UAV control method for automatically following signal source

A technology of automatic follow and control method, which is applied in the direction of finding the target control, etc., and can solve the problems of radio direction finding and guidance and tracking technology UAV fusion.

Inactive Publication Date: 2019-10-29
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, these radio direction finding and guidance tracking technologies are not well integrated with UAVs, and...

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  • UAV control method for automatically following signal source
  • UAV control method for automatically following signal source
  • UAV control method for automatically following signal source

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Embodiment Construction

[0068] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0069] The present invention uses the relative interferometry in the radio direction finding technology, uses the phase difference measurement algorithm based on the cross-spectral density function to find the direction of the signal source, uses the structure of the five-element antenna array to establish a sample library of the phase difference, and attaches its corresponding pitch angle and azimuth to reduce direction finding time. In the actual situation, data matching is performed on the measured phase difference to obtain the real pitch angle and azimuth angle, so as to realize the positioning of the target.

[0070] The invention also combines the UAV path guidance algorithm. The algorithm takes the measured position of the person as the reference point, so that the UAV generates a horizontal acceleration, changes its own motion direction, moves...

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Abstract

The invention provides an UAV control method for automatically following a signal source. The method is characterized by finding the direction of the signal source by using a phase difference measurement algorithm based on a cross-spectral density function and using correlation interferometry in a radio direction finding technique; establishing a sample library of the phase differences by using the structure of an antenna array, and attaching its corresponding elevation angle and azimuth angle to shorten the direction finding time; performing data matching on the measured phase difference to obtain a true pitch angle and a true azimuth angle to locate a target; and approximating a human motion trajectory by using a UAV path guidance algorithm. The method has the characteristics of stable operation, simple and effective steps and real-time control. In practical applications, an automatic following system using the control method can make a police UAV follow a police to carry out law enforcement, can save a lot of police resources, and is very suitable to be popularized and applied in daily police practices.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a control method for automatically following a signal source. Background technique [0002] The existing UAV technology is becoming more and more mature, and the radio direction finding and guidance tracking technologies are also diverse. However, these radio direction finding and guidance tracking technologies are not well integrated with UAVs, and there are still many gaps in their application in UAVs, especially in the follow-up police UAVs that can be used daily . Contents of the invention [0003] In order to overcome the deficiencies of the prior art, the present invention provides a control method for an unmanned aerial vehicle that automatically follows a signal source. This kind of UAV control method fills the gap of police UAV. Its algorithm is simple and practical, and the basic requirement of equipment is not high, so it is very suitable for popularization and app...

Claims

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Application Information

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IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 李一真张仲秋如车芸李靖祺周天昊
Owner NORTHWESTERN POLYTECHNICAL UNIV
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