted into slots to mount the multiple vivaldi antennas 101 between the first stage PCB 31 and the second stage PCB 32, where the multiple vivaldi antennas 101 are used to form a direction-finding array antenna.
Specifically, the vivaldi antenna 101 includes a square substrate 12, a radiating slot line 13, a dielectric lens 14, a graded strip line 15, and the like. When the antenna is designed, corresponding bosses 11 are added on two sides of the long side of the square substrate 12 so as to be matched with clamping grooves regularly arranged on the first-stage PCB 31 and the second-stage PCB 32, the two PCBs are used for clamping the Vivaldi antenna 101, redundant structural members and mounting screws are not needed, the weight can be reduced, and the installation is convenient.
In this embodiment, as shown in fig. 6 (a) and 6 (b), the number of the vivaldi antennas 101 is 8, and the attachment 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 applications, and is composed of a radiating slot line 13, a square substrate 12, a dielectric lens 14 and a gradual strip line 15, where the opening width of the radiating slot line 13 is 200mm, the gradual strip line 15 is used as a feeder line portion of the vivaldi antenna 101, and its feed port is disposed at the bottom of the side edge of the square substrate 12, so that the interface between the antenna and the isolating switch 60 below is located in an approximate straight line, and the connecting line between the antenna and the antenna is shortest, which is helpful for realizing miniaturization of the direction finding array antenna.
In this embodiment, the Vivaldi antenna 101 has a width of 262mm and a length of 300mm.
By means of electric loading, the dimension of the standard Vivaldi antenna Vivaldi in the horizontal direction is reduced, so that the 8 Vivaldi antennas 101 can be utilized to form a direction-finding array antenna, and meanwhile, the performance of the antenna can still keep the index of the standard Vivaldi antenna Vivaldi.
8 Vivaldi antennas 101 were set for constituting the direction-finding array antenna simulation index as shown in Table 2.
TABLE 2
A conventional vivaldi antenna is an antenna with a gradual slot, fed using a microstrip, in which electromagnetic waves radiate outwards through a slot made in a metal layer. The microstrip slot antennas with different structures and performances can be realized by using surface microstrip, and the best radiation gain and port impedance are obtained by changing the dielectric substrate material of the antenna, adjusting the feed point impedance of the antenna, and adjusting the gradual change line and the outline dimension of the antenna.
In the embodiment, the dielectric lens 14 and the gradual change strip line 15 form a feed structure to realize the functions of feed and impedance transformation, and the optimal port impedance and radiation effect of the broadband antenna are obtained by correcting the size of the feed structure and the external dimension of the antenna. And array structure adjustment is carried out, the feed port is adjusted to the bottom of the side edge, bus connection with the isolating switch 60 is facilitated, 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 the metal partition plate.
Through simulation test, 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 requirements of a direction-finding array antenna.
In this embodiment, adopt the form that sets up the draw-in groove on the PCB board, carry out integrated design with the Vivaldi antenna and circular polarization sweep antenna, under the prerequisite that improves array antenna frequency coverage, reduce array antenna's volume, especially enclose 8 Vivaldi antennas into a circular, equidistant array that distributes to through setting up the reinforcing aluminum pipe, with the impedance board of inserting circular polarization sweep antenna, help the signal shielding between Vivaldi antenna and the circular polarization sweep antenna, realized unmanned in-ship interference direction finding sweep antenna's miniaturized design.
Further, the auxiliary decision device 100 further comprises: an electronic switch; the PCB board further comprises a third-stage PCB board 33, the third-stage PCB board 33 is arranged below the second-stage PCB board 32 through a plurality of connecting columns 4, and the isolating switch 60 and the electronic switch are arranged on the third-stage PCB board 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 sweep antenna 102, and the isolating switch 60 and the electronic switch can provide received detection signals outwards when closed.
Specifically, the isolating switch 60 is designed by a high-speed high-isolation electric control switch, and has the 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 reinforced aluminum pipe 5; the upper end of the reinforcing pipe passes through the through hole and is 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 antenna 102 is electrically connected to the signal input port of the electronic switch disposed on the third stage PCB 33 through the reinforcing aluminum pipe 5, and the isolation between the circularly polarized swept antenna 102 and the vivaldi antenna 101 is improved by disposing the reinforcing aluminum pipe 5. Meanwhile, the signal input end interface of the isolating switch 60 is electrically connected to the 8 vivaldi antennas 101, and the two received detection signals can be summarized in a bus mode and then are connected to the outside uniformly, so that the miniaturization of the array antenna is facilitated.
By simulating the direction-finding sweep antenna 10, as shown in fig. 7 to 9, the directivity coefficient is greater than 4dbi in the operating frequency band of 0.5-6 GHz. The average input standing-wave ratio is smaller than 2, the coupling of low frequency bands of adjacent units is larger, the overall isolation is larger than 30dB, the isolation between units is better, the isolation is mainly performed by virtue of larger spacing between units, and a metal circular tube is arranged in the middle of the array.
On the basis of the above embodiment, in order to match the set 8 vivaldi antennas and improve the isolation of the isolation switch 60, this embodiment also shows an implementation manner of the isolation switch 60, as shown in fig. 10 and 11, the isolation switch 60 includes: a housing and a switch group; the inside of the shell is provided with a shielding structure which divides the inside of the shell into a plurality of chambers, wherein the first chamber 62 is positioned in the middle area of the inside 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, wherein the first switch 603 is arranged in a first chamber 62, the second switch 601 is arranged in a second chamber 61, one end of the second switch 601 is arranged at the input end of a disconnecting 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 disconnecting switch 60, the first switch 603 is a multi-path gating switch, the second switch 601 is a Pin switch, and the Pin switch is connected with the multi-path gating switch in a radio frequency mode.
Further, the second switch 601 is a single pole double throw switch, the moving end of the second switch 601 is electrically connected to the first switch 603, the first stationary end of the second switch 601 is electrically connected to the vivaldi antenna, the second stationary 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, a separate cavity is provided for each switch, radiation interference in the isolating switch 60 is isolated in a physical isolation mode, isolation of each switch in the isolating switch 60 is increased, the corresponding characteristics of the whole frequency of the isolating switch 60 are kept consistent, and the Vivaldi antenna direction-finding amplitude error of different frequency interference is reduced.
In this embodiment, in order to match with 8 vivaldi antennas and improve the isolation of the isolation switch 60, a shielding structure is disposed in the housing, an independent cavity is provided for each switch, and radiation interference in the isolation switch 60 is isolated in a physical isolation manner, so that the isolation of each switch in the isolation switch 60 is increased, which is helpful to keep the corresponding characteristics of the overall frequency of the isolation switch 60 consistent, and the direction-finding amplitude error of the vivaldi antennas with different frequency interference is reduced.
In this embodiment, the 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 sweep 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 it is determined that the detection signal is an interference signal, the data processing unit 40 determines monitoring data of the detection signal and transmits the monitoring data to the carrier-based emergency communication device 50.
Specifically, the receiver 30 is a dual-channel wideband receiver 30, and the wideband communication frequency range includes, but is not limited to, UHF, L, S, C frequency ranges, the frequency range at least covers 0.5-2.7 GHz, and the standard may include dedicated communication, GPS/beidou, mobile communication (2G/3G/4G/5G), satellite communication, etc., so as to meet the requirement of monitoring the communication frequency range. 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 free space electromagnetic wave acquisition, amplification, filtering, frequency spectrum shifting and the like, and the radio frequency analog part adopts a hot standby mode to improve the reliability of products in consideration of the fact that the radio frequency analog part is easily damaged by strong interference attack, and the main module circuit comprises a main-standby switching circuit, a frequency selection amplifying circuit, an analog down-conversion circuit, an intermediate frequency amplifying circuit, an AD conversion circuit and the like. The digital baseband part mainly realizes 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 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, the present embodiment further shows a process of determining whether the detection signal is an interference signal by the data processing unit 40, which specifically includes:
Step 1, calculating detection statistics of the detection signals by adopting an accumulation and summation mode based on observation values of the detection signals;
specifically, the expression is set for any one of the detection signals as follows:
Where x (n) is an observed value of a probe signal received at time n, w (n) is an additive white gaussian noise with a mean value of 0 and a variance of σ w 2, s (n) is a sampling value of an interference signal at time n, H 0 is used to indicate that no interference signal exists, and H 1 is used to indicate that an interference signal exists.
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 instants.
Step 2, when the detection statistic is smaller than the 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;
Specifically, based on the concept of energy detection and double threshold, a first threshold lambda 0 and a second threshold lambda 1 are set, and when the calculated detection statistic is smaller than the first threshold, namely T (x) < lambda 0, the detection signal is judged to be an interference signal, and the detection signal is judged to be H 0; when the detection statistic is greater than the second threshold, i.e., T (x) > λ 1, the detection signal is directly determined to be an interference signal, which is H 1.
However, in order to avoid erroneous judgment and missed judgment, whether the detection signal with the detection statistic in the first threshold value and the second threshold value range (lambda 0≤T(x)≤λ1) is an interference signal is not judged 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 similarity of the two signals is good, the two signals are linearly related, and the two signals are coherent signals. Because the interference signals are used as the same signals, the signals between the channels have correlation after passing through different channels of the direction-finding sweep antenna 10. That is, if the similarity of the two signals is good, the two signals are determined to be interference signals.
Step 4, when the detection statistic is judged to be greater than or equal to a first threshold value and the detection statistic is judged to be less than or equal to a 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; the calculation formula of the correlation coefficient is as follows:
Where ρ i,i+1 is a correlation coefficient between the sampling time i and the sampling time i+1, y i (k) is a sampling value of the detection signal corresponding to the kth sampling point in the sampling time i, and k=0, 1,2, …, m, y i+1 (k) is a 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 larger than or equal to a preset threshold, 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 as a preset threshold value in the range of (0-1), and when the value is larger, the stronger the coherence of the two signals is indicated, namely the higher the possibility that the detection signal is an interference signal is, therefore, in order to ensure the detection precision and improve the communication quality of the unmanned ship, a proper parameter, such as 0.8, can be selected as the preset threshold value according to the actual requirement and related experience, and the interference-resistant operation is performed on the coherent detection signal.
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. The monitoring data can be sent to the shore-based equipment, and the shore-based equipment generates corresponding auxiliary decision-making instructions so that the auxiliary decision-making equipment assists the unmanned ship in communication anti-interference.
As shown in fig. 14, a Radio Frequency (RF) acquisition signal needs to be down-converted to an Intermediate Frequency (IF) in a data processing unit 40, and converted into a digital signal by a dedicated acquisition chip for processing.
After the received signal (detection signal) is digitized, various broadband digital filtering, direct digital frequency synthesis, digital down-conversion, modulation and demodulation, error coding, signaling control, information source coding and decoding and encryption and decryption functions are flexibly realized in a software programming mode.
Note that the implementation of the data processing unit 40 is not limited in this embodiment.
Upon reception, the probe signal from the direction-finding sweep antenna 10 is subjected to RF processing and conversion, digitized by broadband a/D, and then subjected to various signal processing as required by a programmable digital signal processor (FPGA) module, and the processed data (monitoring data of the probe signal) is transmitted to the shore-based equipment 200. The whole detection signal processing flow is shown in fig. 15, and the specific process is not repeated.
Embodiment two:
As shown in fig. 16, the present embodiment provides a communication anti-interference auxiliary decision system suitable for an unmanned ship, where the auxiliary decision system is composed of an auxiliary decision device 100 and a shore-based device 200 in the foregoing embodiment, the auxiliary decision device 100 is disposed on the unmanned ship, the auxiliary decision device 100 is configured to acquire a detection signal in a navigation process of the unmanned ship, send monitoring data of the detection signal to the shore-based device 200, and the shore-based device 200 is configured to generate an auxiliary decision 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 through a USB interface, where the shore-side main control computer may include a communication device and a beidou communication integrated machine, and the beidou communication integrated machine and the carrier-based 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 with the shore end main control computer and is used for generating an auxiliary decision-making instruction based on the monitoring data. The shore-side equipment at least comprises a directional antenna, a broadband receiver and a signal processing analysis decision module, wherein the signal processing analysis decision module is mainly used for generating an auxiliary decision instruction corresponding to an interference signal, and can determine interference frequency point distribution, interference amplitude level, interference azimuth information and interference signal type information, and the specific implementation mode is not limited.
Specifically, during the unmanned ship sailing process, the auxiliary decision device 100 analyzes the detection signal received by the direction-finding sweep antenna 10, and adopts methods such as an energy detection method and a correlation detection method in a spectrum sensing technology to judge whether the detection signal is an interference signal.
When the communication equipment in the unmanned ship is interfered by the interference source and works normally, the auxiliary decision device 100 utilizes the carrier-based emergency communication equipment 50 arranged on the auxiliary decision device, the Beidou communication system is utilized to transmit the real-time monitoring data of the received detection signals back to the shore-based equipment 200, the shore-based equipment 200 gathers the monitoring results of electromagnetic spectrums around the two communication parties and comprehensively judges the interference direction, an auxiliary decision instruction is generated, and effective anti-interference is performed by modifying the communication parameters such as the frequency, amplitude, bandwidth, antenna direction and the like of the communication equipment in the unmanned ship and the shore-based equipment 200.
In this embodiment, since the beidou communication satellite transmits data once every minute, the signal disturbance of the beidou communication satellite itself can ignore the detection result of the auxiliary decision device 100, and the shore-based device 200 is a manual and automatic combination mode, and detects whether the uplink is affected by detecting information such as signal frequency, amplitude, type and the like by manually detecting the interference direction, so that the auxiliary decision device 100 and the shore-based device 200 work simultaneously, and the detection data are displayed in a fusion manner in the shore-based device 200.
By utilizing the auxiliary decision device 100 and the shore-based device 200 to monitor and identify the frequency and the azimuth of an interference signal source affecting radio signal communication, an auxiliary decision instruction is generated, and automatic unmanned operation is realized by utilizing communication equipment equipped by an unmanned ship, so that the problem that the conventional radio directional device cannot operate unmanned is solved.
Embodiment III:
The present embodiment also provides a communication anti-interference auxiliary decision-making method applicable to the unmanned ship, where the auxiliary decision-making method is applicable to the auxiliary decision-making device 100 in the foregoing embodiment, and the auxiliary decision-making method includes:
step A, obtaining a detection signal received by a direction-finding sweep 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 ship-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 judging whether the detection signal is an interference signal includes:
Step 1, calculating detection statistics of the detection signals by adopting an accumulation and summation mode based on observation values of the detection signals;
Step 2, when the detection statistic is smaller than the 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 greater than or equal to a first threshold value and the detection statistic is judged to be less than or equal to a 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; wherein, the calculation formula of the correlation coefficient is:
Wherein ρ i,i+1 is the correlation coefficient between the sampling time i and the sampling time i+1, y i (k) is the sampling value of the detection signal corresponding to the kth sampling point in the sampling time i, k=0, 1,2, …, m, y i+1 (k) is 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 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 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.
The technical scheme of the application is described in detail by combining the accompanying drawings, and the application provides communication anti-interference auxiliary decision-making equipment, a system and a method suitable for unmanned boats, wherein a direction-finding sweep antenna in the auxiliary decision-making equipment is formed by combining a Vivaldi antenna and a circularly polarized sweep antenna, the output end of the circularly polarized sweep antenna is connected with a first receiving end of a receiver, and the output end of the Vivaldi antenna is connected with a second receiving end of the receiver through a disconnecting 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 the monitoring data determined by the data processing unit through the Beidou communication satellite. By the technical scheme, the effect of the auxiliary decision-making equipment in monitoring the frequency and the azimuth of the interference signal affecting the radio signal communication is optimized, and the frequency coverage range is improved.
By the technical scheme, the effect of monitoring the frequency and the azimuth of the interference signal affecting the radio signal communication is optimized, and the frequency coverage range is improved.
In the present application, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The shapes of the various components in the drawings are illustrative, and do not exclude certain differences from the actual shapes thereof, and the drawings are merely illustrative of the principles of the present application and are not intended to limit the present application.
Although the application has been disclosed in detail with reference to the accompanying drawings, it is to be understood that such description is merely illustrative and is not intended to limit the application of the application. The scope of the application is defined by the appended claims and may include various modifications, alterations and equivalents of the application without departing from the scope and spirit of the application.
Claims (10)
1. Communication anti-interference auxiliary decision device suitable for unmanned ship, auxiliary decision device (100) sets up on unmanned ship, auxiliary decision device (100) are used for acquireing the detection signal in the unmanned ship navigation process, its characterized in that, auxiliary decision device (100) include: a direction-finding sweep antenna (10), an isolating switch (60), a receiver (30), a data processing unit (40) and ship-borne emergency communication equipment (50);
The direction-finding sweep antenna (10) is formed by combining a Vivaldi antenna (101) and a circularly polarized sweep antenna (102), the output end of the circularly polarized sweep antenna (102) is connected with the first receiving end of the receiver (30), and the output end of the Vivaldi antenna (101) is connected with the 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 sweep 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 carrier-based emergency communication equipment (50) is connected to the output end of the data processing unit (40), and the carrier-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 auxiliary decision-making device suitable for the unmanned ship according to claim 1, wherein the direction-finding sweep antenna (10) is provided with a multi-stage PCB board, and a plurality of groups of paired clamping grooves are arranged on the first-stage PCB board (31) and the second-stage PCB board (32);
The circular polarization sweep antenna (102) is arranged above the first-stage PCB (31), a circular substrate (21) is arranged at the top of the circular polarization 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);
The upper and lower both sides of wiwalt antenna (101) are provided with boss (11), boss (11) inserts the draw-in groove, with a plurality of wiwalt antenna (101) are installed between first level PCB board (31) and second level PCB board (32), a plurality of wiwalt antenna (101) are used for constituteing the direction finding array antenna.
3. Communication anti-interference auxiliary decision device suitable for unmanned boats according to claim 2, characterized in that said circular base plate (21) is provided with equiangular spiral feed structures (22) and archimedes spiral feed structures (23) connected together, in particular comprising:
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 feed structure (22) converges and spirals towards the position of the feed point (25) to be connected to one end of the rectangular feed structure (26);
The other end of the equiangular spiral feed structure (22) converges and spirals to a first preset position in the opposite direction of the position of the feed point (25) so as to be connected with 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 at a second preset position, wherein the second preset position is opposite to the other end of the rectangular feed structure (26).
4. A communication anti-interference aid decision making device suitable for use in an unmanned boat according to 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 feed point (25), and the other end of the impedance plate (24) is connected to the signal input end of the electronic switch.
5. Communication anti-interference aid decision making device suitable for unmanned boats according to any of claims 1 to 4, wherein the disconnector (60) comprises: a housing 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-path gating switch, the second switch (601) is a Pin switch, and the Pin switch is connected with the multi-path gating switch in a radio frequency mode.
6. Communication anti-interference aid decision device suitable for unmanned boats according to any of claims 1 to 4, wherein the process of determining by the data processing unit (40) whether the probe signal is an interference signal, in particular comprises:
step 1, calculating detection statistics of the detection signals by adopting an accumulation and summation mode based on the observed values of the detection signals;
step 2, when the detection statistic is 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 greater than or equal to the first threshold value and the detection statistic is judged to be less than or equal to the second threshold value, discretizing and sampling the detection signal, and calculating a correlation coefficient of the discretized and sampled detection signal;
And 5, when the correlation coefficient is 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. Communication anti-interference auxiliary decision system suitable for unmanned vessels, characterized in that it comprises an auxiliary decision device (100) according to any one of claims 1 to 6, as well as a shore-side master control computer, a shore-side device;
The shore-side main control computer is provided with a Beidou communication all-in-one machine, and the Beidou communication all-in-one machine 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 device is electrically connected to the shore main control computer, and the shore device is used for generating an auxiliary decision instruction based on the monitoring data.
8. The communication anti-interference auxiliary decision-making method suitable for the unmanned ship is characterized by comprising the following steps of:
Step A, a detection signal received by a direction-finding sweep antenna (10) is obtained, wherein the direction-finding sweep antenna (10) is formed by combining a Vivaldi antenna (101) and a circularly polarized sweep antenna (102), the output end of the circularly polarized sweep antenna (102) is connected with a first receiving end of a receiver (30), and the output end of the Vivaldi antenna (101) is connected with a second receiving end of the receiver (30) through an isolating switch (60), so that frequency monitoring and direction positioning of interference signals can be realized;
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 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 auxiliary decision instruction through the ship-borne emergency communication equipment (50), 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 azimuth.
9. The method for communication anti-interference aid decision making for unmanned boats according to claim 8, wherein the step of determining whether the detected signal is an interference signal comprises:
step 1, calculating detection statistics of the detection signals by adopting an accumulation and summation mode based on the observed values of the detection signals;
step 2, when the detection statistic is 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 greater than or equal to the first threshold value and the detection statistic is judged to be less than or equal to the second threshold value, discretizing and sampling the detection signal, and calculating a correlation coefficient of the discretized and sampled detection signal;
And 5, when the correlation coefficient is 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 auxiliary decision-making method suitable for unmanned boats according to claim 9, wherein the calculation formula of the correlation coefficient is:
Where ρ i,i+1 is a correlation coefficient between the sampling time i and the sampling time i+1, y i (k) is a sampling value of the detection signal corresponding to the kth sampling point in the sampling time i, k=0, 1,2, …, m, and y i+1 (k) is a sampling value of the detection signal corresponding to the kth sampling point in the sampling time i+1.
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