CN117233693A - Direction finding method of unmanned aerial vehicle and electronic equipment - Google Patents
Direction finding method of unmanned aerial vehicle and electronic equipment Download PDFInfo
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Abstract
The application relates to the technical field of unmanned aerial vehicle detection, and discloses a direction finding method of an unmanned aerial vehicle and electronic equipment. The direction finding method of the unmanned aerial vehicle is applied to electronic equipment, the electronic equipment comprises an antenna, and the method comprises the following steps: and controlling the antenna ring to sweep the surrounding environment to obtain a radio signal emitted by the unmanned aerial vehicle, generating a ring-sweeping amplitude sequence and a ring-sweeping angle sequence according to the radio signal, and measuring the target direction of the unmanned aerial vehicle relative to the electronic equipment according to the ring-sweeping amplitude sequence and the ring-sweeping angle sequence. Therefore, in the embodiment, the single antenna is used as the only reference for amplitude comparison by controlling the single antenna to sweep the surrounding environment and comparing the amplitude and direction based on the received radio signals, so that the problem of direction finding error caused by antenna pattern distortion due to double-antenna amplitude comparison can be avoided, and the direction finding accuracy and reliability of the unmanned aerial vehicle can be improved compared with the traditional double-antenna amplitude comparison direction finding.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle detection, in particular to a direction finding method of an unmanned aerial vehicle and electronic equipment.
Background
The unmanned aerial vehicle generally can transmit radio signals such as flight control signals, image transmission signals and the like to the surrounding environment in the flight process, so that the unmanned aerial vehicle can normally fly and transmit images. In the current unmanned aerial vehicle detection technical field, a passive detection method can be adopted to passively receive radio signals emitted by the unmanned aerial vehicle during flight and process the radio signals, so that the unmanned aerial vehicle can be detected, identified, direction-finding and positioned.
The current passive detection method generally adopts directional and omnidirectional dual antennas to conduct amplitude comparison and direction measurement, when the amplitude comparison and direction measurement are conducted, for the same incident signal, the signal intensity received by different antennas is different when the dual antennas receive the signal, and the direction of a target is determined by comparing the relative size of signal output envelopes with the signal intensity receiving difference of the antennas in different directions. However, when the amplitude comparison direction finding is performed, if the antenna pattern is subjected to non-ideal distortion, a plurality of amplitude differences of the target are easily identified by indication, so that a plurality of error directions are easily generated, the direction finding system cannot accurately judge the real direction of the target, and the direction finding system fails in direction finding.
Disclosure of Invention
An object of the embodiment of the application is to provide a direction finding method and electronic equipment of an unmanned aerial vehicle, which can solve the technical problem of direction finding errors of the unmanned aerial vehicle in the prior art.
In a first aspect, an embodiment of the present application provides a direction-finding method for an unmanned aerial vehicle, including:
controlling the surrounding environment of the antenna circular sweep to obtain a radio signal emitted by the unmanned aerial vehicle;
generating a circular scanning amplitude sequence and a circular scanning angle sequence according to the radio signal;
and measuring the target direction of the unmanned aerial vehicle relative to the electronic equipment according to the circular scanning amplitude sequence and the circular scanning angle sequence.
Optionally, the generating a circular sweep amplitude sequence from the radio signal includes:
generating a time-frequency diagram according to the radio signal;
determining a target frame time-frequency diagram according to the time-frequency diagram;
and generating a circular scanning amplitude sequence according to the target frame time-frequency diagram.
Optionally, the generating the circular sweep amplitude sequence according to the target frame time-frequency diagram includes:
extracting a direction-finding locking parameter according to the target frame time-frequency diagram;
determining an amplitude measurement value according to the direction-finding locking parameter;
and generating a circular scanning amplitude sequence according to the amplitude measurement value.
Optionally, the determining an amplitude measurement according to the direction-finding lock parameter includes:
judging whether target measurement is successful or not according to the direction-finding locking parameters, and obtaining a judging result;
and determining an amplitude measurement value according to the judgment result.
Optionally, the target frame time-frequency diagram includes a plurality of pulses, and extracting the direction-finding locking parameter according to the target frame time-frequency diagram includes:
determining the center frequency and the frequency bandwidth of each pulse;
converting the target frame time-frequency diagram into a time-amplitude sequence according to the center frequency and the frequency bandwidth;
and extracting a direction-finding locking parameter according to the time-amplitude sequence.
Optionally, the time-amplitude sequence includes a plurality of pulses, the direction-finding lock parameter includes a pulse repetition period in the time-amplitude sequence and a pulse width of each pulse, and determining whether the target measurement is successful according to the direction-finding lock parameter includes:
judging whether the pulse repetition period and the pulse width of each pulse are respectively matched with a preset pulse repetition period and a preset pulse width;
if the pulse repetition period and the pulse width of each pulse are respectively matched with a preset pulse repetition period and a preset pulse width, a judgment result of successful target measurement is obtained;
and if the pulse repetition period and the pulse width of each pulse are not matched with the preset pulse repetition period and the preset pulse width respectively, obtaining a judgment result of failure of target measurement.
Optionally, the determining the amplitude measurement value according to the determination result includes:
when the judgment result is that the target measurement is successful, recording the pulse width and the pulse repetition period, calculating the amplitude value of each pulse according to the pulse width and the pulse repetition period, and determining an amplitude measurement value according to the amplitude value of each pulse;
and when the judging result is that the target measurement fails, determining the amplitude measurement value as a preset amplitude value.
Optionally, the generating the circular scan angle sequence according to the radio signal includes:
acquiring a scanning angle corresponding to the time-frequency diagram of the target frame;
and generating a circular scanning angle sequence according to the scanning angles.
Optionally, the measuring the target direction of the unmanned aerial vehicle relative to the electronic device according to the circular scanning amplitude sequence and the circular scanning angle sequence includes:
judging whether the circular scanning is finished or not according to the circular scanning angle sequence;
if the circular scanning is completed, projecting the unmanned aerial vehicle on a preset coordinate system according to the circular scanning amplitude sequence and the circular scanning angle sequence to obtain a target coordinate;
and measuring the target direction of the unmanned aerial vehicle relative to the electronic equipment according to the target coordinates.
Optionally, the circular scanning angle sequence includes a plurality of scanning angles arranged in time sequence, and determining whether to complete the circular scanning according to the circular scanning angle sequence includes:
calculating differential angles of every two adjacent scanning angles in the circular scanning angle sequence;
accumulating each differential angle to obtain a differential angle sum;
judging whether the absolute value of the differential angle sum is larger than or equal to a preset angle threshold value;
if the absolute value of the differential angle sum is larger than or equal to a preset angle threshold value, judging that circular scanning is completed;
and if the absolute value of the differential angle sum is smaller than the preset angle threshold, judging that the circular scanning is not completed.
Optionally, the circular scanning amplitude sequence includes a plurality of amplitude measurement values, and projecting the unmanned aerial vehicle on a preset coordinate system according to the circular scanning amplitude sequence and the circular scanning angle sequence, and obtaining the target coordinate includes:
determining a maximum value of amplitude measurements of the circular sweep amplitude sequence;
correcting the circular scanning amplitude sequence according to the maximum value of the amplitude measurement value and a preset cut-off threshold to obtain a target amplitude sequence;
and projecting the unmanned aerial vehicle on a preset coordinate system according to the target amplitude sequence and the circular scanning angle sequence to obtain target coordinates.
In a second aspect, an embodiment of the present application provides an electronic device, including:
at least one processor;
and a memory communicatively coupled to the at least one processor; wherein,
the memory stores commands executable by the at least one processor to enable the at least one processor to perform the method as described above.
In a third aspect, embodiments of the present application provide a non-volatile computer storage medium storing computer-executable instructions for causing an electronic device to perform a method as described above.
The direction finding method of the unmanned aerial vehicle provided by the embodiment of the application comprises the following steps: and controlling the antenna ring to sweep the surrounding environment to obtain a radio signal emitted by the unmanned aerial vehicle, generating a ring-sweeping amplitude sequence and a ring-sweeping angle sequence according to the radio signal, and measuring the target direction of the unmanned aerial vehicle relative to the electronic equipment according to the ring-sweeping amplitude sequence and the ring-sweeping angle sequence. Therefore, in the embodiment, the single antenna is used as the only reference for amplitude comparison by controlling the single antenna to sweep the surrounding environment and comparing the amplitude and direction based on the received radio signals, so that the problem of direction finding error caused by antenna pattern distortion due to double-antenna amplitude comparison can be avoided, and the direction finding accuracy and reliability of the unmanned aerial vehicle can be improved compared with the traditional double-antenna amplitude comparison direction finding.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
Fig. 1 is a schematic view of an application scenario of a direction-finding method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a direction finding method of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a target frame time-frequency diagram according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a time-amplitude sequence provided by an embodiment of the present application;
fig. 5 is a schematic structural diagram of a direction-finding device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, if not in conflict, the features of the embodiments of the present application may be combined with each other, which is within the protection scope of the present application. In addition, while functional block division is performed in a device diagram and logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart. Furthermore, the words "first," "second," "third," and the like as used herein do not limit the order of data and execution, but merely distinguish between identical or similar items that have substantially the same function and effect.
Referring to fig. 1, an embodiment of the present application provides an application scenario of a direction-finding method of an unmanned aerial vehicle. As shown in fig. 1, the application scenario includes an electronic device 100 and at least one unmanned aerial vehicle 200.
The electronic device 100 is a device for detecting at least one drone 200.
The electronic device 100 includes an antenna 10, and the electronic device 100 may control the antenna 10 to acquire a radio signal emitted by the unmanned aerial vehicle 200 while flying, so that the electronic device 100 performs direction finding on at least one unmanned aerial vehicle 200 based on the received radio signal.
Types of antennas 10 may include directional antennas, which are antennas that transmit and receive electromagnetic waves with particularly strong intensity in one or more specific directions and with zero or very little electromagnetic waves in other directions, and omni-directional antennas that have better directivity and are capable of gathering electromagnetic wave signals, and are generally used in applications requiring long-range transmission and directional determination, such as radio communication, satellite communication, etc.; an omni-directional antenna refers to an antenna capable of receiving or transmitting radio signals in different directions, and is generally used in a communication system with short distance, large coverage area, and low price. In some embodiments, the type of antenna 10 is a directional antenna.
The drone 200 is an unmanned aerial vehicle that may fly in any airspace, such as low altitude, hollow, high altitude, etc., for example, a fixed-wing drone, a rotary-wing drone, an unmanned airship, an umbrella-wing drone, a ornithopter, etc.
The embodiment of the application provides a direction finding method of an unmanned aerial vehicle, which is applied to electronic equipment 100. Referring to fig. 2, the direction-finding method of the unmanned aerial vehicle includes:
s21, controlling the antenna to sweep the surrounding environment to obtain a radio signal emitted by the unmanned aerial vehicle;
in this step, when the electronic device controls the antenna to sweep the surrounding environment, the antenna can sense the electromagnetic field change in the physical space and can convert the electromagnetic field change into the current changing in the wire, wherein the circular sweeping refers to the scanning mode that the antenna beam direction scans on the whole plane.
The radio signals transmitted by the unmanned aerial vehicle comprise flight control signals, image transmission signals and the like, wherein the flight control signals refer to signals transmitted to remote control equipment on the ground by the unmanned aerial vehicle for realizing the functions of taking off, flying in the air, executing tasks, returning to the ground and the like, and the image transmission signals refer to signals which are transmitted to the remote control equipment on the ground in real time and stably on pictures shot by the unmanned aerial vehicle in the air.
S22, generating a circular scanning amplitude sequence and a circular scanning angle sequence according to the radio signal;
in this step, the circular-sweep amplitude sequence is an amplitude measurement value sequence generated by the electronic device in the process of the surrounding environment of the circular-sweep antenna, and the amplitude measurement value is a radio signal amplitude value measured by the electronic device at a certain moment in the process of the surrounding environment of the circular-sweep antenna.
The circular scanning angle sequence is a scanning angle sequence generated by the electronic equipment in the process of scanning the surrounding environment of the antenna, and the scanning angle is obtained by recording the electronic equipment at a certain moment in the process of scanning the surrounding environment of the antenna.
S23, measuring the target direction of the unmanned aerial vehicle relative to the electronic equipment according to the circular scanning amplitude sequence and the circular scanning angle sequence.
Therefore, in the embodiment, the single antenna is used as the only reference for amplitude comparison by controlling the single antenna to sweep the surrounding environment and comparing the amplitude and direction based on the received radio signals, so that the problem of direction finding error caused by antenna pattern distortion due to double-antenna amplitude comparison can be avoided, and the direction finding accuracy and reliability of the unmanned aerial vehicle can be improved compared with the traditional double-antenna amplitude comparison direction finding.
In some embodiments, when generating the circular sweep amplitude sequence from the radio signal, the electronic device generates a time-frequency graph from the radio signal, determines a target frame time-frequency graph from the time-frequency graph, and generates the circular sweep amplitude sequence from the target frame time-frequency graph.
In this embodiment, after the electronic device acquires the radio signal, the electronic device performs data preprocessing on the radio signal by using any suitable signal preprocessing method, such as short-time fourier transform (Short Time Fourier Transform, STFT), to obtain a time-frequency chart, which is an image that visualizes the change of the signal in time and frequency. Time-frequency diagrams are typically used to analyze time-varying characteristics of a signal, such as frequency changes over time.
In some embodiments, the electronic device may sample the time-frequency chart by using any suitable data sampling method to obtain a multi-frame time-frequency chart, where the multi-frame time-frequency chart is the target frame time-frequency chart. For example, the electronic device intercepts a time-frequency diagram every fixed time difference to obtain a target frame time-frequency diagram.
The embodiment of the application provides a target frame time-frequency diagram. Referring to fig. 3, the horizontal axis of the target frame time-frequency graph represents time, the vertical axis represents frequency, and the brightness or color of each point represents the intensity or energy of the signal at that time and frequency. Thus, the target frame time-frequency plot can provide us with an energy distribution of the signal at different frequencies and times, helping us identify frequency components in the signal and how they change over time.
As shown in fig. 3, the time span of the target frame time-frequency chart is 3000×0.04 ms=120 ms, and the time-frequency chart includes a plurality of pulses, wherein the upper and lower center positions of each pulse are about 50, the upper and lower ranges of each pulse are about 100, the width of each pulse is about 4 kinds of widths, namely 50, 75, 100 and 125, respectively, and the difference value on the right side of each two adjacent pulses is the pulse repetition period, and the total number of the difference values is 2, namely 100 and 150.
In some embodiments, when the electronic device generates the circular-sweep amplitude sequence according to the target frame time-frequency diagram, the electronic device extracts the direction-finding lock parameter according to the target frame time-frequency diagram, determines the amplitude measurement value according to the direction-finding lock parameter, and generates the circular-sweep amplitude sequence according to the amplitude measurement value.
In this embodiment, the electronic device may extract the direction-finding lock parameter from the target frame time-frequency chart by using a parameter extraction method such as a pulse detection method, a differential calculation method, or the like, where the direction-finding lock parameter is a parameter for describing a radio signal emitted by the unmanned aerial vehicle, such as a center frequency, a frequency bandwidth, a pulse width, a pulse repetition period, or the like.
In some embodiments, the electronic device determines a center frequency and a frequency bandwidth of each pulse in the target frame time-frequency plot, converts the target frame time-frequency plot into a time-amplitude sequence according to the center frequency and the frequency bandwidth, and extracts the direction-finding lock parameter according to the time-amplitude sequence.
For example, referring to fig. 3 and 4, the electronic device determines the center frequency and the frequency bandwidth of each pulse according to the upper boundary frequency and the lower boundary frequency of each pulse in the target frame time-frequency chart of fig. 3, so as to calculate the upper boundary and the lower boundary of the frequency index as [1,100], calculates the average value of 1 to 100 on the corresponding vertical axis for each column of 1 to 3000 on the horizontal axis, and converts the sequence index into the actual time index, thereby converting the target frame time-frequency chart of fig. 3 into the time-amplitude sequence of fig. 4, wherein the time-amplitude sequence also includes a plurality of pulses, and then the direction-finding locking parameters such as the pulse repetition period, the pulse width and the like can be extracted according to the time-amplitude sequence.
In some embodiments, when determining the amplitude measurement value according to the direction-finding lock parameter, the electronic device determines whether the target measurement is successful according to the direction-finding lock parameter, obtains a determination result, and determines the amplitude measurement value according to the determination result.
Therefore, the method for determining the corresponding amplitude measurement value is provided based on the judgment result of whether the target measurement is successful, so that interference information acquired during each measurement can be filtered, amplitude measurement value errors caused by the fact that the interference information influences the amplitude measurement value calculation are avoided, and accuracy and reliability of the amplitude measurement value can be improved.
In some embodiments, according to the direction-finding locking parameter, determining whether the target measurement is successful, when obtaining the determination result, the electronic device determines whether the pulse repetition period and the pulse width of each pulse in the time-amplitude sequence match the preset pulse repetition period and the preset pulse width, respectively, if both match the preset pulse repetition period and the preset pulse width, the electronic device obtains the determination result of the target measurement success, and if not all match the preset pulse repetition period and the preset pulse width, the electronic device obtains the determination result of the target measurement failure.
For example, the preset pulse repetition period is a set of [4 ] ms, the preset pulse width is a set of [ 23 4 ] ms, please continue to refer to fig. 4, since the pulse repetition periods are 4ms and 6ms in total, both fall into the set of [4 ] ms, at this time, the electronic device can determine that each pulse repetition period matches the preset pulse repetition period, and since the pulse width of each pulse is 2ms, 3ms, 4ms, and 5ms in total, all fall into the set of [ 23 4 ] ms, at this time, the electronic device can determine that the pulse width of each pulse matches the preset pulse width, and then the electronic device determines that the target measurement is successful.
In some embodiments, when determining the amplitude measurement value according to the determination result, if the electronic device obtains the determination result that the target measurement is successful, recording the pulse width and the pulse repetition period, calculating the amplitude value of each pulse according to the pulse width and the pulse repetition period, and determining the amplitude measurement value according to the amplitude value of each pulse, for example, the electronic device performs an average calculation on the amplitude value of each pulse to obtain an amplitude average value, and uses the amplitude average value as the amplitude measurement value; if the electronic device obtains a measurement result of the target measurement failure, the amplitude measurement value is determined to be a preset amplitude value, for example, the preset amplitude value is 0.
Each time the electronic device determines an amplitude measurement, the amplitude measurement is added to the circular sweep amplitude sequence to continuously generate the circular sweep amplitude sequence. The circular sweep amplitude sequence is expressed as follows:
P＝(P 1 ,P 2 ,......,P m )
wherein P represents a circular scanning amplitude sequence, P i Representing the amplitude measurement corresponding to the i-th moment.
In some embodiments, the electronic device obtains a scan angle corresponding to the time-frequency diagram of the target frame, and generates the circular scan angle sequence according to the scan angle.
As described above, when the electronic device controls the antenna to sweep the surrounding environment to obtain the radio signal emitted by the unmanned aerial vehicle, the scanning angles at different times are different, so that when the electronic device generates the time-frequency diagram according to the radio signal, the time-frequency diagram is data generated according to the time sequence, and at each time of the time-frequency diagram, the scanning angle at the corresponding time is recorded, and when the electronic device intercepts the target frame time-frequency diagram from the time-frequency diagram, the scanning angle recorded at the time corresponding to the target frame time-frequency diagram can be obtained at the same time. The circular sweep angle sequence is expressed as follows:
A＝(A 1 ,A 2 ,......,A m )
wherein A represents a circular scanning angle sequence, A i The scanning angle corresponding to the i-th time is shown.
It can be understood that after the electronic device intercepts the time-frequency diagram of the kth target frame from the time-frequency diagram, the electronic device can obtain the circular scanning amplitude sequence and the circular scanning angle sequence corresponding to the kth moment respectively:
P＝(P 1 ,P 2 ,......,P k )
A＝(A 1 ,A 2 ,......,A k )
wherein P is 1 And A is a 1 Corresponding to P 2 And A is a 2 Corresponding to … … P k And A is a k Corresponding to the above.
In the process of controlling the surrounding environment of the antenna to be swept by the electronic equipment, whether the annular sweeping is completed or not needs to be judged in real time, and the electronic equipment starts to execute the step of measuring the target direction of the unmanned aerial vehicle relative to the electronic equipment according to the annular sweeping amplitude sequence and the annular sweeping angle sequence only when the annular sweeping is completed.
In some embodiments, when the target direction of the unmanned aerial vehicle relative to the electronic device is measured according to the circular scanning amplitude sequence and the circular scanning angle sequence, the electronic device judges whether the circular scanning is completed according to the circular scanning angle sequence, if the circular scanning is completed, the unmanned aerial vehicle is projected on a preset coordinate system according to the circular scanning amplitude sequence and the circular scanning angle sequence to obtain a target coordinate, and the target direction of the unmanned aerial vehicle relative to the electronic device is measured according to the target coordinate.
In some embodiments, when judging whether to finish the circular scanning according to the circular scanning angle sequence, the electronic device calculates the differential angle of every two adjacent scanning angles in the circular scanning angle sequence, accumulates each differential angle to obtain a differential angle sum, judges whether the absolute value of the differential angle sum is larger than or equal to a preset angle threshold, if the absolute value of the differential angle sum is larger than or equal to the preset angle threshold, the electronic device judges that the circular scanning is finished, if the absolute value of the differential angle sum is smaller than the preset angle threshold, the electronic device judges that the circular scanning is not finished, and when judging that the circular scanning is not finished, the electronic device judges whether to finish the circular scanning according to the newly generated circular scanning angle sequence until the absolute value of the differential angle sum is larger than or equal to the preset angle threshold.
The preset angle threshold can be set according to actual requirements. In this embodiment, the electronic device only needs to control the antenna loop to sweep the surrounding environment for one circle, so that the loop sweeping can be ended and the target direction of the unmanned aerial vehicle relative to the electronic device can be measured, therefore, the preset angle threshold can be set to 360 degrees, and when the absolute value of the difference angle sum is judged to be greater than or equal to 360 degrees by the electronic device, the loop sweeping is judged to be completed.
In order to facilitate accumulating the differential angles, the electronic device transforms the differential angles of every two adjacent scanning angles in the circular scanning angle sequence into the range of [ -180,180] value, and generates a differential angle sequence:
ΔA＝(ΔA 1 ,ΔA 2 ,......,ΔA m-1 )
wherein ΔA represents a differential angle sequence, ΔA i Representing A in a circular scanning angle sequence i+1 And A is a i Is transformed to [ -180,180 []Differential angles within the range of values.
ΔA i The determination method of (2) is as follows:
the electronic equipment accumulates each differential angle in the differential angle sequence to obtain a differential angle sum:
where SA represents the differential angle sum.
In some embodiments, when the unmanned aerial vehicle is projected on a preset coordinate system according to the circular scanning amplitude sequence and the circular scanning angle sequence to obtain the target coordinate, firstly, the electronic device rearranges the circular scanning angle sequence and the circular scanning amplitude sequence based on the ascending order of the angle size to obtain the arranged circular scanning angle sequence and the circular scanning amplitude sequence.
The aligned circular scan angle sequence is shown below:
B＝(B 1 ,B 2 ,......,B m ) And B is 1 ＜B 2 ＜......＜B m
The aligned circular sweep amplitude sequence is represented as follows:
Q＝(Q 1 ,Q 2 ,......,Q m )
for example, the circular-sweep angle sequence and the circular-sweep amplitude sequence before arrangement are respectively:
A＝(10,20,40,30,70,60,50,80,90)
P＝(1,2,0,0,3,2,0,1,0)
the arranged circular scanning angle sequence is as follows:
B＝(10,20,30,40,50,60,70,80,90)
since the scan angle 10 corresponds to the amplitude measurement value 1, the scan angle 20 corresponds to the amplitude measurement value 2, the scan angle 30 corresponds to the amplitude measurement value 0, the scan angle 40 corresponds to the amplitude measurement value 0, the scan angle 50 corresponds to the amplitude measurement value 0, the scan angle 60 corresponds to the amplitude measurement value 2, the scan angle 70 corresponds to the amplitude measurement value 3, the scan angle 80 corresponds to the amplitude measurement value 1, and the scan angle 90 corresponds to the amplitude measurement value 0, the circular scan amplitude sequence after arrangement is as follows:
Q＝(1,2,0,0,2,3,3,1,0)
and then, the electronic equipment determines the maximum value of the amplitude measurement value of the circular scanning amplitude sequence, and corrects the circular scanning amplitude sequence according to the maximum value of the amplitude measurement value and a preset cut-off threshold to obtain a target amplitude sequence.
In this embodiment, the preset cutoff threshold is a threshold value for filtering measurement points other than the non-main lobe in the antenna pattern.
In some embodiments, the electronic device determines Q i Whether the difference value between the maximum value of the amplitude measurement value and the preset cut-off threshold is larger than or equal to, if so, the electronic equipment judges Q i The correction is as follows:
Q i '＝Q i -P max +T p
wherein Q is i ' is a corrected amplitude measurement, P max For maximum amplitude measurement, T p Is a preset cutoff threshold.
If not, the electronic device will Q i The correction is 0.
For example, assume a preset cutoff threshold T p 1, as previously described, the maximum value P of the amplitude measurements of the aligned circular amplitude sequence max 3, correcting the arranged circular scanning amplitude sequence to obtain a target amplitude sequence as follows:
Q'＝(0,0,0,0,0,1,1,0,0)
therefore, in the embodiment, the maximum value of the amplitude measurement values of the arranged circular scanning amplitude sequences and the preset cutoff threshold are corrected, so that the influence of the measurement points except for the non-main lobe in the antenna pattern on the target direction of the subsequent unmanned aerial vehicle relative to the electronic equipment can be removed, and the direction finding accuracy of the unmanned aerial vehicle can be improved.
Finally, the electronic equipment projects the unmanned aerial vehicle on a preset coordinate system according to the target amplitude sequence and the circular scanning angle sequence to obtain a target coordinate (I a ，Q a )。
The preset coordinate system is a north-to-east azimuth coordinate system. For the target coordinates (I a ，Q a )，I a The projection value indicating that the actual direction of the unmanned aerial vehicle is on the east side indicates that the actual direction of the unmanned aerial vehicle is on the east side if the projection value is positive, and indicates that the actual direction of the unmanned aerial vehicle is on the west side if the projection value is negative. Q (Q) a And the projection value of the actual direction of the unmanned aerial vehicle on the north side is shown, if the projection value is positive, the actual direction of the unmanned aerial vehicle is shown on the north side, and if the projection value is negative, the actual direction of the unmanned aerial vehicle is shown on the south side.
In one placeIn some embodiments, the electronic device performs amplitude weighting on the amplitude measurement value corresponding to the corrected circular scanning amplitude sequence through the differential angle of every two adjacent scanning angles in the arranged circular scanning angle sequence, and projects the unmanned aerial vehicle on a preset coordinate system to obtain a target coordinate (I a ，Q a )。
In some embodiments, the electronic device calculates I according to the following formula a ：
In some embodiments, the electronic device calculates Q according to the following formula a ：
Therefore, in this embodiment, the difference angle of every two adjacent scanning angles in the arranged circular scanning angle sequence is used to perform amplitude weighting on the amplitude measurement value corresponding to the corrected circular scanning amplitude sequence to determine the target coordinate, where the target coordinate is based on the result of measuring the average value multiple times, so that the problem of large angle deviation of the result caused by single measurement can be avoided, thereby being beneficial to improving the precision of the target coordinate, and further improving the direction finding accuracy of the unmanned aerial vehicle.
In some embodiments, when measuring the target direction of the drone relative to the electronic device according to the target coordinates, the electronic device measures the target direction of the drone relative to the electronic device according to the following formula:
A az ＝atan2(Q a ,I a )
wherein A is az The target direction of the unmanned aerial vehicle relative to the electronic equipment.
In the trigonometric function, the atan2 function is a variation of the tangent function. For any real parameters X and y that are not equal to 0 at the same time, atan2 (y, X) means the angle between the ray pointing to (X, y) on the coordinate plane and the positive direction of the X-axis, starting from the origin of the coordinates. When y is greater than 0, the included angle between the ray and the positive x-axis direction refers to the angle at which the positive x-axis direction rotates about the counterclockwise direction to the ray; when y is less than 0, the angle between the ray and the positive x-axis direction refers to the angle at which the positive x-axis direction rotates about a clockwise direction to the ray.
It will be appreciated that the definition based on the atan2 function can be:
the embodiment of the application provides a direction finding device of an unmanned aerial vehicle. Referring to fig. 5, the direction-finding device 500 of the unmanned aerial vehicle includes a control module 51, a generating module 52 and a measuring module 53.
The control module 51 is used for controlling the antenna to sweep the surrounding environment to obtain the radio signal emitted by the unmanned aerial vehicle, the generating module 52 is used for generating a circular sweeping amplitude sequence and a circular sweeping angle sequence according to the radio signal, and the measuring module 53 is used for measuring the target direction of the unmanned aerial vehicle relative to the electronic equipment according to the circular sweeping amplitude sequence and the circular sweeping angle sequence.
Therefore, in the embodiment, the single antenna is used as the only reference for amplitude comparison by controlling the single antenna to sweep the surrounding environment and comparing the amplitude and direction based on the received radio signals, so that the problem of direction finding error caused by antenna pattern distortion due to double-antenna amplitude comparison can be avoided, and the direction finding accuracy and reliability of the unmanned aerial vehicle can be improved compared with the traditional double-antenna amplitude comparison direction finding.
In some embodiments, the generating module 52 includes a first generating unit, a first determining unit and a second generating unit, where the first generating unit is configured to generate a time-frequency diagram according to a radio signal, the first determining unit is configured to determine a target frame time-frequency diagram according to the time-frequency diagram, and the second generating unit is configured to generate a circular sweep amplitude sequence according to the target frame time-frequency diagram.
In some embodiments, the second generating unit is specifically configured to: and extracting a direction-finding locking parameter according to the target frame time-frequency diagram, determining an amplitude measurement value according to the direction-finding locking parameter, and generating a circular scanning amplitude sequence according to the amplitude measurement value.
In some embodiments, the first determining unit is specifically configured to: judging whether the target measurement is successful or not according to the direction-finding locking parameter, obtaining a judging result, and determining an amplitude measuring value according to the judging result.
In some embodiments, the generating module 52 includes an acquiring unit configured to acquire a scan angle corresponding to the time-frequency chart of the target frame, and a third generating unit configured to generate the circular scan angle sequence according to the scan angle.
In some embodiments, the measurement module 53 includes a determining unit, a projection unit, and a measurement unit, where the determining unit is configured to determine whether to complete the circular scanning according to the circular scanning angle sequence, and the projection unit is configured to project the unmanned aerial vehicle on a preset coordinate system according to the circular scanning amplitude sequence and the circular scanning angle sequence to obtain a target coordinate when the circular scanning is completed, and the measurement unit is configured to measure a target direction of the unmanned aerial vehicle relative to the electronic device according to the target coordinate.
In some embodiments, the judging unit is specifically configured to: calculating differential angles of every two adjacent scanning angles in the circular scanning angle sequence, accumulating each differential angle to obtain a differential angle sum, and judging that circular scanning is finished if the absolute value of the differential angle sum is greater than or equal to a preset angle threshold value; if the absolute value of the differential angle sum is smaller than the preset angle threshold value, judging that the circular scanning is not completed.
In some embodiments, the measurement unit is specifically configured to: and determining the maximum value of the amplitude measurement value of the circular scanning amplitude sequence, correcting the circular scanning amplitude sequence according to the maximum value of the amplitude measurement value and a preset cut-off threshold to obtain a target amplitude sequence, and projecting the unmanned aerial vehicle on a preset coordinate system according to the target amplitude sequence and the circular scanning angle sequence to obtain a target coordinate.
The direction-finding device of the unmanned aerial vehicle can execute the direction-finding method of the unmanned aerial vehicle provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details which are not described in detail in the embodiment of the direction-finding device of the unmanned aerial vehicle can be seen in the direction-finding method of the unmanned aerial vehicle provided by the embodiment of the application.
Referring to fig. 6, fig. 6 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the application. As shown in fig. 6, the electronic device 100 further includes one or more processors 20 and a memory 30, and in fig. 6, one processor 20 is taken as an example.
The processor 20 is electrically connected to the antenna 10 of the electronic device 100, and the processor 20 and the memory 30 may be connected by a bus or otherwise, for example in fig. 6.
The memory 30 is used as a non-volatile computer readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and a module, such as a program instruction/module corresponding to the direction finding method of the unmanned aerial vehicle in the embodiment of the present application. The processor 20 executes various functional applications and data processing of the direction-finding device of the unmanned aerial vehicle by running non-volatile software programs, instructions and modules stored in the memory 30, i.e. implements the direction-finding method of the unmanned aerial vehicle provided by the above-described method embodiment and the functions of the various modules or units of the above-described device embodiment.
Memory 30 may include high-speed random access memory, but may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 30 comprises memory located remotely from processor 20, which may be connected to processor 20 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 30, which when executed by the one or more processors 20, perform the direction finding method of the drone in any of the method embodiments described above.
Embodiments of the present application also provide a non-volatile computer storage medium having stored thereon computer-executable instructions that are executable by one or more processors, such as the one processor 20 of fig. 6, to cause the one or more processors to perform the direction finding method of the drone in any of the method embodiments described above.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by an electronic device, cause the electronic device to perform the direction finding method of the drone of any one of the claims.
The above-described embodiments of the apparatus or device are merely illustrative, in which the unit modules illustrated as separate components may or may not be physically separate, and the components shown as unit modules may or may not be physical units, may be located in one place, or may be distributed over multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the respective embodiments or some parts of the embodiments.
Finally, it is to be noted that the present application may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are not to be construed as additional limitations on the scope of the application, but rather as providing for a more thorough understanding of the present application. And under the idea of the application, the technical features described above are continuously combined with each other, and many other variations exist in different aspects of the application as described above, which are all considered as the scope of the description of the application; further, modifications and variations of the present application may be apparent to those skilled in the art in light of the foregoing teachings, and all such modifications and variations are intended to be included within the scope of this application as defined in the appended claims.
Claims (13)
1. A direction finding method for an unmanned aerial vehicle, the method being applied to an electronic device, the electronic device comprising an antenna, the method comprising:
controlling the surrounding environment of the antenna circular sweep to obtain a radio signal emitted by the unmanned aerial vehicle;
generating a circular scanning amplitude sequence and a circular scanning angle sequence according to the radio signal;
and measuring the target direction of the unmanned aerial vehicle relative to the electronic equipment according to the circular scanning amplitude sequence and the circular scanning angle sequence.
2. The method of claim 1, wherein the generating a sequence of circular sweep amplitudes from the radio signal comprises:
generating a time-frequency diagram according to the radio signal;
determining a target frame time-frequency diagram according to the time-frequency diagram;
and generating a circular scanning amplitude sequence according to the target frame time-frequency diagram.
3. The method of claim 2, wherein generating the sequence of circular magnitudes from the target frame time-frequency plot comprises:
extracting a direction-finding locking parameter according to the target frame time-frequency diagram;
determining an amplitude measurement value according to the direction-finding locking parameter;
and generating a circular scanning amplitude sequence according to the amplitude measurement value.
4. A method according to claim 3, wherein said determining an amplitude measurement from said direction-finding lock parameter comprises:
judging whether target measurement is successful or not according to the direction-finding locking parameters, and obtaining a judging result;
and determining an amplitude measurement value according to the judgment result.
5. The method of claim 4, wherein the target frame time-frequency plot comprises a plurality of pulses, and wherein extracting the direction-finding lock parameter from the target frame time-frequency plot comprises:
determining the center frequency and the frequency bandwidth of each pulse;
converting the target frame time-frequency diagram into a time-amplitude sequence according to the center frequency and the frequency bandwidth;
and extracting a direction-finding locking parameter according to the time-amplitude sequence.
6. The method of claim 5, wherein the time-amplitude sequence comprises a plurality of pulses, the direction-finding lock parameter comprises a pulse repetition period in the time-amplitude sequence and a pulse width of each pulse, and determining whether the target measurement is successful based on the direction-finding lock parameter comprises:
judging whether the pulse repetition period and the pulse width of each pulse are respectively matched with a preset pulse repetition period and a preset pulse width;
if the pulse repetition period and the pulse width of each pulse are respectively matched with a preset pulse repetition period and a preset pulse width, a judgment result of successful target measurement is obtained;
and if the pulse repetition period and the pulse width of each pulse are not matched with the preset pulse repetition period and the preset pulse width respectively, obtaining a judgment result of failure of target measurement.
7. The method of claim 6, wherein said determining an amplitude measurement based on said determination comprises:
when the judgment result is that the target measurement is successful, recording the pulse width and the pulse repetition period, calculating the amplitude value of each pulse according to the pulse width and the pulse repetition period, and determining an amplitude measurement value according to the amplitude value of each pulse;
and when the judging result is that the target measurement fails, determining the amplitude measurement value as a preset amplitude value.
8. The method of claim 2, wherein the generating a sequence of circular scan angles from the radio signal comprises:
acquiring a scanning angle corresponding to the time-frequency diagram of the target frame;
and generating a circular scanning angle sequence according to the scanning angles.
9. The method of any one of claims 1 to 8, wherein measuring the target direction of the drone relative to the electronic device from the sequence of circular sweep amplitudes and the sequence of circular sweep angles comprises:
judging whether the circular scanning is finished or not according to the circular scanning angle sequence;
if the circular scanning is completed, projecting the unmanned aerial vehicle on a preset coordinate system according to the circular scanning amplitude sequence and the circular scanning angle sequence to obtain a target coordinate;
and measuring the target direction of the unmanned aerial vehicle relative to the electronic equipment according to the target coordinates.
10. The method of claim 9, wherein the circular scan angle sequence includes a plurality of scan angles arranged in a time sequence, and wherein determining whether to complete the circular scan based on the circular scan angle sequence includes:
calculating differential angles of every two adjacent scanning angles in the circular scanning angle sequence;
accumulating each differential angle to obtain a differential angle sum;
judging whether the absolute value of the differential angle sum is larger than or equal to a preset angle threshold value;
if the absolute value of the differential angle sum is larger than or equal to a preset angle threshold value, judging that circular scanning is completed;
and if the absolute value of the differential angle sum is smaller than the preset angle threshold, judging that the circular scanning is not completed.
11. The method of claim 10, wherein the cyclic amplitude sequence comprises a plurality of amplitude measurements, and wherein projecting the drone onto a preset coordinate system based on the cyclic amplitude sequence and the cyclic angle sequence, the obtaining the target coordinates comprises:
determining a maximum value of amplitude measurements of the circular sweep amplitude sequence;
correcting the circular scanning amplitude sequence according to the maximum value of the amplitude measurement value and a preset cut-off threshold to obtain a target amplitude sequence;
and projecting the unmanned aerial vehicle on a preset coordinate system according to the target amplitude sequence and the circular scanning angle sequence to obtain target coordinates.
12. An electronic device, comprising:
at least one processor;
and a memory communicatively coupled to the at least one processor; wherein,
the memory stores commands executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 11.
13. A non-volatile computer storage medium storing computer executable instructions for causing an electronic device to perform the method of any one of claims 1 to 11.
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