CN115616482B - Single-station passive unmanned aerial vehicle monitoring method, device and system - Google Patents
Single-station passive unmanned aerial vehicle monitoring method, device and system Download PDFInfo
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- CN115616482B CN115616482B CN202211425830.XA CN202211425830A CN115616482B CN 115616482 B CN115616482 B CN 115616482B CN 202211425830 A CN202211425830 A CN 202211425830A CN 115616482 B CN115616482 B CN 115616482B
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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Abstract
The application discloses a method, a device and a system for monitoring a single-site passive unmanned aerial vehicle, wherein the method comprises the steps that a real-time four-channel receiver acquires radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode, each antenna unit is distributed and deployed on a target site, and the number of the antenna units deployed on the target site is more than or equal to 3; converting radio frequency electric signals of all radio information sources from time domain signals into frequency domain signals; and transmitting the frequency domain signals to an algorithm processor so as to match and monitor the existence of the target unmanned aerial vehicle based on the frequency domain signals and an unmanned aerial vehicle model database, and determining target transmitting frequency points, wherein the target transmitting frequency points are the transmitting frequency points of the target unmanned aerial vehicle. The problem that there is the monitoring inefficiency, deploys the difficulty in the mode of unmanned aerial vehicle passive form monitoring among the correlation technique is solved in this application.
Description
Technical Field
The application relates to the technical field of computers, in particular to a method, a device and a system for monitoring a single-site passive unmanned aerial vehicle.
Background
In the current unmanned aerial vehicle detection method, detection means such as radar, radio, photoelectricity and sound are included. The radar detection has the characteristics of high precision, radiation, high cost and obvious blind area, and is suitable for high-level protection areas; photoelectric detection has the characteristics of visual results, short detection distance, poor night effect and poor search, and is generally used for guiding the percussion equipment; the acoustic detection directivity is poor, the detection distance is extremely short, and the practical application is few; the radio detection works in all weather, has the advantages of large coverage range, greenness and no pollution and has wider applicability.
Because radio detection surveys and has obvious advantage in unmanned aerial vehicle surveys the application, has received extensive concern. In a related wireless-based unmanned aerial vehicle detection mode, detection devices deployed at a plurality of stations (at least 3 stations) are generally used for synchronous time service by using a Global Navigation Satellite System (GNSS), radio frequency signals of radio information sources in the same defense area are synchronously acquired, and then signal processing and analysis are performed at a control center to determine whether a target unmanned aerial vehicle exists.
The inventor finds that, because of the requirement of positioning accuracy, the relevant wireless-based unmanned aerial vehicle detection mode usually has better effect only when the station distribution base line is more than 1000 meters, and generally should not be lower than 300 meters (the radio wave speed c0=3 × 108m/s, and the time difference between stations is about 1 uS). In addition, in order to detect the effect, the detection equipment usually needs to select a control high point, and the deployment is difficult. In addition, when radio frequency signals are collected, the signals need to be alternately received in a mode of switching a radio frequency switch, and the monitoring efficiency is low.
Disclosure of Invention
The application mainly aims to provide a method, a device and a system for single-site passive unmanned aerial vehicle monitoring, and solves the problems of low monitoring efficiency and difficulty in deployment of passive unmanned aerial vehicle monitoring in the related art.
In order to achieve the above object, according to a first aspect of the present application, a method of single-station passive drone monitoring is provided.
The method for monitoring the single-station passive unmanned aerial vehicle comprises the following steps: the real-time four-channel receiver acquires radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode, the antenna units are distributed and deployed in a target site, and the number of the antenna units deployed on the target site is larger than or equal to 3; converting radio frequency electric signals of all radio information sources from time domain signals into frequency domain signals; and transmitting the frequency domain signals to an algorithm processor so as to match based on the frequency domain signals and an unmanned aerial vehicle model database to monitor the existence of a target unmanned aerial vehicle and determine target transmitting frequency points, wherein the target transmitting frequency points are the transmitting frequency points of the target unmanned aerial vehicle.
Optionally, each antenna unit is deployed at the target site in a short baseline deployment manner, where a distance range between every two antenna units is greater than or equal to 10 meters and less than 100 meters.
Optionally, the antenna unit is any one of the following structures: the antenna comprises a single directional antenna, a single omnidirectional antenna, an antenna group consisting of a plurality of omnidirectional antennas with different frequency bands, and an antenna array consisting of a plurality of same-frequency directional antennas.
Optionally, the real-time four-channel receiver acquires radio frequency electrical signals of all radio information sources in the defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition manner, where the radio frequency electrical signals include: according to the structure of the antenna units, different modes are selected to obtain the radio frequency electric signals of all radio information sources in the defense area collected by each antenna unit.
Optionally, the obtaining, according to the structure of the antenna units, the radio frequency electrical signals of all radio information sources in the defense area collected by each antenna unit in different manners includes: if each antenna unit is a broadband antenna group consisting of a single directional antenna or a single omnidirectional antenna or a plurality of different-frequency omnidirectional antennas, different antennas or working frequency bands are selected for acquisition through different channels; if each antenna unit is an antenna array composed of a plurality of same-frequency directional antennas, different channels simultaneously acquire signals in different directions.
Optionally, the real-time four-channel receiver is a receiver obtained by performing homologous processing on two integrated radio frequency transceivers ADRV9009.
Optionally, the method further includes: a real-time four-channel receiver acquires a target transmitting frequency point; acquiring radio frequency electric signals corresponding to the target transmitting frequency points acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition mode; converting the radio frequency electric signal corresponding to the target transmitting frequency point into a digital time domain signal corresponding to the target transmitting frequency point; and transmitting the digital time domain signals corresponding to the target emission frequency points to an algorithm processor so as to determine the position of the target unmanned aerial vehicle by a TDOA (time difference of arrival) positioning method based on the digital time domain signals corresponding to the target emission frequency points.
Optionally, the obtaining of the radio frequency electrical signal corresponding to the target transmitting frequency point acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition manner includes: generating homologous synchronous clock signals, and calibrating the synchronous errors among the channels in advance; and based on the homologous synchronous clock signal, the channels of the real-time four-channel receiver simultaneously select the radio frequency electric signals corresponding to the target frequency point signals.
In order to achieve the above object, according to a second aspect of the present application, there is provided a single-station passive drone monitoring apparatus.
The device of single-site passive unmanned aerial vehicle monitoring according to this application includes: the system comprises a multi-channel acquisition unit, a multi-channel acquisition unit and a multi-channel radio frequency acquisition unit, wherein the multi-channel acquisition unit is used for acquiring radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode through a four-channel receiver, each antenna unit is distributed and deployed in a target site, and the number of the antenna units deployed on the target site is greater than or equal to 3; the data preprocessing unit is used for converting the radio frequency electric signals of all the radio information sources from time domain signals into frequency domain signals; the data preprocessing unit is further used for transmitting the frequency domain signals to an algorithm processor so as to monitor existence of a target unmanned aerial vehicle by matching based on the frequency domain signals and an unmanned aerial vehicle model database and determine target transmitting frequency points, wherein the target transmitting frequency points are transmitting frequency points of the target unmanned aerial vehicle.
Optionally, each antenna unit is deployed at the target site in a short baseline deployment manner, where a distance range between every two antenna units is greater than or equal to 10 meters and less than 100 meters.
Optionally, the antenna unit is any one of the following structures: the antenna array comprises a single directional antenna, a single omnidirectional antenna, an antenna group consisting of a plurality of omnidirectional antennas with different frequency bands and an antenna array consisting of a plurality of same-frequency directional antennas.
Optionally, the multichannel acquisition unit is further configured to: according to the structure of the antenna units, different modes are selected to obtain the radio frequency electric signals of all radio information sources in the defense area collected by each antenna unit.
Optionally, the multichannel acquisition unit is further configured to: if each antenna unit is a broadband antenna group consisting of a single directional antenna or a single omnidirectional antenna or a plurality of different-frequency omnidirectional antennas, different antennas or working frequency bands are selected for acquisition through different channels; if each antenna unit is an antenna array composed of a plurality of same-frequency directional antennas, different channels simultaneously acquire signals in different directions.
Optionally, the real-time four-channel receiver is a receiver obtained by performing homologous processing on two integrated radio frequency transceivers ADRV9009.
Optionally, the multi-channel acquisition unit is further configured to acquire a target transmission frequency point; acquiring radio frequency electric signals corresponding to the target transmitting frequency points acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition mode; the data preprocessing unit is also used for converting the radio frequency electrical signals corresponding to the target transmitting frequency points into digital time domain signals corresponding to the target transmitting frequency points; and transmitting the digital time domain signals corresponding to the target emission frequency points to an algorithm processor so as to determine the position of the target unmanned aerial vehicle by a TDOA (time difference of arrival) positioning method based on the digital time domain signals corresponding to the target emission frequency points.
Optionally, the multichannel acquisition unit includes: the synchronization module is used for generating a homologous synchronization clock signal and calibrating the synchronization error between the channels in advance; and the multi-channel radio frequency receiving module is used for simultaneously selecting the radio frequency electric signals corresponding to the target frequency point signals by the channels of the real-time four-channel receiver based on the homologous synchronous clock signals.
In order to achieve the above object, according to a third aspect of the present application, there is provided a system for single-site passive drone monitoring, the system including a real-time four-channel receiver deployed at a target site, at least three antenna units, and an algorithm processor, the antenna units being configured to collect radio frequency electrical signals of all radio sources in a defense area; transmitting radio frequency electric signals of all radio information sources to the real-time four-channel receiver; the real-time four-channel receiver is used for acquiring radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode; converting radio frequency electric signals of all radio information sources from time domain signals into frequency domain signals; transmitting the frequency domain signal to the algorithm processor; and the algorithm processor is used for matching based on the frequency domain signal and an unmanned aerial vehicle model database to monitor the existence of the target unmanned aerial vehicle and determine a target transmitting frequency point, wherein the target transmitting frequency point is the transmitting frequency point of the target unmanned aerial vehicle.
Optionally, the antenna unit is any one of the following structures: the antenna array comprises a single directional antenna, a single omnidirectional antenna, an antenna group consisting of a plurality of omnidirectional antennas with different frequency bands and an antenna array consisting of a plurality of same-frequency directional antennas.
Optionally, each antenna unit is deployed at the target site in a short baseline deployment manner, where a distance range between every two antenna units is greater than or equal to 10 meters and less than 100 meters.
Optionally, the real-time four-channel receiver is further configured to select different manners to obtain radio frequency electrical signals of all radio information sources in the defense area, which are acquired by each antenna unit, according to the structure of the antenna unit.
Optionally, the real-time four-channel receiver is further configured to select different antennas or working frequency bands for acquisition in different channels if each antenna unit is an antenna group composed of a single directional antenna or a single omnidirectional antenna with a wide frequency band or a plurality of different omnidirectional antennas with different frequencies; if each antenna unit is an antenna array composed of a plurality of same-frequency directional antennas, different channels simultaneously acquire signals in different directions.
Optionally, the real-time four-channel receiver is a receiver obtained by performing homologous processing on two integrated radio frequency transceivers ADRV9009.
Optionally, the real-time four-channel receiver is further configured to obtain a target transmission frequency point; acquiring radio frequency electric signals corresponding to the target transmitting frequency points acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition mode; converting the radio frequency electrical signal corresponding to the target transmitting frequency point into a digital time domain signal corresponding to the target transmitting frequency point; and transmitting the digital time domain signals corresponding to the target emission frequency points to an algorithm processor so as to determine the position of the target unmanned aerial vehicle by a TDOA (time difference of arrival) positioning method based on the digital time domain signals corresponding to the target emission frequency points.
Optionally, the real-time four-channel receiver is further configured to generate a homologous synchronization clock signal, and calibrate a synchronization error between channels in advance; and based on the homologous synchronous clock signal, the channels of the real-time four-channel receiver simultaneously select the radio frequency electric signals corresponding to the target frequency point signals.
In order to achieve the above object, according to a fourth aspect of the present application, there is provided a computer-readable storage medium storing computer instructions for causing a computer to perform the method for single-site passive drone monitoring according to any one of the above first aspects.
In order to achieve the above object, according to a fifth aspect of the present application, there is provided an electronic apparatus comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of single-site passive drone monitoring of any one of the above first aspects.
In the method, the device and the system for monitoring the single-site passive unmanned aerial vehicle, a real-time four-channel receiver acquires radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode, each antenna unit is distributed and deployed on one target site, and the number of the antenna units deployed on the target site is greater than or equal to 3; converting radio frequency electric signals of all radio information sources from time domain signals into frequency domain signals; and transmitting the frequency domain signals to an algorithm processor so as to match and monitor the existence of the target unmanned aerial vehicle based on the frequency domain signals and an unmanned aerial vehicle model database, and determining target transmitting frequency points, wherein the target transmitting frequency points are the transmitting frequency points of the target unmanned aerial vehicle. It can be seen that in the single-site passive unmanned aerial vehicle monitoring mode of the embodiment of the application, based on the single-site deployment mode, multiple antenna units are deployed on a single site, and multiple site arrangement is not needed, so that compared with the multi-site deployment mode, the deployment difficulty is greatly reduced. In addition, the embodiment of the application adopts the real-time four-channel receiver to acquire the radio frequency signals acquired by each antenna unit in a multi-channel radio frequency acquisition mode, and does not need to alternately receive the signals in a radio frequency switch mode, so that the monitoring efficiency is greatly improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a flowchart of a method for single-station passive drone monitoring according to an embodiment of the present application;
fig. 2 is a schematic diagram of an antenna unit deployment provided in accordance with an embodiment of the present application;
fig. 3 is a block diagram of a single-station passive drone monitoring device according to an embodiment of the present application;
fig. 4 is a block diagram of another single-station passive drone monitoring apparatus according to an embodiment of the present application;
fig. 5 is a schematic composition diagram of a system for single-station passive drone monitoring according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
According to an embodiment of the present application, there is provided a method for single-station passive drone monitoring, as shown in fig. 1, the method includes the following steps S101 to S103: s101, a real-time four-channel receiver acquires radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode, each antenna unit is distributed and deployed on a target site, and the number of the antenna units deployed on the target site is larger than or equal to 3; s102, converting radio frequency electric signals of all radio information sources from time domain signals into frequency domain signals; s103, transmitting the frequency domain signals to an algorithm processor, monitoring existence of the target unmanned aerial vehicle by matching based on the frequency domain signals and an unmanned aerial vehicle model database, and determining target transmitting frequency points, wherein the target transmitting frequency points are transmitting frequency points of the target unmanned aerial vehicle.
In step S101, the real-time four-channel receiver may specifically use an integrated radio frequency transceiver ADRV9009. The ADRV9009 is a high-performance, high-integration radio frequency transceiver. The device integrates a Radio Frequency (RF) front end with a flexible mixed signal baseband portion, integrates a frequency synthesizer, and provides a configurable digital interface for a processor, thereby simplifying design import. The working frequency range of the ADRV9009 is 70 MHz to 6.0 GHz, and the maximum receiving bandwidth can reach 200MHz. Two independent direct conversion receivers have excellent noise figure and linearity. Each Receive (RX) subsystem has independent Automatic Gain Control (AGC), dc offset correction, quadrature correction, and digital filtering functions, thereby eliminating the need to provide these functions in the digital baseband. The ADRV9009 also possesses a flexible manual gain mode, supporting external control. Each ADRV9009 has 2 real-time sampling channels, and the maximum working bandwidth of the receiver can reach 200M × 2.
Two ADRV9009 pieces are selected for carrying out homologous processing, so that the high synchronization of 4 channels of the real-time four-channel receiver is realized, and the synchronous radio frequency acquisition of the four channels is realized (generally, 4 antenna units can obtain the three-dimensional coordinates of the unmanned aerial vehicle, so that 4 antenna units are generally selected for deployment, and the 4 antenna units correspond to the 4 channels). The inside of the ADRV9009 chip has a multi-chip synchronization function, including digital synchronization and analog end PLL synchronization, because the ADRV9009 chip refers to a REF _ CLK _ IN signal, the signal and the multi-chip synchronization signal are processed to obtain a phase synchronization signal and then adjust a phase-locked loop, and an additional radio frequency circuit is not needed to realize the multi-path synchronization function.
In the embodiment of the application, the deployment mode based on single-site passive unmanned aerial vehicle monitoring is a single-site short-baseline deployment mode, and the deployment mode is relative to the existing multi-site long-baseline unmanned aerial vehicle positioning mode. Specific examples are given for illustration: for example, for a defense area E, when monitoring and positioning of the unmanned aerial vehicle are realized based on a multi-site long baseline deployment mode, 4 base stations need to be deployed at 4 positions, usually 4 corners, of the defense area E, and each base station is a site; when the single-site short-baseline deployment mode in the embodiment of the application is used for monitoring and positioning the unmanned aerial vehicle, the unmanned aerial vehicle is deployed at only one position of the defense area E, the position is the target site, the target site can be other buildings such as a high building and a high tower, and the target site is provided with an equipment host. All the antenna units are distributed and deployed on the target site, for example, the antenna units can be distributed and deployed on the roof of a tall building, and all the antenna units are connected with one equipment host. When the number of the antenna units is equal to 3, two-dimensional positioning can be realized, and more antenna units can realize three-dimensional positioning. As shown in fig. 2, a schematic diagram of an antenna unit deployment according to an embodiment of the present application is shown. In fig. 2, the drone is F, and 4 antenna units 32 are distributed and deployed on the top of a building H.
Specifically, each antenna unit is deployed at the target site in a short baseline deployment manner, where a distance range between every two antenna units is greater than or equal to 10 meters and less than 100 meters. The distance between different two antenna elements may be different. A short baseline is relative to a multi-site deployment where a long baseline (at least 300 meters, and typically over 1000 meters) deployment is required between individual base stations. And because each antenna unit is deployed in a short base line, the antenna units can be deployed at one site. The antenna elements 32 are shown in fig. 2 as being spaced apart by 20 meters and 30 meters.
In step S102, the specific implementation of converting the radio frequency electrical signals of all the radio information sources from time domain signals to frequency domain signals is as follows: and filtering, low-noise amplifying and down-converting the radio-frequency electric signals of all the radio information sources into digital time domain signals. Because of the multi-channel radio frequency acquisition mode, a multi-channel time domain signal can be obtained; and converting the digital time domain signal in a Fast Fourier Transform (FFT) manner to obtain a corresponding frequency domain signal.
In step S103, the frequency domain signal is sent to an algorithm processor, which may be a server, a workstation, a personal computer, or an embedded computer (embedded in the device host of the target site). And if the target transmitting frequency point of the target unmanned aerial vehicle exists, the target transmitting frequency point of the target unmanned aerial vehicle is determined and then returned to the real-time four-channel receiver, so that the target transmitting frequency point can be used for subsequent positioning based on the target transmitting frequency point.
From the above description, it can be seen that, in the method for monitoring a single-site passive unmanned aerial vehicle according to the embodiment of the present application, a deployment mode based on a single-site short baseline is adopted, a plurality of antenna units are deployed on a single site, and a plurality of sites are not required to be arranged, so that compared with a multi-site deployment mode, the deployment difficulty is greatly reduced. In addition, the embodiment of the application adopts the real-time four-channel receiver to acquire the radio frequency signals acquired by each antenna unit in a multi-channel radio frequency acquisition mode, and does not need to alternately receive the signals in a radio frequency switch mode, so that the monitoring efficiency is greatly improved.
Further, the antenna unit in the embodiment of the present application may be any one of a single directional antenna, a single omnidirectional antenna, an antenna group composed of multiple omnidirectional antennas with different frequency bands, and an antenna array composed of multiple directional antennas with the same frequency. For different antenna units, the real-time four-channel receiver can select different modes to acquire radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit. Specifically, if each antenna unit is an antenna group consisting of a single directional antenna or a single omnidirectional antenna or a plurality of different-frequency omnidirectional antennas with wide frequency, different channels select different antennas or working frequency bands for acquisition, so that the frequency monitoring efficiency can be improved; if each antenna unit is an antenna array composed of multiple directional antennas with the same frequency, different channels simultaneously acquire signals in different directions, so that the detection/monitoring speed can be improved.
Further, after the algorithm processor determines the target transmitting frequency point, the real-time four-channel receiver can acquire the target transmitting frequency point; acquiring radio frequency electric signals corresponding to target transmitting frequency points acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition mode; converting the radio frequency electric signals corresponding to the target transmitting frequency points into digital time domain signals corresponding to the target transmitting frequency points; and transmitting the digital time domain signals corresponding to the target emission frequency points to an algorithm processor so as to determine the position of the target unmanned aerial vehicle by a TDOA (time difference of arrival) positioning method based on the digital time domain signals corresponding to the target emission frequency points. The implementation manner of converting the radio frequency electrical signals corresponding to the target transmission frequency points into the digital time domain signals corresponding to the target transmission frequency points is the same as the implementation manner of converting the radio frequency electrical signals of all the radio information sources from time domain signals into frequency domain signals in the foregoing. The TDOA location method is a location method based on Time Difference Of Arrival (TDOA), and has the following specific principle: the time difference of the radio frequency signals of the unmanned aerial vehicle reaching any two antenna units is determined (in the embodiment of the application, different channels correspond to different antenna units, and digital time domain signals of different channels correspond to different antenna units, so that the time difference can be determined according to the digital time domain signals of different channels), equations of the distance difference between a plurality of groups of two antenna units and the unmanned aerial vehicle can be listed according to a plurality of time differences, the equations are combined, and the position coordinates of the unmanned aerial vehicle can be solved. The three antenna units can obtain the two-dimensional coordinates of the unmanned aerial vehicle, and at least 4 antenna units are needed for obtaining the three-dimensional coordinates.
Specifically, the implementation of acquiring the radio frequency electrical signal corresponding to the target transmitting frequency point acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition manner is as follows: generating homologous synchronous clock signals, and calibrating the synchronous errors among the channels in advance; and based on the homologous synchronous clock signal, the channels of the real-time four-channel receiver simultaneously select the radio frequency electric signals corresponding to the target frequency point signals. The setting of the homologous synchronous clock signals can ensure the high synchronization of a plurality of channels of the real-time four-channel receiver and reduce the synchronization errors of the plurality of channels. In the embodiment of the application, the homologous synchronous clock signal is a homologous synchronous high-stability clock signal. For the antenna unit with multiple antennas, a switching function needs to be set for the antenna unit to perform switching control on different antennas, and a switching instruction can be provided by a real-time four-channel receiver.
Further, for different antenna units, during the positioning, the radio frequency electrical signal corresponding to the target transmitting frequency point acquired by each antenna unit is acquired in a multi-channel synchronous radio frequency acquisition manner, specifically: if each antenna unit is a broadband antenna group consisting of a single directional antenna or a single omnidirectional antenna or a plurality of different-frequency omnidirectional antennas, different channels select the same antenna or working frequency band for synchronous acquisition; if each antenna unit is an antenna array composed of a plurality of same-frequency directional antennas, different channels synchronously acquire signals in the same direction. It should be noted that, during positioning, a working period is usually set to perform synchronous acquisition, and when the synchronous acquisition in the period is completed and the next synchronous acquisition period is not yet entered, the receiver also enters a detection/monitoring state, that is, it is ensured that the monitoring operation is not interrupted during positioning, and positioning of target signals in different frequency bands is supported at the same time.
In addition, it should be noted that although each antenna unit in the embodiment of the present application is deployed at a short baseline, a device host (which may be a host where an algorithm processor is located) is connected behind the antenna unit through a real-time four-channel receiver, which is equivalent to controlling synchronous radio frequency acquisition of multiple channels through one host, and reducing jitter errors during synchronization of the channels, thereby ensuring high synchronization between the antenna units and more accurately positioning radio incoming wave positions. In order to prove the effect of high synchronization in the embodiment of the present application, a specific example is used for comparative analysis, and as shown in table 1 below, measurement errors obtained in two ways at different target distances (simulation radii) are shown, where 1000m and 20ns represent simulation results obtained in an existing multi-station long-baseline deployment manner with a station-arrangement baseline of 1000 meters and synchronization accuracy of 20ns, and 20m and 0.1ns represent simulation results obtained in a single-station short-baseline deployment manner with a short baseline distance of 20 meters and synchronization accuracy of 0.1 ns. As can be seen from table 1, the deployment manner of the single-site short baseline in the embodiment of the present application can completely achieve the positioning accuracy of the multi-site long baseline positioning apparatus.
TABLE 1
From the above description, it can be seen that the deployment mode based on the single-site short baseline of the embodiment of the application can be used for monitoring the unmanned aerial vehicle and positioning the unmanned aerial vehicle, and the positioning accuracy is also ensured on the basis of integrating monitoring and positioning. Compare in the mode that the multistation was deployed when carrying out unmanned aerial vehicle's location, great reduction the degree of difficulty that the website selected, also can enlarge and be suitable for the scene, also reduced the degree of difficulty of construction simultaneously, be convenient for flexibly use. In addition, the embodiment of the application adopts a multi-channel synchronous radio frequency acquisition mode to acquire radio frequency signals acquired by each antenna unit, and then the position of the unmanned aerial vehicle is calculated based on the arrival time difference of the signals among the antennas, so that the high synchronization of the received signals of each antenna unit can be ensured (the synchronization error can reach 0.1 ns), and the positioning precision is greatly improved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
There is also provided, according to an embodiment of the present application, an apparatus 200 for single-station passive drone monitoring implementing the method of fig. 1, the apparatus being located on a real-time four-channel receiver side, as shown in fig. 3, the apparatus including: the multi-channel acquisition unit 21 is used for acquiring radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time by a real-time four-channel receiver in a multi-channel radio frequency acquisition mode, wherein each antenna unit is distributed and deployed in a target site, and the number of the antenna units deployed on the target site is greater than or equal to 3; a data preprocessing unit 22 for converting the radio frequency electrical signals of all radio sources from time domain signals to frequency domain signals; the data preprocessing unit 22 is further configured to transmit the frequency domain signal to an algorithm processor, so as to monitor the existence of the target unmanned aerial vehicle by matching based on the frequency domain signal and an unmanned aerial vehicle model database, and determine the target transmitting frequency point, where the target transmitting frequency point is a transmitting frequency point of the target unmanned aerial vehicle.
Specifically, the specific process of implementing the functions of each unit and module in the device in the embodiment of the present application may refer to the related description in the method embodiment, and is not described herein again.
From the above description, it can be seen that, in the single-station passive unmanned aerial vehicle monitoring device according to the embodiment of the present application, the real-time four-channel receiver acquires, in real time, radio frequency electrical signals of all radio information sources in a defense area acquired by each antenna unit in a multi-channel radio frequency acquisition manner, the antenna units are distributed and deployed in one target station, and the number of the antenna units deployed in the target station is greater than or equal to 3; converting radio frequency electric signals of all radio information sources from time domain signals into frequency domain signals; and transmitting the frequency domain signals to an algorithm processor so as to match and monitor the existence of the target unmanned aerial vehicle based on the frequency domain signals and an unmanned aerial vehicle model database, and determining target transmitting frequency points, wherein the target transmitting frequency points are the transmitting frequency points of the target unmanned aerial vehicle. It can be seen that in the single-site passive unmanned aerial vehicle monitoring mode of the embodiment of the application, based on the single-site deployment mode, multiple antenna units are deployed on a single site, and multiple site arrangement is not needed, so that compared with the multi-site deployment mode, the deployment difficulty is greatly reduced. In addition, the embodiment of the application adopts the real-time four-channel receiver to acquire the radio frequency signals acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition mode, and the alternative reception of the signals is not required to be performed in a radio frequency switch mode, so that the monitoring efficiency is greatly improved.
Further, each antenna unit is deployed at the target site in a short baseline deployment manner, where a distance range between every two antenna units is greater than or equal to 10 meters and less than 100 meters.
Further, the antenna unit may be any one of the following structures: the antenna array comprises a single directional antenna, a single omnidirectional antenna, an antenna group consisting of a plurality of omnidirectional antennas with different frequency bands and an antenna array consisting of a plurality of same-frequency directional antennas.
Further, the multi-channel acquisition unit 21 is further configured to: according to the structure of the antenna units, different modes are selected to obtain the radio frequency electric signals of all radio information sources in the defense area collected by each antenna unit.
Further, the multi-channel acquisition unit 21 is further configured to: if each antenna unit is a broadband antenna group consisting of a single directional antenna or a single omnidirectional antenna or a plurality of different-frequency omnidirectional antennas, different antennas or working frequency bands are selected for acquisition through different channels; if each antenna unit is an antenna array composed of a plurality of same-frequency directional antennas, different channels simultaneously acquire signals in different directions.
Further, the real-time four-channel receiver is a receiver obtained by performing homologous processing on two integrated radio frequency transceivers ADRV9009.
Further, the multi-channel acquisition unit 21 is further configured to acquire a target transmission frequency point; acquiring radio frequency electric signals corresponding to the target transmitting frequency points acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition mode; the data preprocessing unit 22 is further configured to convert the radio frequency electrical signal corresponding to the target transmitting frequency point into a digital time domain signal corresponding to the target transmitting frequency point; and transmitting the digital time domain signals corresponding to the target emission frequency points to an algorithm processor so as to determine the position of the target unmanned aerial vehicle through a TDOA (time difference of arrival) positioning method based on the digital time domain signals corresponding to the target emission frequency points.
Further, as shown in fig. 4, the multi-channel acquisition unit 21 includes: a synchronization module 211, configured to generate a homologous synchronization clock signal and calibrate a synchronization error between channels in advance; and a multi-channel radio frequency receiving module 212, configured to select, based on the homologous synchronous clock signal, a radio frequency electrical signal corresponding to the target frequency point signal simultaneously from channels of the real-time four-channel receiver.
Specifically, the specific process of implementing the functions of each unit and module in the device in the embodiment of the present application may refer to the related description in the method embodiment, and details are not described herein again.
According to the embodiment of the present application, there is also provided a system 300 for single-site passive unmanned aerial vehicle monitoring, as shown in fig. 5, the system includes a real-time four-channel receiver 31 deployed at a target site, at least three antenna units 32, and an algorithm processor 33, each antenna unit may be connected to the real-time four-channel receiver through an equal-length feeder, the real-time four-channel receiver is connected to the algorithm processor through a communication interface, and if the algorithm processor is an embedded computer embedded in a device host of the target site, the real-time four-channel receiver is connected to the device host. If the algorithm processor is a server, a workstation, a personal computer and the like, the real-time four-channel receiver is connected with the algorithm processor. In addition, it should be noted that, when the real-time four-channel receiver is connected with the algorithm process, the form of the corresponding communication interface is not limited, and any form capable of implementing network communication is possible. For example, the network interface may be a general network interface of a processor having a network communication function, or may be a high-speed data interface PCIE, USB, or the like. The target site in this embodiment is the same as that in the previous embodiment, and is not described herein again. In addition, each antenna unit is deployed at the target site in a short baseline deployment manner, and the distance range between every two antenna units is greater than or equal to 10 meters and less than 100 meters.
The antenna unit 32 is used for collecting radio frequency electric signals of all radio information sources in a defense area; transmitting radio frequency electric signals of all radio information sources to the real-time four-channel receiver; the real-time four-channel receiver 31 is configured to acquire radio frequency electrical signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition manner; converting radio frequency electric signals of all radio information sources from time domain signals into frequency domain signals; transmitting the frequency domain signal to the algorithm processor; and the algorithm processor 33 is configured to monitor the existence of the target unmanned aerial vehicle by matching based on the frequency domain signal and the unmanned aerial vehicle model database, and determine the target transmitting frequency point, where the target transmitting frequency point is the transmitting frequency point of the target unmanned aerial vehicle.
From the above description, it can be seen that in the system for monitoring a single-site passive unmanned aerial vehicle according to the embodiment of the present application, the antenna unit collects radio frequency electrical signals of all radio information sources in a defense area, and transmits the radio frequency electrical signals of all radio information sources to the real-time four-channel receiver; the real-time four-channel receiver acquires radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode, converts the radio frequency electric signals of all the radio information sources from time domain signals into frequency domain signals, and transmits the frequency domain signals to the algorithm processor; and the algorithm processor monitors the existence of the target unmanned aerial vehicle by matching based on the frequency domain signal and the unmanned aerial vehicle model database, and determines the target emission frequency point of the target unmanned aerial vehicle. In the single-site passive unmanned aerial vehicle monitoring mode of the embodiment of the application, based on the single-site deployment mode, a plurality of antenna units are deployed on a single site, and a plurality of sites are not required to be arranged, so that the deployment difficulty is greatly reduced compared with a multi-site deployment mode. In addition, the embodiment of the application adopts the real-time four-channel receiver to acquire the radio frequency signals acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition mode, and the alternative reception of the signals is not required to be performed in a radio frequency switch mode, so that the monitoring efficiency is greatly improved.
Further, the antenna unit may be any one of the following structures: the antenna array comprises a single directional antenna, a single omnidirectional antenna, an antenna group consisting of a plurality of omnidirectional antennas with different frequency bands and an antenna array consisting of a plurality of same-frequency directional antennas.
Further, each antenna unit is deployed at the target site in a short baseline deployment manner, where a distance range between every two antenna units is greater than or equal to 10 meters and less than 100 meters.
Further, the real-time four-channel receiver 31 is further configured to select different manners to obtain radio frequency electrical signals of all radio information sources in the defense area, which are acquired by each antenna unit, according to the structure of the antenna unit.
Further, the real-time four-channel receiver 31 is further configured to select different antennas or working frequency bands for acquisition in different channels if each antenna unit is an antenna group composed of a single directional antenna or a single omnidirectional antenna or a plurality of different frequency omnidirectional antennas of a broadband; if each antenna unit is an antenna array composed of a plurality of same-frequency directional antennas, different channels simultaneously acquire signals in different directions.
Further, the real-time four-channel receiver 31 is a receiver obtained by performing homologous processing on two integrated radio frequency transceivers ADRV9009.
Further, the real-time four-channel receiver 31 is further configured to obtain a target transmission frequency point; acquiring radio frequency electric signals corresponding to the target transmitting frequency points acquired by each antenna unit in a multi-channel synchronous radio frequency acquisition mode; converting the radio frequency electric signal corresponding to the target transmitting frequency point into a digital time domain signal corresponding to the target transmitting frequency point; and transmitting the digital time domain signals corresponding to the target emission frequency points to an algorithm processor so as to determine the position of the target unmanned aerial vehicle by a TDOA (time difference of arrival) positioning method based on the digital time domain signals corresponding to the target emission frequency points.
Further, the real-time four-channel receiver 31 is further configured to generate a homologous synchronization clock signal, and calibrate a synchronization error between channels in advance; and simultaneously selecting the radio frequency electric signals corresponding to the target frequency point signals by the channels of the real-time four-channel receiver based on the homologous synchronous clock signals.
It should be noted that, for implementation of each unit in the embodiment of the present system, reference may be made to corresponding contents in the foregoing method embodiment, and details are not described here again.
It should be understood by those skilled in the art that, in the foregoing embodiments of the present invention, the description of each embodiment has a respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related description of other embodiments.
According to an embodiment of the present application, there is further provided a computer-readable storage medium, where the computer-readable storage medium stores computer instructions for causing the computer to execute the method for single-station passive drone monitoring in the foregoing method embodiment. The foregoing storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, which can store program codes.
According to an embodiment of the present application, there is also provided an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of single-site passive drone monitoring in the above method embodiments.
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for single-site passive drone surveillance, wherein a target site is deployed in a defence area, the method comprising:
the real-time four-channel receiver acquires radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode, wherein each antenna unit is distributed and deployed in a target site, the number of the antenna units deployed on the target site is greater than or equal to 3, and the real-time four-channel receiver is an integrated radio frequency transceiver;
converting radio frequency electric signals of all radio information sources from time domain signals into frequency domain signals;
and transmitting the frequency domain signals to an algorithm processor so as to match based on the frequency domain signals and an unmanned aerial vehicle model database to monitor the existence of a target unmanned aerial vehicle and determine target transmitting frequency points, wherein the target transmitting frequency points are the transmitting frequency points of the target unmanned aerial vehicle.
2. The method of claim 1, wherein each antenna unit is deployed at the target site via a short baseline deployment, and the short baseline deployment is such that the distance between every two antenna units is greater than or equal to 10 meters and less than 100 meters.
3. The method according to claim 2, wherein the antenna unit is any one of the following structures:
the antenna array comprises a single directional antenna, a single omnidirectional antenna, an antenna group consisting of a plurality of omnidirectional antennas with different frequency bands and an antenna array consisting of a plurality of same-frequency directional antennas.
4. The method of claim 3, wherein the acquiring, by the real-time four-channel receiver, the radio frequency signals of all radio sources in the defense area acquired by each antenna unit in real time by means of multi-channel radio frequency acquisition comprises:
according to the structure of the antenna units, different modes are selected to obtain radio frequency electric signals of all radio information sources in the defense area collected by each antenna unit.
5. The method of claim 4, wherein the selecting different ways to obtain the radio frequency signals of all radio sources in the defense area collected by each antenna unit according to the structure of the antenna unit comprises:
if each antenna unit is a broadband antenna group consisting of a single directional antenna or a single omnidirectional antenna or a plurality of different-frequency omnidirectional antennas, different antennas or working frequency bands are selected for different channels to collect;
if each antenna unit is an antenna array composed of a plurality of same-frequency directional antennas, different channels simultaneously acquire signals in different directions.
6. The method of claim 1, wherein the real-time four-channel receiver is a receiver with two integrated radio frequency transceivers ADRV9009 for performing homologous processing.
7. A single station passive drone surveillance apparatus, wherein a target station is deployed in a defence area, the apparatus comprising:
the system comprises a multi-channel acquisition unit, a real-time four-channel receiver and a control unit, wherein the multi-channel acquisition unit is used for acquiring radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode, the antenna units are distributed and deployed in a target site, the number of the antenna units deployed on the target site is greater than or equal to 3, and the real-time four-channel receiver is an integrated radio frequency transceiver;
the data preprocessing unit is used for converting the radio frequency electric signals of all the radio information sources from time domain signals into frequency domain signals;
the data preprocessing unit is further used for transmitting the frequency domain signals to an algorithm processor so as to monitor existence of a target unmanned aerial vehicle by matching based on the frequency domain signals and an unmanned aerial vehicle model database and determine target transmitting frequency points, wherein the target transmitting frequency points are transmitting frequency points of the target unmanned aerial vehicle.
8. A single-site passive unmanned aerial vehicle monitoring system is characterized in that a target site is deployed in a defense area, the system comprises a real-time four-channel receiver deployed at the target site, at least three antenna units and an algorithm processor,
the antenna unit is used for collecting radio frequency electric signals of all radio information sources in a defense area; transmitting radio frequency electric signals of all radio information sources to the real-time four-channel receiver, wherein the real-time four-channel receiver is an integrated radio frequency transceiver;
the real-time four-channel receiver is used for acquiring radio frequency electric signals of all radio information sources in a defense area acquired by each antenna unit in real time in a multi-channel radio frequency acquisition mode; converting radio frequency electric signals of all radio information sources from time domain signals into frequency domain signals; transmitting the frequency domain signal to the algorithm processor;
and the algorithm processor is used for matching based on the frequency domain signal and an unmanned aerial vehicle model database to monitor the existence of the target unmanned aerial vehicle and determine a target transmitting frequency point, wherein the target transmitting frequency point is the transmitting frequency point of the target unmanned aerial vehicle.
9.A computer-readable storage medium storing computer instructions for causing a computer to perform the method of single-site passive drone monitoring of any one of claims 1 to 6.
10. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to cause the at least one processor to perform the method of single-site passive drone monitoring of any one of claims 1 to 6.
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