CN115589592A - Method for positioning pseudo base station by using unmanned aerial vehicle - Google Patents
Method for positioning pseudo base station by using unmanned aerial vehicle Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/12—Detection or prevention of fraud
- H04W12/121—Wireless intrusion detection systems [WIDS]; Wireless intrusion prevention systems [WIPS]
- H04W12/122—Counter-measures against attacks; Protection against rogue devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention relates to a method for positioning a pseudo base station by using an unmanned aerial vehicle, belonging to the technical field of communication. Firstly, the unmanned aerial vehicle searches downlink synchronous signals of the pseudo base station by using a cell search module, identifies the physical layer cell identification of the pseudo base station, then locks the pseudo base station in real time to send downlink main synchronous signals and auxiliary synchronous signals, and obtains the advantage of road loss to calculate the distance between the unmanned aerial vehicle and the pseudo base station. The unmanned aerial vehicle feeds back the arrival angle of the pseudo base station signal calculated by the AOA measuring module and the distance between the unmanned aerial vehicle and the pseudo base station to the control console together with the GPS position measured by the GPS module of the unmanned aerial vehicle. And calculating the specific position of the pseudo base station by the ground control station, and marking the positions of the unmanned aerial vehicle and the pseudo base station and the moving track routes of the unmanned aerial vehicle and the pseudo base station on a map in real time. In the unmanned aerial vehicle tracking process, the unmanned control module corrects parameters of a flight control system of the unmanned aerial vehicle according to the specific position of the pseudo base station provided by the control console, and controls the unmanned aerial vehicle to rapidly approach the pseudo base station.
Description
Technical Field
The invention belongs to the technical field of communication, and relates to a method for positioning a pseudo base station by using an unmanned aerial vehicle.
Background
In a mobile communication network, a base station and a terminal communicate by using a wireless signal which adopts a free propagation mode in the air, so that the base station or the wireless signal can be disguised, and a pseudo base station device is also accompanied in the development process of mobile communication. The pseudo base station simulates a real legal mobile base station signal as the name implies, and conceals or deceives a legal terminal to operate on the pseudo base station, so that the terminal information is illegally stolen. The existence of the pseudo base station provides possibility for privacy disclosure, interference with normal communication and telecommunication fraud.
At present, the elimination of the false base station is mainly performed from two aspects, one is from the mobile communication network itself, the security performance of the mobile network is improved, and the capability of the base station and the terminal for identifying and distinguishing illegal equipment is increased. For example, in a GSM system, a terminal does not have an authentication capability to a network, which causes the GSM terminal to receive spam messages from a pseudo base station, which disturbs normal communication of a user. Secondly, the pseudo base station is attacked in real time, and the telecommunication operation department can reject the pseudo base station in time as long as the pseudo base station is found to exist.
With the development of mobile communication technology and the reduction of base station cost, a portable pseudo base station is developed, a handheld or vehicle-mounted pseudo base station becomes the mainstream, the pseudo base station is in a static or semi-static state in the past, and a telecommunication management department is easy to position and track.
In addition, the wireless signal transmitted by the pseudo base station is propagated in the air, is influenced by multipath from the surrounding environment, is difficult to accurately position the specific position of the pseudo base station, generally can only position an approximate range, and then is manually checked, so that the method is low in efficiency and provides opportunities for lawbreakers to escape.
Disclosure of Invention
In view of the above, the present invention provides a method for positioning a pseudo base station by using an unmanned aerial vehicle.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for positioning a pseudo base station by using an unmanned aerial vehicle comprises the following steps:
step 1: the cell searching module searches all base station signals of a local area and sends the base station signals back to the console through the unmanned aerial vehicle communication module, and the cell searching module searches base stations including legal base stations and illegal pseudo base stations;
step 2: the cell search module provides the base station signals for the control console with base station working frequency points and physical cell identifiers; manually identifying a working frequency point and a physical cell identifier of a specific pseudo base station by a console; then the console informs the unmanned aerial vehicle of the specific working frequency point and the physical cell identification of the pseudo base station;
and step 3: positioning and tracking a downlink synchronous signal of a pseudo base station, and measuring an arrival angle of the downlink synchronous signal of the pseudo base station by using an AOA (automatic optical access) measuring module of an unmanned aerial vehicle; calculating the path loss between the unmanned aerial vehicle and the pseudo base station by using the transmitting power of a physical broadcast channel provided in the pseudo base station system message and the power of the physical channel measured by the unmanned aerial vehicle, and then estimating the linear distance between the unmanned aerial vehicle and the pseudo base station by using the path loss;
and 4, step 4: the unmanned aerial vehicle feeds back the GPS position information of the unmanned aerial vehicle, the arrival angle from the pseudo base station downlink synchronous signal to the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the pseudo base station to the control console;
and 5: the control console estimates the specific position of the pseudo base station by using GPS information of the unmanned aerial vehicle, the arrival angle of a downlink synchronous signal of the pseudo base station to the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the pseudo base station, and the unmanned aerial vehicle adjusts the parameters of the flight control system under the request of the control console to require the unmanned aerial vehicle to be quickly close to the pseudo base station;
step 6: and displaying the position of the control console, the position of the unmanned aerial vehicle and the position of the pseudo base station on a map of the control console in real time.
Optionally, the method for calculating the arrival angle from the pseudo base station downlink synchronization signal to the unmanned aerial vehicle includes:
step 41: determining an (X, Y, Z) three-axis coordinate system according to an antenna array of an AOA measuring module in the unmanned aerial vehicle; wherein the plane determined by the X axis and the Y axis is an antenna array plane;
step 42: dividing the area below the plane of the antenna array, namely dividing the horizontal angle into N equal parts, wherein N is an integer larger than 1, and dividing the vertical angle into M equal parts, and M is an integer larger than 1; dividing the space below the antenna array into M multiplied by N areas in total;
step 43: the AOA measuring module generates an MxN arrival angle antenna array receiving forming matrix in total, and calculates the receiving forming matrix in advance and stores the receiving forming matrix in the AOA measuring module;
and step 44: and weighting the received array signals by using the stored receiving forming matrix, wherein the area corresponding to the receiving forming matrix with the strongest received signal is the area where the pseudo base station is located, and the corresponding horizontal angle alpha and vertical angle beta are obtained.
Optionally, the unmanned aerial vehicle communication module and the tower communication module form a pair of communication modules, and information transmission between the unmanned aerial vehicle and the control console is provided in a wireless communication manner; the unmanned aerial vehicle GPS module and the tower GPS module provide specific GPS positions of the unmanned aerial vehicle and the tower; the cell searching module completes signal searching of the pseudo base station, completes interpretation of pseudo base station system information and obtains pseudo base station transmitting power; the AOA measuring module calculates the arrival angle of incoming waves of the pseudo base station by using an antenna array of the AOA measuring module and receiving downlink synchronous signals sent by the pseudo base station, and calculates the path loss by measuring the signal strength of the pseudo base station, so that the distance between the unmanned aerial vehicle and the pseudo base station is estimated; the flight control system module adjusts the flight line of the unmanned aerial vehicle according to the indication requirement of the unmanned aerial vehicle control module, and the unmanned aerial vehicle can quickly approach the pseudo base station through the parameter control of the flight control system; the pseudo base station position calculation module estimates the specific position of the pseudo base station according to unmanned aerial vehicle GPS position information provided by the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the pseudo base station and the arrival angle information calculated by the unmanned aerial vehicle AOA measurement module; the map is used for displaying the control position, the position of the unmanned aerial vehicle and the position of the pseudo base station in real time, and displaying the position relation of the control console, the unmanned aerial vehicle and the pseudo base station on line in real time.
Optionally, the unmanned aerial vehicle GPS information and the tower GPS information are converted into three-axis coordinates, pseudo base station position calculation is performed, and real-time display is performed in a map;
the cell search module uses a 5G cell search module if the cell search module needs to support 5G pseudo base station search, and uses a 4G cell search module if the cell search module needs to search a 4G pseudo base station; in the searching process, measuring a cell downlink Primary Synchronization Signal (PSS) and a Secondary Synchronization Signal (SSS), acquiring a base station physical cell identifier, reading a Master Information Block (MIB) and a system information block (SIB 1), and acquiring the block power of the base station for transmitting the MIB from the SIB 1;
the antenna array of the AOA measuring module is a square antenna array formed by physical antennas, the antenna array is more than or equal to 4, and at least 2 antennas are arranged on any side of the antenna array to form a square or rectangular array for calculating the arrival angle of the downlink synchronous signal of the cell to the antenna array; the arrival angle is formed by a horizontal angle and a vertical angle;
the control console calculates the position of the pseudo base station and feeds back the position information to the unmanned aerial vehicle system, and the unmanned aerial vehicle provides the pseudo base station position information according to the control console and is controlled by the flight control system to fly to the pseudo base station;
the map is used for displaying the control position, the position of the unmanned aerial vehicle and the position of the pseudo base station in real time, and displaying the position relation of the control console, the unmanned aerial vehicle and the pseudo base station in real time on line.
Optionally, in step 1, the search process adopts a blind cell search process of a mobile communication system.
Optionally, in step 4, at the arrival time of the downlink synchronization signal of the pseudo base station, the arrival angle starts to be calculated, and the GPS position of the unmanned aerial vehicle is recorded at the same time.
Optionally, in step 1, the AOA measurement module divides the horizontal angle into 6 directions, and the angles are respectively 30 °,90 °,15 °0 DEG, 210 DEG, 270 DEG, 330 DEG, the vertical angle is divided into 2 directions, the angles are respectively 22.5 DEG and 67.5 DEG, 12 angles are formed in total to reach a larger angle, and each combination of the horizontal angle alpha and the vertical angle beta forms a receiving forming matrix W αβ 。
Optionally, in step 2, the downlink synchronization signal received from the antenna array is identified as R antenna Then the signal used for RSRP calculation is: w αβ R antenna The AOA measurement module recalculates W αβ R antenna RSRP power of, wherein the largest RSRP calculation corresponds to W αβ The horizontal angle and the vertical angle in (b) are the arrival angles (α, β) of the pseudo base stations.
Optionally, in step 3, tracking and positioning of the 4G and 5G pseudo base stations are simultaneously supported;
if the pseudo base station is a 4G pseudo base station, downlink synchronous signals of the 4G system are not transmitted in sub-beams, and the arrival angle (alpha, beta) of the pseudo base station can be calculated according to the PSS and the SSS every time;
if the pseudo base station is a 5G pseudo base station, the 5G system adopts the sub-beam to send PSS and SSS downlink synchronous signals, divides the signals into time to send synchronous blocks SSB, calculates all RSRP values in an SSB period, and then selects W corresponding to the maximum RSRP αβ The horizontal angle and the vertical angle of arrival (α, β) of the pseudo base station;
the position of the pseudo base station is set as (x) bs ,y bs ,z bs ) The position of the unmanned plane is (x) uas ,y uas ,z uas ) The distance gamma between the unmanned aerial vehicle and the pseudo base station is obtained by the AOA measuring module, and the arrival angle is (alpha, beta);
the position of the pseudo base station is calculated from the position of the drone:
the invention has the beneficial effects that:
firstly: the invention provides a method for tracking and positioning a pseudo base station by using an unmanned aerial vehicle, which is characterized in that after the unmanned aerial vehicle is lifted off, no shielding object exists between the unmanned aerial vehicle and the pseudo base station, so that line-of-sight communication is realized between the unmanned aerial vehicle and the pseudo base station.
Secondly, the method comprises the following steps: the invention adopts the unmanned aerial vehicle to track the pseudo base station, is suitable for moving the pseudo base station, and can enable the unmanned aerial vehicle to quickly and linearly approach the pseudo base station. The conventional ground mode is used for monitoring the pseudo base station, the movement of the monitoring equipment is always limited by ground roads, and in addition, the pseudo base station moves, so that the difficulty in tracking the pseudo base station is improved.
Thirdly, the steps of: the unmanned aerial vehicle adopts the antenna array technology, sets the azimuth angle in advance according to the characteristic that the pseudo base station sends the downlink synchronous signal, calculates the receiving forming matrix in advance, and simplifies the calculation of the arrival angle of the incoming wave of the pseudo base station by the unmanned aerial vehicle.
Fourthly: the invention utilizes the physical broadcast channel sending power value provided in the information system information sent by the pseudo base station to calculate the route between the unmanned aerial vehicle and the pseudo base station, thereby estimating the distance between the unmanned aerial vehicle and the pseudo base station. Due to the adoption of the unmanned aerial vehicle mode, the sight distance between the unmanned aerial vehicle and the pseudo base station is transmitted in a straight line, and the distance between the monitoring equipment and the pseudo base station is estimated to be accurate compared with the conventional ground monitoring equipment.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For a better understanding of the objects, aspects and advantages of the present invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a functional structure block diagram of an unmanned aerial vehicle system;
FIG. 2 is a functional block diagram of a console system;
FIG. 3 is a process of pseudo base station positioning using an unmanned aerial vehicle;
FIG. 4 is a pseudo base station location and display flow diagram;
FIG. 5 is an AOA measurement module;
fig. 6 is a schematic diagram of pseudo base station position calculation.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; for a better explanation of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
The invention provides a method for positioning and tracking a pseudo base station by adopting an unmanned aerial vehicle, which has the basic principle that after the unmanned aerial vehicle is lifted off, the unmanned aerial vehicle firstly utilizes a cell search module to search a downlink synchronous signal of the pseudo base station, identifies a physical layer cell identifier of the pseudo base station, then locks the pseudo base station in real time to send the downlink main synchronous signal and an auxiliary synchronous signal, and in the process, the cell search module of the unmanned aerial vehicle analyzes a system message of the pseudo base station to obtain the transmitting power of the pseudo base station, and utilizes path loss to calculate the distance between an unmanned aerial vehicle and the pseudo base station. After the unmanned aerial vehicle locks the pseudo base station, the arrival angle of the pseudo base station transmitting the downlink synchronization signal to the antenna array of the AOA measuring module is periodically calculated by the AOA measuring module. And finally, the unmanned aerial vehicle feeds back the arrival angle of the pseudo base station signal calculated by the AOA measuring module and the distance between the unmanned aerial vehicle and the pseudo base station to the control console together with the GPS position of the unmanned aerial vehicle measured by the GPS module. The specific position of the pseudo base station is calculated by the ground control station, and the positions of the unmanned aerial vehicle and the pseudo base station and the movement track routes of the unmanned aerial vehicle and the pseudo base station are marked on a map in real time. In the unmanned aerial vehicle tracking process, the unmanned control module corrects parameters of a flight control system of the unmanned aerial vehicle according to the specific position of the pseudo base station provided by the control console, and controls the unmanned aerial vehicle to rapidly approach the pseudo base station.
The invention consists of two parts, an unmanned aerial vehicle system and a console system. The unmanned aerial vehicle system is composed of an unmanned aerial vehicle communication module, an unmanned aerial vehicle GPS module, an AOA measuring module, a cell searching module, a flight control system and an unmanned aerial vehicle control module, and is shown in figure 1. The control console system is composed of a tower communication module, a tower GPS module, a pseudo base station position calculation module, a map and a tower control module, as shown in FIG. 2.
In the system, an unmanned aerial vehicle communication module and a tower communication module form a pair of communication modules, and information transmission between the unmanned aerial vehicle and a control console is provided in a wireless communication mode; the unmanned aerial vehicle GPS module and the tower GPS module provide specific GPS positions of the unmanned aerial vehicle and the tower; the cell searching module completes signal searching of the pseudo base station, completes interpretation of pseudo base station system information and obtains pseudo base station transmitting power; the AOA measuring module calculates the arrival angle of incoming waves of the pseudo base station by using an antenna array of the AOA measuring module and receiving downlink synchronous signals sent by the pseudo base station, and calculates the path loss by measuring the signal strength of the pseudo base station, so that the distance between the unmanned aerial vehicle and the pseudo base station is estimated; the flight control system module adjusts the flight line of the unmanned aerial vehicle according to the instruction requirement of the unmanned aerial vehicle control module, and the unmanned aerial vehicle can quickly approach the pseudo base station through the parameter control of the flight control system; the pseudo base station position calculation module estimates the specific position of the pseudo base station according to unmanned aerial vehicle GPS position information provided by the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the pseudo base station and the arrival angle information calculated by the unmanned aerial vehicle AOA measurement module; the map is used for displaying the control position, the position of the unmanned aerial vehicle and the position of the pseudo base station in real time, and displaying the position relation of the control console, the unmanned aerial vehicle and the pseudo base station on line in real time.
In the invention, the pseudo base station positioning process is carried out by using the unmanned aerial vehicle, as shown in fig. 3.
Step 1: the cell search module searches all base station signals of a local area and sends the base station signals back to the console through the unmanned aerial vehicle communication module, and the cell search module searches base stations including legal base stations and illegal pseudo base stations. As shown in step 1 of fig. 3.
And 2, step: the cell search module provides the base station with the base station working frequency point and the physical cell identification about the base station signal for the control station. The working frequency point and the physical cell identification of the specific pseudo base station are manually identified by the console. And then the console informs the unmanned aerial vehicle of the specific working frequency point and the physical cell identifier of the pseudo base station. As shown in step 2 of fig. 3.
And step 3: and positioning and tracking the downlink synchronous signal of the pseudo base station, and measuring the arrival angle of the downlink synchronous signal of the pseudo base station by using an AOA (automatic optical access) measuring module of the unmanned aerial vehicle. And calculating the path loss between the unmanned aerial vehicle and the pseudo base station by using the transmitting power of the physical broadcast channel provided in the pseudo base station system message and the power of the physical channel measured by the unmanned aerial vehicle, and then estimating the linear distance between the unmanned aerial vehicle and the pseudo base station by the path loss. As shown in step 3 of figure 3.
And 4, step 4: the unmanned aerial vehicle feeds back the GPS position information of the unmanned aerial vehicle, the arrival angle from the pseudo base station downlink synchronous signal to the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the pseudo base station to the control console. As shown in step 4 of figure 3.
And 5: the control console estimates the specific position of the pseudo base station by using GPS information of the unmanned aerial vehicle, the arrival angle of the downlink synchronous signal of the pseudo base station to the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the pseudo base station, and the unmanned aerial vehicle adjusts the flight control system parameters under the request of the control console to require the unmanned aerial vehicle to be close to the pseudo base station quickly. As shown in step 5 of fig. 3.
Step 6: and displaying the position of the control console, the position of the unmanned aerial vehicle and the position of the pseudo base station on a map of the control console in real time. As shown in step 6 of figure 3.
In the invention, the pseudo base station downlink synchronous channel reaches the arrival angle calculation method of the unmanned aerial vehicle.
Step 41: and determining an (X, Y, Z) three-axis coordinate system according to the antenna array of the AOA measuring module in the unmanned aerial vehicle. Wherein the plane determined by the X and Y axes is the plane of the antenna array.
Step 42: the area division is carried out below the plane of the antenna array, namely, the horizontal angle is divided into N equal parts (N is an integer larger than 1), and the vertical angle is divided into M equal parts (M is an integer larger than 1). I.e., the space below the antenna array is divided into MxN regions in total.
Step 43: and the AOA measuring module generates an MxN arrival angle antenna array receiving forming matrix in total, calculates the receiving forming matrix in advance and stores the receiving forming matrix in the AOA measuring module.
Step 44: and weighting the received array signals by using the stored received forming matrix, wherein the area corresponding to the received forming matrix with the strongest received signal is the area where the pseudo base station is located, and the corresponding horizontal angle alpha and the vertical angle beta are obtained.
The embodiment is as follows:
in order to more clearly illustrate the use of the present invention in practical concrete engineering, a concrete implementation algorithm and an implementation flow for tracking and positioning the pseudo base station by using the unmanned aerial vehicle will be given in this embodiment.
The system of the embodiment is composed of two subsystems, as shown in fig. 1 and fig. 2. Unmanned aerial vehicle system and control cabinet system. The unmanned aerial vehicle system is composed of an unmanned aerial vehicle communication module, an unmanned aerial vehicle GPS module, an AOA measuring module, a cell searching module, a flight control system and an unmanned aerial vehicle control module, and is shown in figure 1. The control console system is composed of a tower communication module, a tower GPS module, a pseudo base station position calculation module, a map and a tower control module, and is shown in fig. 2.
In this embodiment, the unmanned aerial vehicle communication module and the tower communication module form a pair of communication modules, information transmission between the unmanned aerial vehicle and the control console is provided in a wireless communication mode, and the existing mature communication mode is used in the communication mode between the unmanned aerial vehicle and the control console;
in the embodiment, the acquired GPS information of the unmanned aerial vehicle and the tower can be converted into three-axis coordinates, so that the position calculation of the pseudo base station is facilitated, and the real-time display in a map is facilitated;
the cell search module completes signal search of the pseudo base station, completes interpretation of pseudo base station system messages, and acquires pseudo base station transmitting power, in this embodiment, the existing mobile communication cell search module is adopted to complete, if 5G pseudo base station search needs to be supported, the 5G cell search module is used, and if 4G pseudo base station search needs to be performed, the 4G cell search module is used. In the searching process, a cell downlink Primary Synchronization Signal (PSS) and a Secondary Synchronization Signal (SSS) are mainly measured, so as to obtain a base station physical cell identity (physical cell identity), and a Master Information Block (MIB) and a system information block 1 (SIB 1) are interpreted, so as to obtain a block power for the base station to transmit the MIB from the SIB 1.
The AOA measuring module calculates the arrival angle of incoming waves of the pseudo base station by utilizing an antenna array of the AOA measuring module and receiving downlink synchronous signals sent by the pseudo base station, and calculates the path loss by utilizing the signal strength of the pseudo base station, so that the distance between the unmanned aerial vehicle and the pseudo base station is estimated; in this embodiment, the antenna array of the AOA measurement module is a square antenna array formed by 4 physical antennas (it is assumed that more than 4 antenna arrays are used, but at least 2 antennas are formed on any side of the antenna array, and a square or rectangular array is formed), and is used to calculate the arrival angle of the cell downlink synchronization signal to the antenna array. The angle of arrival is made up of a horizontal angle and a vertical angle.
The pseudo base station position calculation module estimates the specific position of the pseudo base station according to unmanned aerial vehicle GPS position information provided by the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the pseudo base station and arrival angle information calculated by the unmanned aerial vehicle AOA measurement module.
The flight control system module adjusts the flight line of the unmanned aerial vehicle according to the indication requirement of the unmanned aerial vehicle control module, and the unmanned aerial vehicle can quickly approach the pseudo base station through the parameter control of the flight control system; in this embodiment, the control station calculates the position of the pseudo base station, and feeds back the position information to the drone system, and the drone provides the pseudo base station position information according to the control station, and the drone is controlled by the flight control system to fly to the pseudo base station.
The map is used for displaying the control position, the position of the unmanned aerial vehicle and the position of the pseudo base station in real time, and displaying the position relation of the control console, the unmanned aerial vehicle and the pseudo base station on line in real time.
In this embodiment, a pseudo base station positioning process is performed by using the drone, as shown in fig. 4.
Step 1: the cell search module searches all base station signals of a local area and sends the base station signals back to the console through the unmanned aerial vehicle communication module, the cell search module searches base stations including legal base stations and illegal pseudo base stations, and in the embodiment, the cell blind search process of the mobile communication system is adopted in the search process. As shown in step 1,2 of fig. 4.
Step 2: the cell search module provides the base station signals for the control station with a base station working frequency point (marked as work _ frequency) and a physical cell identity (marked as physical cell identity). The working frequency point and the physical cell identification of the specific pseudo base station are manually identified by the console. And then the console informs the unmanned aerial vehicle of the specific working frequency point and the physical cell identifier of the pseudo base station. As shown in step 3 of fig. 4.
And 3, step 3: positioning and tracking the downlink synchronous signal of the pseudo base station, and measuring the arrival angle of the downlink synchronous signal of the pseudo base station by using an unmanned aerial vehicle AOA measuring module, wherein the arrival angle consists of a horizontal angle (recorded as alpha) and a vertical angle (recorded as beta). And calculating the path loss between the unmanned aerial vehicle and the pseudo base station by using the transmitting power of the physical broadcast channel provided in the pseudo base station system message and the power of the physical channel measured by the unmanned aerial vehicle, and then estimating the linear distance (recorded as gamma) between the unmanned aerial vehicle and the pseudo base station by using the path loss.
In this embodiment, it is also supported that the distance between the drone and the pseudo base station is calculated by using the propagation time difference, that is, the drone sends an access request signal (for short, preamble) on a physical random channel (for short, PRACH), and then the timing advance (for short, TA value) in a random access response (for short, RAR) fed back by the base station is used for calculation. As shown in step 4,5 of fig. 4.
And 4, step 4: the unmanned aerial vehicle feeds back the GPS position information of the unmanned aerial vehicle, the arrival angle from the pseudo base station downlink synchronous signal to the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the pseudo base station to the control console. In this embodiment, since the arrival angles measured by the AOA of the downlink synchronization signals sent by the drone, the pseudo base station and the pseudo base station all have a relationship with time, the arrival angles are calculated at the arrival time of the downlink synchronization signals of the pseudo base station, and the GPS position of the drone is recorded at the same time. As shown in step 5 of fig. 4.
And 5: the control console estimates the specific position of the pseudo base station by using GPS information of the unmanned aerial vehicle, the arrival angle of the downlink synchronous signal of the pseudo base station to the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the pseudo base station, and the unmanned aerial vehicle adjusts the flight control system parameters under the request of the control console to require the unmanned aerial vehicle to be close to the pseudo base station quickly. As shown in step 6,7 of fig. 4.
Step 6: and displaying the position of the control console, the position of the unmanned aerial vehicle and the position of the pseudo base station on a map of the control console in real time. As shown in steps 8 and 9 of fig. 3.
In this embodiment, the arrival angle calculation method is as shown in fig. 5.
Step 1: the AOA measurement module divides the horizontal angle into 6 directions, the angles are respectively (30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees and 330 degrees), the vertical angle is divided into 2 directions, the angles are respectively (22.5 degrees and 67.5 degrees), so that 12 combinations (alpha, beta) reaching a relatively angle are formed in totalAs shown in table 1. Each combination forming a receive beamforming matrix W αβ 。
TABLE 1 combination of horizontal angle of arrival and vertical angle of arrival
| (α,β) | 30° | 90° | 150° | 210° | 270 | 330° |
| 22.5° | (22.5,30) | (90,30) | (150,30) | (210,30) | (270,30) | (330,30) |
| 67.5° | (22.5,67.5) | (90,67.5) | (150,67.5) | (210,67.5) | (270,67.5) | (330,67.5) |
Step 2: the AOA measurement module locally generates PSS and SSS channels according to the known physical cell identifier PhysicCellId, and the PSS and SSS channels are used for measuring Reference Signal Received Power (RSRP) of PSS and SSS of pseudo base stations.
In this embodiment, it is assumed that the downlink synchronization signal received from the antenna array is identified as: r antenna Then the signal used for RSRP calculation is: w αβ R antenna AOA measurement Module recalculates W αβ R antenna RSRP power of, wherein the largest RSRP calculation corresponds to W αβ The horizontal angle and the vertical angle in (b) are the arrival angles (α, β) of the pseudo base stations.
And step 3: in the scheme of the embodiment, the tracking and positioning of the 4G pseudo base station and the 5G pseudo base station are simultaneously supported.
If the pseudo base station is a 4G pseudo base station, because the downlink synchronization signal of the 4G system is not transmitted in a sub-beam manner, the arrival angle (alpha, beta) of the pseudo base station can be calculated according to the PSS and the SSS each time.
If the base station is a 5G pseudo base station, the 5G system adopts sub-beams to transmit PSS and SSS downlink synchronous signals, namely, the signals are divided into time transmission synchronous blocks (SSB). All RSRP values in an SSB period need to be calculated, and then the W corresponding to the maximum RSRP is selected αβ The horizontal angle and the vertical angle in (b) are pseudo-base station arrival angles (α, β).
In this embodiment, the pseudo base station position calculation module calculates a schematic diagram, as shown in fig. 6. Assume pseudo base station location (x) bs ,y bs ,z bs ) Unmanned plane position (x) uas ,y uas ,z uas ) And the distance gamma between the unmanned aerial vehicle and the pseudo base station is obtained by the AOA measuring module, and the arrival angle is (alpha, beta).
The position of the pseudo base station can be calculated from the position of the drone
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (9)
1. A method for positioning a pseudo base station by using an unmanned aerial vehicle is characterized in that: the method comprises the following steps:
step 1: the cell searching module searches all base station signals of a local area and sends the base station signals back to the console through the unmanned aerial vehicle communication module, and the cell searching module searches base stations including legal base stations and illegal pseudo base stations;
step 2: the cell search module provides the base station signals for the control console with base station working frequency points and physical cell identifiers; manually identifying a working frequency point and a physical cell identifier of a specific pseudo base station by a console; then the console informs the unmanned aerial vehicle of the specific working frequency point and the physical cell identification of the pseudo base station;
and step 3: positioning and tracking a pseudo base station downlink synchronous signal, and measuring an arrival angle of the pseudo base station downlink synchronous signal by using an unmanned aerial vehicle AOA measuring module; the transmission power of a physical broadcast channel provided in the pseudo base station system message and the power of the physical channel measured by the unmanned aerial vehicle are utilized to calculate the path loss between the unmanned aerial vehicle and the pseudo base station, and then the linear distance between the unmanned aerial vehicle and the pseudo base station is estimated according to the path loss;
and 4, step 4: the unmanned aerial vehicle feeds back the GPS position information of the unmanned aerial vehicle, the arrival angle from the pseudo base station downlink synchronous signal to the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the pseudo base station to the control console;
and 5: the control console estimates the specific position of the pseudo base station by using the GPS information of the unmanned aerial vehicle, the arrival angle of the downlink synchronous signal of the pseudo base station to the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the pseudo base station, and the unmanned aerial vehicle adjusts the parameters of a flight control system under the request of the control console to require the unmanned aerial vehicle to be quickly close to the pseudo base station;
and 6: and displaying the position of the control console, the position of the unmanned aerial vehicle and the position of the pseudo base station on a map of the control console in real time.
2. The method of claim 1, wherein the method comprises: the method for calculating the arrival angle from the downlink synchronization signal of the pseudo base station to the unmanned aerial vehicle comprises the following steps:
step 41: determining an (X, Y, Z) three-axis coordinate system according to an antenna array of an AOA measuring module in the unmanned aerial vehicle; wherein the plane determined by the X axis and the Y axis is an antenna array plane;
step 42: dividing the area below the plane of the antenna array, namely dividing the horizontal angle into N equal parts, wherein N is an integer larger than 1, and dividing the vertical angle into M equal parts, and M is an integer larger than 1; dividing the space below the antenna array into M multiplied by N areas in total;
step 43: the AOA measuring module generates an MxN arrival angle antenna array receiving forming matrix in total, and calculates the receiving forming matrix in advance and stores the receiving forming matrix in the AOA measuring module;
and step 44: and weighting the received array signals by using the stored receiving forming matrix, wherein the area corresponding to the receiving forming matrix with the strongest received signal is the area where the pseudo base station is located, and the corresponding horizontal angle alpha and vertical angle beta are obtained.
3. The method for pseudo base station positioning by unmanned aerial vehicle according to claim 1, wherein: the unmanned aerial vehicle communication module and the tower communication module form a pair of communication modules, and information transmission between the unmanned aerial vehicle and the control console is provided in a wireless communication mode; the unmanned aerial vehicle GPS module and the tower GPS module provide specific GPS positions of the unmanned aerial vehicle and the tower; the cell searching module completes signal searching of the pseudo base station, completes interpretation of pseudo base station system information and obtains pseudo base station transmitting power; the AOA measuring module calculates the arrival angle of incoming waves of the pseudo base station by utilizing an antenna array of the AOA measuring module and receiving downlink synchronous signals sent by the pseudo base station, and calculates the path loss by utilizing the signal strength of the pseudo base station, so that the distance between the unmanned aerial vehicle and the pseudo base station is estimated; the flight control system module adjusts the flight line of the unmanned aerial vehicle according to the instruction requirement of the unmanned aerial vehicle control module, and the unmanned aerial vehicle can quickly approach the pseudo base station through the parameter control of the flight control system; the pseudo base station position calculation module estimates the specific position of the pseudo base station according to unmanned aerial vehicle GPS position information provided by the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the pseudo base station and the arrival angle information calculated by the unmanned aerial vehicle AOA measurement module; the map is used for displaying the control position, the position of the unmanned aerial vehicle and the position of the pseudo base station in real time, and displaying the position relation of the control console, the unmanned aerial vehicle and the pseudo base station on line in real time.
4. The method of claim 3, wherein the method comprises: converting the unmanned aerial vehicle GPS information and the tower GPS information into three-axis coordinates, calculating the position of the pseudo base station, and displaying the position in a map in real time;
if the cell searching module needs to support 5G pseudo base station searching, the 5G cell searching module is used, and if the 4G pseudo base station searching is needed, the 4G cell searching module is used; in the searching process, measuring a cell downlink primary synchronization signal PSS and a secondary synchronization signal SSS, obtaining a base station physical cell identifier, reading a master information block MIB and a system information block SIB1, and obtaining the block power of the base station for sending the MIB from the SIB 1;
the antenna array of the AOA measuring module is a square antenna array formed by physical antennas, the antenna array is more than or equal to 4, and at least 2 antennas are arranged on any side of the antenna array to form a square or rectangular array for calculating the arrival angle of a cell downlink synchronous signal to the antenna array; the arrival angle is formed by a horizontal angle and a vertical angle;
the control console calculates the position of the pseudo base station and feeds back the position information to the unmanned aerial vehicle system, the unmanned aerial vehicle provides the pseudo base station position information according to the control console, and the flight control system controls the unmanned aerial vehicle to fly to the pseudo base station;
the map is used for displaying the control position, the position of the unmanned aerial vehicle and the position of the pseudo base station in real time, and displaying the position relation of the control console, the unmanned aerial vehicle and the pseudo base station in real time on line.
5. The method of claim 3, wherein the method comprises: in the step 1, the search process adopts a blind search process of a cell of a mobile communication system.
6. The method for pseudo base station positioning by unmanned aerial vehicle according to claim 5, wherein: in the step 4, at the arrival time of the downlink synchronization signal of the pseudo base station, the arrival angle starts to be calculated, and the GPS position of the unmanned aerial vehicle is recorded at the same time.
7. The method of claim 6, wherein the method comprises: in the step 1, the AOA measurement module divides the horizontal angle into 6 directions, the angles are respectively 30 °,90 °,150 °,210 °,270 °,330 °, the vertical angle is divided into 2 directions, the angles are respectively 22.5 °,67.5 °, 12 to a larger angle are formed in total, and then each combination of the horizontal angle α and the vertical angle β forms a receiving forming matrix W αβ 。
8. The method of claim 7, wherein the method comprises: in step 2, the downlink synchronization signal received from the antenna array is identified as R antenna Then the signal used for RSRP calculation is: w αβ R antenna AOA measurement Module recalculates W αβ R antenna RSRP power of, wherein the largest RSRP calculation corresponds to W αβ The horizontal angle and the vertical angle in (b) are the arrival angles (α, β) of the pseudo base stations.
9. The method for pseudo base station positioning by unmanned aerial vehicle according to claim 8, wherein: in the step 3, tracking and positioning of the 4G pseudo base station and the 5G pseudo base station are simultaneously supported;
if the pseudo base station is a 4G pseudo base station, downlink synchronous signals of the 4G system are not transmitted in sub-beams, and the arrival angle (alpha, beta) of the pseudo base station can be calculated according to the PSS and the SSS every time;
if the pseudo base station is a 5G pseudo base station, the 5G system adopts the sub-beam to send PSS and SSS downlink synchronous signals, divides the signals into time to send synchronous blocks SSB, calculates all RSRP values in an SSB period, and then selects W corresponding to the maximum RSRP αβ Horizontal and vertical angles of arrival (α, β) of the pseudo base station;
the pseudo base station position is set as (x) bs ,y bs ,z bs ) The position of the unmanned plane is (x) uas ,y uas ,z uas ) Distance gamma between the unmanned aerial vehicle and the pseudo base station, and the arrival angle alpha and beta obtained by the AOA measuring module;
the position of the pseudo base station is calculated from the position of the drone:
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