CN116699593A - Unmanned aerial vehicle communication and positioning method and system - Google Patents
Unmanned aerial vehicle communication and positioning method and system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/26—Systems using multi-frequency codes
- H04L27/2601—Multicarrier modulation systems
- H04L27/2602—Signal structure
- H04L27/26025—Numerology, i.e. varying one or more of symbol duration, subcarrier spacing, Fourier transform size, sampling rate or down-clocking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention provides a communication and positioning method and a system of an unmanned aerial vehicle, wherein the method comprises the following steps: the system configures communication radar integrated parameters; the surface monitoring station sends a communication radar integrated signal; the surface monitoring station receives the echo signal of the target unmanned aerial vehicle; detecting an integrated signal by the cooperative unmanned aerial vehicle and sending response information; the ground monitoring station receives response information of the cooperative unmanned aerial vehicle; the surface monitoring station detects a previously received echo signal by utilizing response information of the cooperative unmanned aerial vehicle; the ground monitoring station obtains the position information of the target unmanned aerial vehicle and the cooperative target data information. The invention solves the technical problems of high equipment cost and spectrum interference caused by spectrum overlapping.
Description
Technical Field
The invention relates to the field of communication data and radar data processing of airspace management, in particular to a method and a system for unmanned aerial vehicle communication and positioning.
Background
At present, the unmanned aerial vehicle mainly adopts middle and long distance communication technologies such as WiFi, bluetooth, cellular and the like, realizes remote control and data return of the unmanned aerial vehicle (cooperative target), and can also realize positioning of the target based on a communication mode. For non-cooperative unmanned aerial vehicles, such as 'black slow small' unmanned aerial vehicles, radar and other means are adopted to monitor the unmanned aerial vehicles. In order to avoid wireless signal interference, techniques such as coexistence and sharing of communication and sensing spectrum are gradually applied.
The prior invention patent application document with publication number of CN114740889A, namely a non-cooperative unmanned aerial vehicle track distribution prediction method based on flight state division, is aimed at the range of a selected monitoring airspace, and a gridding airspace is constructed; dividing the flight state of the unmanned aerial vehicle; screening similar track data sets, and constructing a track prediction model based on data migration; generating a track reachable space; the index track covers grid coordinates; a trajectory probability distribution is generated. According to the method, through subdividing the flight state of the unmanned aerial vehicle, combining with a track prediction method based on data migration, the movement modeling of the intention uncertainty of an operator of the unmanned aerial vehicle is considered to be Brownian movement, and the position distribution of the non-cooperative unmanned aerial vehicle is modeled by adopting a cut-off Brownian bridge method. According to the specific implementation scheme of the prior art, the prior art only divides the initial flight state of the unmanned aerial vehicle to generate the track distribution space, and the scheme can only perform qualitative analysis on whether the movement state of the unmanned aerial vehicle needs early warning or not and cannot accurately identify the identity of the unmanned aerial vehicle.
The prior patent application publication No. CN110968941A discloses a control platform and a control method of a unmanned aerial vehicle based on airspace security assessment, wherein the control platform comprises: the system comprises an airspace modeling and evaluating module, a data acquisition module, a target identification module and an early warning treatment module, wherein an airspace model is built for an area airspace in advance, airspace safety data of the area are set, and a safety evaluation model of the airspace model is built, so that the flight behaviors of unmanned aerial vehicles in the area have uniform criteria and scientific safety evaluation modes, and different processing modes are adopted for unmanned aerial vehicles of cooperative targets and unmanned aerial vehicles of non-cooperative targets or under the condition that the unmanned aerial vehicles have abnormal invasion for the cooperative targets. The specific implementation content of the existing scheme can be known, and the existing scheme utilizes the registration information of the ground radar and the unmanned aerial vehicle management system, and the like for data comparison. In complex airspace management, as in the foregoing prior art, there are usually cooperative targets and non-cooperative targets at the same time, so two sets of communication and radar devices are required, which not only increases the cost of the device for airspace management, but also increases the complexity of spectrum management. With the gradual increase of the requirements of the communication spectrum and the radar spectrum, the two spectrums are overlapped, such as 24-26GHz millimeter wave bands and 71-81GHz millimeter wave bands. Thus, existing spectrum coexistence and sharing needs to be upgraded to the sharing, otherwise spectrum interference is generated for communication and positioning data processing.
In summary, the prior art has the technical problems of high equipment cost and spectrum interference caused by spectrum overlapping.
Disclosure of Invention
The invention aims to solve the technical problems of high equipment cost and spectrum interference caused by spectrum overlapping.
The invention adopts the following technical scheme to solve the technical problems: the unmanned aerial vehicle communication and positioning method comprises the following steps:
s1, configuring a sensing communication integrated device;
s2, configuring system parameters, wherein a protection interval is set at the tail end of the R time slot;
s3, starting a monitoring task according to system parameters by using sensing communication integrated equipment, sending communication radar integrated signals, detecting the communication radar integrated signals by the cooperative unmanned aerial vehicle, sending cooperative unmanned aerial vehicle response information according to the communication radar integrated signals, generating target unmanned aerial vehicle echo signals, and obtaining the number of the cooperative unmanned aerial vehicles and the number of non-cooperative unmanned aerial vehicles according to the target unmanned aerial vehicle echo signals, wherein different cooperative target unmanned aerial vehicles are accessed by adopting orthogonal frequency division multiplexing;
s4, receiving and processing the target unmanned aerial vehicle echo signals and the cooperative unmanned aerial vehicle response information, and detecting the target unmanned aerial vehicle echo signals according to the cooperative unmanned aerial vehicle response information, wherein the step S4 comprises the following steps:
s41, detecting an echo signal of the target unmanned aerial vehicle by using an iterative minimum mean square error estimation algorithm to obtain a signal estimation value;
s42, according to the signal estimation value, receiving echo signal Y from R sub-frame R Deleting the cooperative target echo signals in (t), and processing echo signals Y received on R subframes by using a radar echo detection algorithm R (t) detecting the position and velocity of the non-cooperative target;
s5, according to the number of the cooperative unmanned aerial vehicles and the number of the non-cooperative unmanned aerial vehicles, processing to obtain the ratio of the number of the cooperative unmanned aerial vehicles to the non-cooperative unmanned aerial vehicles, adjusting the time slot ratio of the communication signals to the radar signals in a single subframe, and distributing the receiving and transmitting time-frequency resources of the radar signals and the communication signals according to the time slot ratio;
s6, acquiring and outputting the identity information, the state information and the non-cooperative target unmanned aerial vehicle position information of the target unmanned aerial vehicle in the current link by utilizing the receiving and transmitting time-frequency resource.
The invention is based on radar communication integration technology, utilizes a set of radio equipment to realize communication and radar positioning functions on the same frequency spectrum, and reduces equipment cost, reduces frequency spectrum interference and improves management efficiency of unmanned aerial vehicles while realizing monitoring of states such as identities, positions and the like of the unmanned aerial vehicles of the synthetic targets and the unmanned aerial vehicles of the non-cooperative targets. The invention sets the guard interval at the tail end of the R time slot, thereby avoiding the conflict between the echo of the R time slot and the U and S signals. According to the invention, by adopting the ground monitoring station radar communication integrated equipment, the equipment cost is reduced, and the spectrum interference caused by spectrum overlapping is avoided.
In a more specific technical solution, step S1 includes:
s21, configuring the time-frequency resource position of the integrated signal;
s22, configuring communication signal waveform modulation parameters, channel coding modes and power;
s23, configuring cooperative target communication modulation parameters, positioning reference signal parameters and power.
In a more specific technical solution, step S3 includes:
s31, using a ground monitoring station to send OFDM communication signals on the D sub-frames according to system parameters;
s32, transmitting radar signals on the R subframes;
s33, pass through M 1 +M 2 And (3) reflecting the target, and receiving a target unmanned aerial vehicle echo signal on the R subframe by the ground monitoring station, wherein the target unmanned aerial vehicle echo signal comprises: cooperative target echo signals and non-cooperative target echo signals;
s34, the ground monitoring station is utilized to respectively receive the sensing reference signal and the communication signal of the cooperative unmanned aerial vehicle m on different subcarriers in the S time slot and the U time slot.
The invention utilizes the communication radar integration technology to monitor the target unfolding hybrid mode of the cooperative unmanned aerial vehicle, the non-cooperative unmanned aerial vehicle and the like. The monitoring station receives the radar signals in the integrated signals as echo signals of the combined target and the non-combined target. The invention reduces the equipment cost of airspace management and the complexity of spectrum management.
In a more specific embodiment, in step S31, the following logic is used to determine the OFDM communication signal:
wherein N is the number of subcarriers, d n,k Modulation symbol f for the kth frequency domain communication modulated on the nth subcarrier n The carrier frequency of the nth subcarrier, Δf is the subcarrier modulation interval, rect is a rectangular window function.
In a more specific embodiment, in step S32, the radar signal sent on the R subframe is determined using the following logic:
in the formula ,rn,k Is the kth radar reference symbol on the nth subcarrier.
In a more specific embodiment, in step S33, the echo signal received on the R subframe is determined using the following logic:
where n (t) is clutter and interference noise, y 1,m(t) and y2,m (t) are echo signals of the cooperative target m and the non-cooperative target m, respectively.
In a more specific embodiment, in step S34, the reference signal and the communication signal are determined using the following logic:
in the formula ,h1,m Is the attenuation coefficient of a wireless channel, s 1,m,k Sensing reference symbol R sent to monitoring platform for cooperative target m 1,m and v1,m For monitoring the table estimation parameters u 1,m,k Communication symbols addressed to the monitoring station for the cooperative target m.
In a more specific embodiment, in step S5, the number N of subframes of the radar signal slot R is set using the following logic R ：
wherein ,number of non-cooperative target drones estimated for previous frame。
In a more specific embodiment, the following logic is used to receive echo signal Y from R subframes R In (t), deleting the cooperative target echo signals:
according to the invention, the uplink communication signal of the cooperative target is utilized to accurately position and identify the cooperative target, and then the echo estimation signal of the cooperative target is deleted from the echo signal based on the positioning measurement result of the cooperative target, so that the signal quality of the non-cooperative target is improved, and the detection precision of the non-cooperative target is improved.
In a more specific technical solution, a system for communication and positioning of a drone comprises:
the integrated equipment configuration module is used for configuring the sensing communication integrated equipment;
the system parameter configuration module is used for configuring system parameters, wherein a protection interval is set at the tail end of the R time slot;
the integrated signal generation and transmission module is used for starting a monitoring task according to system parameters by using the sensing communication integrated equipment, transmitting communication radar integrated signals, detecting the communication radar integrated signals by the cooperative unmanned aerial vehicle, transmitting cooperative unmanned aerial vehicle response information according to the communication radar integrated signals, generating target unmanned aerial vehicle echo signals, and obtaining the number of the cooperative unmanned aerial vehicles and the number of the non-cooperative unmanned aerial vehicles according to the target unmanned aerial vehicle echo signals, wherein different cooperative target unmanned aerial vehicles are accessed by adopting orthogonal frequency division multiplexing, and the integrated signal generation and transmission module is connected with the integrated equipment configuration module and the system parameter configuration module;
the communication signal and echo receiving module is configured to receive and process the target unmanned aerial vehicle echo signal and the cooperative unmanned aerial vehicle response information, and detect the target unmanned aerial vehicle echo signal according to the cooperative unmanned aerial vehicle response information, where step S4 includes:
the echo signal detection module is used for detecting the echo signal of the target unmanned aerial vehicle by using an iterative minimum mean square error estimation algorithm so as to obtain a signal estimation value;
a non-cooperative target detection module for receiving echo signal Y from R sub-frame according to signal estimation value R Deleting the cooperative target echo signals in (t), and processing echo signals Y received on R subframes by using a radar echo detection algorithm R (t) detecting the position and the speed of a non-cooperative target, wherein the non-cooperative target detection module is connected with the echo signal detection module;
the time slot duty ratio adjusting module is used for processing to obtain the ratio of the number of the cooperative unmanned aerial vehicles to the number of the non-cooperative unmanned aerial vehicles according to the number of the cooperative unmanned aerial vehicles and the number of the non-cooperative unmanned aerial vehicles, so as to adjust the time slot duty ratio of the communication signals and the radar signals in a single subframe, and distributing the receiving and transmitting time-frequency resources of the radar signals and the communication signals according to the time slot duty ratio, wherein the time slot duty ratio adjusting module is connected with the non-cooperative target detection module;
and the combined signal and data processing module is used for acquiring and outputting the identity information, the state information and the non-cooperative target unmanned aerial vehicle position information of the target unmanned aerial vehicle in the current link by utilizing the receiving and transmitting time-frequency resource.
Compared with the prior art, the invention has the following advantages: the invention is based on radar communication integration technology, utilizes a set of radio equipment to realize communication and radar positioning functions on the same frequency spectrum, and reduces equipment cost, reduces frequency spectrum interference and improves management efficiency of unmanned aerial vehicles while realizing monitoring of states such as identities, positions and the like of the unmanned aerial vehicles of the synthetic targets and the unmanned aerial vehicles of the non-cooperative targets. The invention sets the guard interval at the tail end of the R time slot, thereby avoiding the conflict between the echo of the R time slot and the U and S signals. According to the invention, by adopting the ground monitoring station radar communication integrated equipment, the equipment cost is reduced, and the spectrum interference caused by spectrum overlapping is avoided.
The invention utilizes the communication radar integration technology to monitor the target unfolding hybrid mode of the cooperative unmanned aerial vehicle, the non-cooperative unmanned aerial vehicle and the like. The monitoring station receives the radar signals in the integrated signals as echo signals of the combined target and the non-combined target. The invention reduces the equipment cost of airspace management and the complexity of spectrum management.
According to the invention, the uplink communication signal of the cooperative target is utilized to accurately position and identify the cooperative target, and then the echo estimation signal of the cooperative target is deleted from the echo signal based on the positioning measurement result of the cooperative target, so that the signal quality of the non-cooperative target is improved, and the detection precision of the non-cooperative target is improved. The invention solves the technical problems of high equipment cost and spectrum interference caused by spectrum overlapping in the prior art.
Drawings
Fig. 1 is a basic flow diagram of a communication and positioning method of an unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of basic steps of a communication and positioning method of an unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 3 is a schematic connection diagram of a basic module of a sensing and communication integrated device according to embodiment 1 of the present invention;
FIG. 4 is a schematic diagram showing specific steps of system parameter configuration in embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a time-frequency resource allocation manner of a communication radar integrated signal according to embodiment 1 of the present invention;
fig. 6 is a schematic diagram showing specific steps of data processing of the monitoring station according to embodiment 1 of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1 and 2, the method for communication and positioning of an unmanned aerial vehicle provided by the invention comprises the following basic steps:
s1, configuring communication radar integrated parameters by a system;
s2, the ground monitoring station sends a communication radar integrated signal;
s3, receiving a target unmanned aerial vehicle echo signal by a ground monitoring station;
s4, detecting an integrated signal by the cooperative unmanned aerial vehicle and sending response information;
s5, the ground monitoring station receives response information of the cooperative unmanned aerial vehicle;
s6, the ground monitoring station detects a previously received echo signal by utilizing response information of the cooperative unmanned aerial vehicle;
s7, the ground monitoring station obtains the position information of the target unmanned aerial vehicle and the cooperative target data information.
In this embodiment, the method for communication and positioning of an unmanned aerial vehicle provided by the invention further includes the following specific steps:
step S1': the ground monitoring station is configured with sensing communication integrated equipment;
as shown in fig. 3, in the embodiment, the unmanned aerial vehicle communication and positioning system provided by the invention comprises a ground monitoring station and a target unmanned aerial vehicle, wherein the monitoring station monitors the status of the identity, the position and the like of the target unmanned aerial vehicle and simultaneously communicates with the cooperative target unmanned aerial vehicle.
In the present embodiment, the sensory-communication integrating device includes: an integrated signal generating and transmitting module 1, a transmitting and receiving antenna 2, a receiving antenna 3, an echo receiving module 4, a communication signal receiving module 5 and a joint signal and information processing module 6. In the present embodiment, the integrated signal generation and transmission module 1 includes: the output end of the integrated signal generating and transmitting module 1 is connected with the transmitting and receiving antenna 2 in the embodiment, and the integrated baseband signal generator 11 and the radio frequency link 12 are connected. In this embodiment, the integrated signal is a signal formed by multiplexing a communication signal and a radar signal on the same spectrum resource, where the communication signal is used for cooperative target unmanned aerial vehicle communication and identity confirmation, and the radar signal is used for sensing the target unmanned aerial vehicle state. The multiplexing method may be a method such as time division multiplexing, frequency division multiplexing, and space division multiplexing.
In the present embodiment, the echo receiving module 4 receives an echo of the integrated signal, and in the present embodiment, the echo includes, but is not limited to: and the radar echo is used for measuring state information such as the position and the speed of the target unmanned aerial vehicle. The receiving antenna 3 may be physically isolated from the transmitting and receiving antenna 2.
In this embodiment, the communication signal receiving module 5 is configured to receive a communication signal transmitted by the cooperation target unmanned aerial vehicle. Communication signals include, but are not limited to: communication signals for transmitting response information and reference signals for the ground monitoring station to measure positioning. The receiving antenna 3 may be a time division multiplexed or frequency division multiplexed transmitting and receiving antenna 2.
In this embodiment, the joint signal and information processing module 6 performs joint detection and data processing on the received radar signal and communication signal, first obtains the wireless channel parameter, identity, location information and communication content of the cooperative target, and further detects the echo signal based on the information to obtain status information such as the location of the non-cooperative target unmanned aerial vehicle.
In this embodiment, the cooperative target unmanned aerial vehicle configures a communication transceiver, receives a communication signal and a radar signal in the integrated signal, and sends a communication signal carrying data and a positioning reference signal to the ground monitoring station.
Step S2': the ground monitoring station configures system parameters;
as shown in fig. 4, in this embodiment, step S2' further includes the following specific steps:
as shown in fig. 5, in the present embodiment, step S21: the integrated signal time-frequency resource locations are configured, and fig. 2 shows an example of the integrated signal resource configuration of OFDM modulation, in units of time slots. Time slots 0, 3, 5, 8 are used for the monitoring station to transmit communication signals, labeled D. Time slots 1 and 6 are used for the monitoring station to transmit radar signals, labeled R. Time slots 4 and 9 are used for the co-operating drone to send communication signals, labeled U, to the monitoring station. Slots 2 and 7 are used on different subcarriers for the cooperating drone to transmit communication signals and measurement reference signals, labeled U and S. The signal in S is used for assisting the monitoring station in further measuring the position information of the cooperative target unmanned aerial vehicle. In order to avoid collision between the echo of the R time slot and the U and S signals, a guard interval with a length of t=l may be set at the tail end of the R time slot w/c, wherein Lw For monitoring the effective working distance of the platform equipment, c is the light speed.
Step S22: configuring waveform modulation parameters, channel coding modes and power of communication signals, wherein for example, the waveform adopts OFDM modulation, and the channel coding adopts LDPC codes or polarization codes; the radar signal sequence generation parameters, the waveform modulation parameters and the power are configured and input to the integrated signal generation module.
Step S23: and configuring cooperative target communication modulation parameters, positioning reference signal parameters and power.
After the system parameter configuration is completed, the monitoring station issues system parameter configuration information through a broadcast channel, and all the cooperative target unmanned aerial vehicles receive the parameter configuration information.
Step S3': the monitoring station starts a monitoring task.
The monitoring station sends OFDM communication signals on the D sub-frame according to the system parameter configuration;
wherein N is the number of subcarriers, d n,k Modulation symbol f for the kth frequency domain communication modulated on the nth subcarrier n The carrier frequency of the nth subcarrier, Δf is the subcarrier modulation interval, rect is a rectangular window function. The communication signal is received and detected by the cooperative target unmanned aerial vehicle, and the scheme is not discussed in detail.
The monitoring station transmits radar signals on R subframes:
wherein rn,k Is the kth radar reference symbol on the nth subcarrier.
Through M 1 +M 2 After the target is reflected, the echo signals received by the monitoring station on the R subframes are as follows:
where n (t) is clutter and interference noise, y 1,m(t) and y2,m (t) echo signals of the cooperative target m and the non-cooperative target m, respectively:
M 1 and M2 R is the number of cooperative targets and non-cooperative targets respectively 1,m and R2,m Distance f between cooperative target m and non-cooperative target m, respectively d,1,m ＝2v 1,m f c/c and fd,2,m ＝2v 2,m f c Doppler shift, v, for cooperative target m and non-cooperative target m, respectively,/c 1,m and v2,m Radial velocities of the cooperative target m and the non-cooperative target m respectively, and />Echo time delays brought by the displacement of the cooperative target m and the non-cooperative target m in the current symbol period are respectively. ρ 1 and ρ2 Scattering coefficients for the cooperative target m and the non-cooperative target m, respectively.
The monitoring station further receives the sensing reference signal and the communication signal of the cooperative unmanned aerial vehicle m on different subcarriers in the S and U time slots respectively, and the different cooperative target unmanned aerial vehicles adopt orthogonal frequency division multiplexing access, and then the received signals are:
wherein h1,m Is the attenuation coefficient of a wireless channel, s 1,m,k For the cooperative target m to send the sensing reference symbol to the monitoring station, modulating the subcarrier set allocated to the cooperative target mIn for monitoring the table estimation parameter R 1,m and v1,m 。u 1,m,k Communication symbols for the co-operation object m to the monitoring station are modulated in the subcarrier set allocated to the co-operation object m>In (2) can be used to transmit R that is learned by the cooperative target based on the R signal of the previous frame 1,m and v1,m Etc. Here, a->
Step S4': the monitoring station processes the received signals and processes the data.
As shown in fig. 6, step S4' further includes the following specific steps:
step S41: monitoring the y received by the table pair 1 (t) performing signal detection; in this embodiment, an iterative minimum mean square error estimation algorithm is used in the subcarrier setMiddle detection->
Initial value of iterationDetermined by the values obtained by demodulation and decoding of the communication symbols in the U slots. Will->Substitution (8) calculation ++>The calculated +.>Substitution (8) update->Up to->Convergence, or iterative step reaching a maximum value L max For example 20.
Step S42: monitoring station utilizing estimated value and YR (t) further detecting the location and velocity of the non-cooperative target. In the present embodiment, first, Y is selected from R (t) removing cooperative target echo signals from
Then to Y R (t) executing a radar echo detection algorithm to obtain non-cooperative target position information.
Step S5': the system adjusts the time slot ratio of the communication signal to the radar signal in one subframe according to the quantity ratio of the cooperative unmanned aerial vehicle to the non-cooperative unmanned aerial vehicle in the target unmanned aerial vehicle. When all are non-cooperative unmanned aerial vehicles, all resources are used for sending radar signals, and when all are cooperative unmanned aerial vehicles, all resources are used for sending communication signals, including U and D. Specifically, when a frame has N Total (S) Subframe composition, number N of subframes of radar signal time slot R can be set R The method comprises the following steps:
wherein ,the number of non-cooperative target drones estimated for the previous frame. In general, N Total (S) ＝10。
Step S6': the monitoring station outputs status information such as the identity, the position and the like of the target unmanned aerial vehicle in the current link and the position information of the unmanned aerial vehicle in the non-cooperative target, and the monitoring station switches to the next link or ends monitoring.
In the embodiment, the cooperative target unmanned aerial vehicle does not need to be provided with communication equipment, electromagnetic materials capable of regulating and controlling the echo can be assembled on the unmanned aerial vehicle body, the materials can realize echo beam forming, the echo energy is enhanced, and the echo positioning accuracy is improved. Certain identity information can be carried in the echo, and the monitoring platform is assisted to identify the target unmanned aerial vehicle.
In conclusion, the invention is based on the radar communication integration technology, utilizes a set of radio equipment to realize the communication and radar positioning functions on the same frequency spectrum, and reduces equipment cost, reduces frequency spectrum interference and improves unmanned aerial vehicle management efficiency while realizing the monitoring of the status of identity, position and the like of the unmanned aerial vehicle of the combined target and the unmanned aerial vehicle of the non-combined target. The invention sets the guard interval at the tail end of the R time slot, thereby avoiding the conflict between the echo of the R time slot and the U and S signals. According to the invention, by adopting the ground monitoring station radar communication integrated equipment, the equipment cost is reduced, and the spectrum interference caused by spectrum overlapping is avoided.
The invention utilizes the communication radar integration technology to monitor the target unfolding hybrid mode of the cooperative unmanned aerial vehicle, the non-cooperative unmanned aerial vehicle and the like. The monitoring station receives the radar signals in the integrated signals as echo signals of the combined target and the non-combined target. The invention reduces the equipment cost of airspace management and the complexity of spectrum management.
According to the invention, the uplink communication signal of the cooperative target is utilized to accurately position and identify the cooperative target, and then the echo estimation signal of the cooperative target is deleted from the echo signal based on the positioning measurement result of the cooperative target, so that the signal quality of the non-cooperative target is improved, and the detection precision of the non-cooperative target is improved. The invention solves the technical problems of high equipment cost and spectrum interference caused by spectrum overlapping in the prior art.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of unmanned aerial vehicle communication and positioning, the method comprising:
s1, configuring a sensing communication integrated device;
s2, configuring system parameters, wherein a protection interval is set at the tail end of the R time slot;
s3, starting a monitoring task according to the system parameters by using the sensing communication integrated equipment, sending communication radar integrated signals, detecting the communication radar integrated signals by using the cooperative unmanned aerial vehicle, sending cooperative unmanned aerial vehicle response information according to the communication radar integrated signals, generating target unmanned aerial vehicle echo signals, and obtaining the number of the cooperative unmanned aerial vehicles and the number of the non-cooperative unmanned aerial vehicles according to the target unmanned aerial vehicle echo signals, wherein different cooperative target unmanned aerial vehicles are accessed by adopting orthogonal frequency division multiplexing;
s4, receiving and processing the target unmanned aerial vehicle echo signal and the cooperative unmanned aerial vehicle response information, and detecting the target unmanned aerial vehicle echo signal according to the cooperative unmanned aerial vehicle response information, wherein the step S4 comprises the following steps:
s41, detecting the target unmanned aerial vehicle echo signal by using an iterative minimum mean square error estimation algorithm to obtain a signal estimation value;
s42, according to the signal estimation value, receiving echo signal Y from R sub-frame R In (t), deleting the cooperative target echo signals, and processing the echo signals Y received on the R subframes by using a radar echo detection algorithm R (t) detecting the position and velocity of the non-cooperative target;
s5, according to the number of the cooperative unmanned aerial vehicles and the number of the non-cooperative unmanned aerial vehicles, processing to obtain a ratio of the number of the cooperative unmanned aerial vehicles to the number of the non-cooperative unmanned aerial vehicles, so as to adjust the time slot ratio of the communication signals to the radar signals in a single subframe, and according to the time slot ratio, distributing the receiving and transmitting time-frequency resources of the radar signals and the communication signals;
s6, acquiring and outputting the identity information, the state information and the non-cooperative target unmanned aerial vehicle position information of the target unmanned aerial vehicle in the current link by utilizing the receiving and transmitting time-frequency resource.
2. The method for communication and positioning of a drone according to claim 1, wherein said step S1 comprises:
s21, configuring the time-frequency resource position of the integrated signal;
s22, configuring communication signal waveform modulation parameters, channel coding modes and power;
s23, configuring cooperative target communication modulation parameters, positioning reference signal parameters and power.
3. The method for communication and positioning of a drone according to claim 1, wherein said step S3 comprises:
s31, using the ground monitoring station to send OFDM communication signals on the D sub-frames according to the system parameters;
s32, transmitting radar signals on the R subframes;
s33, pass through M 1 +M 2 And the ground monitoring station receives the target unmanned aerial vehicle echo signals on the R subframes, wherein the target unmanned aerial vehicle echo signals comprise: cooperative target echo signals and non-cooperative target echo signals;
s34, the ground monitoring station is utilized to respectively receive the sensing reference signal and the communication signal of the cooperative unmanned aerial vehicle m on different subcarriers in S and U time slots.
4. A method of unmanned aerial vehicle communication and positioning according to claim 3, wherein in step S31, the OFDM communication signal is determined using the following logic:
wherein N is the number of subcarriersNumber d n,k Modulation symbol f for the kth frequency domain communication modulated on the nth subcarrier n The carrier frequency of the nth subcarrier, Δf is the subcarrier modulation interval, rect is a rectangular window function.
5. A method of unmanned aerial vehicle communication and positioning according to claim 3, wherein in step S32, the radar signal transmitted on the R subframe is determined using the following logic:
in the formula ,rn,k Is the kth radar reference symbol on the nth subcarrier.
6. A method of unmanned aerial vehicle communication and positioning according to claim 3, wherein in step S33, the echo signals received on the R subframes are determined using the following logic:
where n (t) is clutter and interference noise, y 1,m(t) and y2,m (t) are echo signals of the cooperative target m and the non-cooperative target m, respectively.
7. A method of unmanned aerial vehicle communication and positioning according to claim 3, wherein in step S34, the reference signal and the communication signal are determined using the following logic:
in the formula ,h1,m Is the attenuation coefficient of a wireless channel, s 1,m,k Sensing reference symbol R sent to monitoring platform for cooperative target m 1,m and v1,m For monitoring the table estimation parameters u 1,m,k Communication symbols addressed to the monitoring station for the cooperative target m.
8. The unmanned aerial vehicle communication and positioning method of claim 1, wherein in step S5, the number N of subframes of the radar signal slot R is set using the following logic R ：
wherein ,the number of non-cooperative target drones estimated for the previous frame.
9. The unmanned aerial vehicle communication and positioning method of claim 1, wherein in step S42, the echo signal Y received on the R subframe is received from the echo signal Y using the following logic R In (t), deleting the cooperative target echo signal:
10. a drone communication and positioning system, the system comprising:
the integrated equipment configuration module is used for configuring the sensing communication integrated equipment;
the system parameter configuration module is used for configuring system parameters, wherein a protection interval is set at the tail end of the R time slot;
the integrated signal generation and transmission module is used for starting a monitoring task according to the system parameters by utilizing the sensing communication integrated equipment, transmitting communication radar integrated signals, detecting the communication radar integrated signals by the cooperative unmanned aerial vehicle, transmitting cooperative unmanned aerial vehicle response information according to the communication radar integrated signals, generating target unmanned aerial vehicle echo signals, and obtaining the number of the cooperative unmanned aerial vehicles and the number of the non-cooperative unmanned aerial vehicles according to the target unmanned aerial vehicle echo signals, wherein different cooperative target unmanned aerial vehicles are accessed by adopting orthogonal frequency division multiplexing, and the integrated signal generation and transmission module is connected with the integrated equipment configuration module and the system parameter configuration module;
the communication signal and echo receiving module is configured to receive and process the target unmanned aerial vehicle echo signal and the cooperative unmanned aerial vehicle response information, detect the target unmanned aerial vehicle echo signal according to the cooperative unmanned aerial vehicle response information, and step S4 includes:
the echo signal detection module is used for detecting the echo signal of the target unmanned aerial vehicle by using an iterative minimum mean square error estimation algorithm so as to obtain a signal estimation value;
a non-cooperative target detection module for receiving echo signal Y from R sub-frame according to the signal estimation value R (t) deleting cooperative target echo signals, and processing the echo signals Y received on the R subframes by using a radar echo detection algorithm R (t) detecting the position and speed of a non-cooperative target, the non-cooperative target detection module being connected with the echo signal detection module;
the time slot duty ratio adjusting module is used for processing the number of the cooperative unmanned aerial vehicles and the number of the non-cooperative unmanned aerial vehicles to obtain the ratio of the number of the cooperative unmanned aerial vehicles to the number of the non-cooperative unmanned aerial vehicles, so as to adjust the time slot duty ratio of the communication signals and the radar signals in a single subframe, and distributing the receiving and transmitting time-frequency resources of the radar signals and the communication signals according to the time slot duty ratio, wherein the time slot duty ratio adjusting module is connected with the non-cooperative target detecting module;
and the combined signal and data processing module is used for acquiring and outputting the identity information, the state information and the non-cooperative target unmanned aerial vehicle position information of the target unmanned aerial vehicle in the current link by utilizing the receiving and transmitting time-frequency resource.
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