Unmanned aerial vehicle electromagnetic interference positioning method and system

Abstract

The invention provides an unmanned aerial vehicle electromagnetic interference positioning method and system, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: 1, carrying out the broadband frequency spectrum scanning of a remote control link frequency band, a telemetering link frequency band and an image transmission frequency band at the full flight stage of an unmanned aerial vehicle, detecting an interference signal in a frequency hopping communication system in real time, and transmitting the interference signal to an unmanned aerial vehicle; identifying random hopping frequency conversion points covered by the interference signals to form a hopping frequency conversion point set; and step 2, inputting the hopping frequency point set into a radio frequency sharing front end, coupling a radio frequency signal of a communication antenna to a spectrum analysis unit through a duplexer, and performing signal compensation on a coupling path by utilizing automatic gain control and a phase equalizer to obtain corrected interference spectrum data. The anti-interference capability and the flight safety of the unmanned aerial vehicle in a complex electromagnetic environment are improved, and the avoidance path is generated to guarantee the safe flight of the unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle electromagnetic interference positioning method and system. BACKGROUND

[0002] In the complex electromagnetic environment of unmanned aerial vehicle power inspection, the traditional unmanned aerial vehicle electromagnetic interference positioning technology has some limitations, and the dynamic capture capability for frequency hopping interference signals is insufficient. The spectrum scanning rate of the traditional technology cannot completely match the hopping speed of the frequency hopping signal. For example, when a frequency hopping interference source in a mountainous area switches the operating frequency point at a frequency of several hundred times per second, the traditional positioning device may not be able to track all the hopping frequency points in real time due to the fixed scanning interval, resulting in the omission of part of the interference signals, making it difficult to form a complete set of interference frequency points, and further affecting the comprehensiveness of positioning.

[0003] In addition, the positioning accuracy is easily constrained under the influence of multipath effect. The terrain in the mountainous area is complex, and the electromagnetic signal may be received by the unmanned aerial vehicle after being reflected by obstacles such as mountains and power transmission towers. The traditional technology is difficult to effectively distinguish the propagation paths of the direct wave and the reflected wave. For example, a certain interference source is actually located in A valley, but its signal is reflected by the mountain, and the traditional positioning method may mistakenly determine the interference source position as B hillside, resulting in large positioning deviation, and unable to provide accurate geographic coordinate reference for unmanned aerial vehicle avoidance. SUMMARY

[0004] The technical problem to be solved by the present application is to provide an unmanned aerial vehicle electromagnetic interference positioning method and system, which corrects the influence of multipath effect through frequency hopping interference signals, realizes accurate positioning and dynamic avoidance of the interference source, and improves the safety and reliability of unmanned aerial vehicle operation.

[0005] To solve the above technical problems, the technical solution of the present application is as follows: In a first aspect, an unmanned aerial vehicle electromagnetic interference positioning method is provided, which comprises: Step 1: During the whole flight phase of the unmanned aerial vehicle, wideband spectrum scanning is performed on the remote control link frequency band, the remote telemetry link frequency band and the image transmission frequency band, real-time detection of interference signals under frequency hopping communication system is performed, random hopping frequency points covered by the interference signals are identified, and a hopping frequency point set is formed; Step 2: The hopping frequency point set is input into the radio frequency sharing front end, the radio frequency signal of the communication antenna is coupled to the spectrum analysis unit through the duplexer, and the signal compensation of the coupling path is performed by using the automatic gain control and the phase equalizer, so as to obtain the corrected interference spectrum data; Step 3: Based on the interference spectrum data, the spatial field strength distribution topology of the interference signal is reconstructed, the time difference positioning calculation of the multi-station direction finding array is driven, and the geographic coordinate data of the interference source is generated; Step 4, integrate the interference source geographic coordinate data with the real-time interference intensity sampling value, extract the multi-dimensional interference characteristics in the coverage area, calculate the coupling weight between the characteristics, and generate a set of signal strength dynamic compensation coefficients; Step 5, apply the set of signal strength dynamic compensation coefficients to the real-time interference intensity sampling value, when the compensated interference intensity exceeds the flight safety threshold, activate the flight path planner to generate an avoidance path, and call the emergency landing controller to execute the landing protocol.

[0006] Further, input the set of hopping frequency points into the radio frequency sharing front end, couple the radio frequency signal of the communication antenna to the spectrum analysis unit through the duplexer, and use the automatic gain control and phase equalizer to compensate the coupling path. Signal to obtain corrected interference spectrum data, including: Input the set of hopping frequency points to the unit responsible for receiving and processing radio frequency signals to configure the receiving frequency point of the unit; Based on the receiving frequency point, the radio frequency signal received by the communication antenna including the interference is guided to the component responsible for spectrum analysis through the signal separation and coupling device to obtain the coupled interference signal; Input the coupled interference signal to the component responsible for signal amplitude adjustment to dynamically gain compensate the coupled interference signal to obtain the gain compensated interference signal; Input the gain compensated interference signal to the component responsible for signal phase adjustment to dynamically phase compensate the gain compensated interference signal to obtain the phase compensated interference signal; In the component responsible for spectrum analysis, perform spectrum calculation on the phase compensated interference signal to generate corrected interference spectrum data including frequency-amplitude correspondence.

[0007] Further, input the gain compensated interference signal to the component responsible for signal phase adjustment to dynamically phase compensate the gain compensated interference signal to obtain the phase compensated interference signal, including: Receive the gain compensated interference signal from the automatic gain control component, perform frequency hopping frequency point directional scanning on the signal, extract the instantaneous phase offset of each hopping frequency point, and generate a frequency point-phase offset mapping table; Based on the frequency point-phase offset mapping table, calculate the real-time phase compensation amount of the signal transmission path at each hopping frequency point, and generate a set of dynamic correction instructions including frequency compensation parameters; Input the set of dynamic correction instructions to the phase rotator array of the phase equalizer, perform point-by-point phase rotation operation on the gain compensated interference signal according to the hopping frequency point sequence, and generate a phase pre-correction signal; Perform full-band phase consistency detection on the phase pre-correction signal, calculate the root mean square error value of the measured phase and the ideal phase, and obtain the phase compensated interference signal.

[0008] Further, based on the interference spectrum data, the spatial field strength distribution topology of the interference signal is reconstructed, and the time difference positioning calculation is performed by driving the multi-station direction finding array to generate the geographic coordinate data of the interference source, including: Based on the interference spectrum data, a set of discrete field strength distribution parameters of the interference signal in three-dimensional space is extracted; The spatial distribution reconstruction processing is performed on the set of discrete field strength distribution parameters to construct the morphological features representing the three-dimensional spatial field strength distribution, and the synchronization acquisition control signal is sent to the multi-station direction finding array according to the morphological features; Based on the synchronization acquisition control signal, the time domain waveform data of the interference signal is synchronously acquired by each station in the multi-station direction finding array to generate a set of multi-station synchronous waveforms; The time difference analysis processing is performed on the set of multi-station synchronous waveforms to calculate the propagation time difference values between the waveforms of each station to generate a set of inter-station time difference data; Based on the set of inter-station time difference data, combined with the preset station location information, the geographic coordinate data of the interference source is generated through the spatial geometric positioning relationship.

[0009] Further, the interference source geographic coordinate data is integrated with the real-time interference intensity sampling value to extract the multi-dimensional interference features in the coverage area, calculate the coupling weight between the features, and generate a set of signal strength dynamic compensation coefficients, including: Based on the interference source geographic coordinate data, a sequence of real-time interference intensity sampling values in the current environment is simultaneously acquired, and the geographic coordinate data and the sequence of real-time interference intensity sampling values are spatio-temporally aligned to generate a set of spatio-temporally correlated interference observation data; Based on the set of interference observation data, a set of multi-dimensional interference feature vectors including spatial position, intensity time-varying characteristics and spectral characteristics in the coverage area is extracted; The interaction analysis between the multi-dimensional interference feature vectors is performed to calculate the weight distribution values of each feature dimension on the influence of interference propagation; According to the weight distribution values, combined with the sequence of real-time interference intensity sampling values, a set of dynamic compensation coefficients for signal strength correction is generated.

[0010] Further, the interaction analysis between the multi-dimensional interference feature vectors is performed to calculate the weight distribution values of each feature dimension on the influence of interference propagation, including: The multi-dimensional interference features in the real-time interference intensity sampling value are analyzed to extract three independent feature vectors of distance feature, terrain feature and frequency band feature; The distance feature and the terrain feature are input into a spatial attenuation calculation unit to generate a spatial superposition attenuation quantization value of the electromagnetic wave propagation path; The frequency band feature is input into a frequency domain loss matching unit to generate a propagation loss quantization value of the current interference frequency band by querying a preset frequency band-propagation loss mapping table; The spatial superposition attenuation quantized value and the propagation loss quantized value are input into a dynamic weight distributor to generate a dynamic weight distribution value of the feature dimension according to the contribution proportion to the interference intensity.

[0011] Further, the signal intensity dynamic compensation coefficient set is applied to the real-time interference intensity sample value, and when the compensated interference intensity exceeds the flight safety threshold, the flight path planner is activated to generate an avoidance path, and the emergency landing controller is called to execute a landing protocol, including: The dynamic compensation coefficient set is applied to the real-time interference intensity sample value, and a corrected interference intensity value sequence is generated through point-by-point compensation calculation; The corrected interference intensity value sequence is subjected to safety threshold comparison processing, and when a single-point intensity value is greater than a preset flight safety threshold, it is marked as an out-of-limit point; and when the number of continuous out-of-limit points is greater than or equal to an alarm threshold, a flight path avoidance trigger signal is generated; Based on the flight path avoidance trigger signal, the flight path planner is activated, the interference source spatial distribution situation is constructed using the interference source geographic coordinate data, and the avoidance path topology is generated in combination with the current position of the unmanned aerial vehicle and the task target; The avoidance path topology is input into the emergency landing controller, a landing trajectory is generated according to the safe landing area coordinates in the path topology, and the landing protocol is completed by driving the actuator.

[0012] In a second aspect, an electromagnetic interference positioning system for an unmanned aerial vehicle includes: A signal detection module is configured to perform wideband spectrum scanning on a remote control link frequency band, a remote measurement link frequency band, and an image transmission frequency band during the entire flight of the unmanned aerial vehicle, to detect interference signals in a frequency hopping communication system in real time, to identify random hopping frequency points covered by the interference signals and form a hopping frequency point set. A compensation processing module is configured to input the hopping frequency point set into a radio frequency sharing front end, to couple radio frequency signals of a communication antenna to a spectrum analysis unit through a duplexer, and to use an automatic gain control and a phase equalizer to compensate the signals on the coupling path to obtain corrected interference spectrum data. An interference positioning module is configured to reconstruct a spatial field strength distribution topology of the interference signals based on the interference spectrum data, to drive a multi-station direction-finding array to perform time difference positioning calculation, and to generate geographic coordinate data of the interference source. A feature integration module is configured to integrate the geographic coordinate data of the interference source with real-time interference intensity sample values, to extract multi-dimensional interference features in a covered area, to calculate coupling weights between the features, and to generate signal intensity dynamic compensation coefficients. An avoidance control module is configured to apply the signal intensity dynamic compensation coefficients to the real-time interference intensity sample values, to activate a flight path planner to generate an avoidance path when the compensated interference intensity exceeds a flight safety threshold, and to call an emergency landing controller to execute a landing protocol.

[0013] In a third aspect, a computing device includes: one or more processors; a memory device storing one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method.

[0014] In a fourth aspect, a computer-readable storage medium stores a program, when executed by a processor, implements the method.

[0015] The above scheme of the present application at least has the following beneficial effects: By performing wideband spectrum scanning on the key frequency band in the full flight phase, random hopping frequency points covered by the interference signal can be identified in real time and form a set, the dynamic change of the frequency hopping interference is accurately locked, and the detection efficiency of the complex frequency hopping interference is improved. In the signal processing link, the radio frequency signal is efficiently coupled by means of the duplexer, and the coupled path is compensated for signal by the automatic gain control and the phase equalizer. The automatic gain control can dynamically adjust the signal amplitude to avoid distortion caused by excessively strong or weak signals. The phase equalizer can correct the phase offset to ensure the consistency of the signal phase. The corrected interference spectrum data obtained after the double compensation reduces the error in the signal transmission process. Based on the interference spectrum data, the spatial field strength distribution topology of the interference signal is reconstructed, which can clearly present the distribution characteristics of the interference signal in the three-dimensional space. On this basis, the time difference positioning calculation is performed by the multi-station direction finding array. The time difference of the signals received by different stations is used in combination with the station position information to generate the geographic coordinate data of the interference source through the spatial geometric positioning relationship. This method fully utilizes the morphological characteristics of the spatial field strength distribution and the time difference information of the multi-station, reduces the deviation of the single station positioning, and improves the accuracy and reliability of the interference source positioning.

[0016] The interference source geographic coordinate data and the real-time interference intensity sampling value are integrated to extract the spatial position, intensity time-varying characteristics, and spectral characteristics of the coverage area and other multi-dimensional interference characteristics. The coupling weight between the characteristics is calculated to generate a set of signal intensity dynamic compensation coefficients, which can comprehensively consider the influence of various factors on the interference intensity. When the compensated interference intensity exceeds the flight safety threshold, the evasion path can be quickly generated by activating the flight path planner, and the emergency landing controller is called to execute the landing protocol. This linkage mechanism realizes the rapid connection from interference intensity evaluation to safety response, can take timely measures in emergency situations, and effectively avoids the strong interference area. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a flowchart of an unmanned aerial vehicle electromagnetic interference positioning method provided by an embodiment of the present application.

[0018] Figure 2is a schematic diagram of an unmanned aerial vehicle electromagnetic interference positioning system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0019] Exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood, and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0020] As Figure 1 shown, an unmanned aerial vehicle electromagnetic interference positioning method is provided by an embodiment of the present application, which comprises the following steps: Step 1. During the entire flight phase of the unmanned aerial vehicle, wideband spectrum scanning is performed on the remote control link frequency band, the remote telemetry link frequency band and the image transmission frequency band, real-time detection of interference signals under frequency hopping communication system is performed, random hopping frequency points covered by the interference signals are identified, and a hopping frequency point set is formed; Step 2. The hopping frequency point set is input into a radio frequency sharing front end, the radio frequency signals of the communication antenna are coupled to a spectrum analysis unit through a duplexer, signal compensation is performed on the coupling path by using an automatic gain control and a phase equalizer, and corrected interference spectrum data is obtained; Step 3. Based on the interference spectrum data, the spatial field strength distribution topology of the interference signal is reconstructed, a multi-station direction finding array is driven to perform time difference positioning calculation, and geographic coordinate data of the interference source is generated; Step 4. The interference source geographic coordinate data is integrated with real-time interference intensity sampling values, multi-dimensional interference characteristics in the covered area are extracted, coupling weights between the characteristics are calculated, and a signal intensity dynamic compensation coefficient set is generated; Step 5. The signal intensity dynamic compensation coefficient set is applied to the real-time interference intensity sampling values, when the compensated interference intensity exceeds the flight safety threshold, a flight path planner is activated to generate an avoidance path, and an emergency landing controller is called to execute a landing protocol.

[0021] In the embodiment of the present application, by wideband spectrum scanning of the key communication frequency band in the whole flight phase, the interference signal under the frequency hopping system can be captured in real time and the random hopping frequency points covered thereby can be identified, ensuring timely response to dynamically changing interference signals and avoiding interference response lag caused by missed hopping frequency points. With the help of the duplexer coupling signal of the radio frequency sharing front end and through automatic gain control and phase equalizer compensation, the distortion of the signal in the transmission path caused by attenuation, offset, etc. is corrected, and the obtained interference spectrum data is more accurate. This targeted signal correction reduces the influence of original data errors on analysis and provides a reliable spectrum basis for interference source positioning. Based on the interference spectrum data, the spatial field strength distribution topology is reconstructed, and combined with the time difference positioning of the multi-station direction finding array, the abstract spectrum information is converted into concrete spatial position data. Through the time difference calculation and spatial geometric relationship derivation of multiple stations, the positioning accuracy of the geographic coordinates of the interference source is improved, and the position of the interference source is more clear and identifiable.

[0022] By integrating the interference source coordinates and real-time interference intensity, extracting multi-dimensional interference characteristics and calculating coupling weights, a dynamic compensation coefficient is generated to realize fine evaluation of the interference intensity. This multi-factor comprehensive analysis considers various factors affecting interference propagation, such as spatial position, intensity change, and spectrum characteristics, avoiding the one-sidedness of judging based on a single intensity value, making the quantification of interference intensity more realistic. Through dynamic compensation coefficient correction of real-time interference intensity, and triggering flight path avoidance and emergency landing when exceeding the safety threshold, a complete closed loop from interference detection to safety response is formed. This automatic triggering mechanism can quickly respond when the interference threat reaches the critical value, guiding the UAV to avoid dangerous areas or land safely in time, minimizing the risk of electromagnetic interference causing the UAV to lose control and crash, and providing active protection for UAV flight safety.

[0023] In a preferred embodiment of the present application, the above step 1, in the whole flight phase of the unmanned aerial vehicle, the remote control link frequency band, the telemetry link frequency band and the image transmission frequency band are subjected to wideband spectrum scanning, the interference signal under the frequency hopping communication system is detected in real time, the random hopping frequency points covered by the interference signal are identified, and a hopping frequency point set is formed, which can include: In the embodiment of the present application, the basic parameters of the scan are determined, and for the three core frequency bands of the remote control link frequency band, the telemetry link frequency band and the image transmission frequency band, their respective frequency ranges are determined, for example, the remote control link may cover a certain MHz interval, the telemetry link and the image transmission link also have corresponding frequency intervals, the frequency range of the broadband spectrum scan is set as the sum of the three frequency bands, to ensure complete coverage of all key communication frequency bands of the unmanned aerial vehicle, to avoid missing frequency areas that may exist interference, at the same time, the scanning rate is set to complete a full-band scan once per millisecond, which can meet the demand of capturing the rapid switching of frequency hopping signals, because the frequency switching of frequency hopping signals is usually in milliseconds or even faster, after starting the scan, the spectrum scanning device works continuously according to the set parameters, each scan will detect all frequency points in the three frequency bands, and record whether there is a signal at each frequency point and the strength value of the signal, in the process of continuous scanning, the data obtained by each scan is processed immediately.

[0024] The first step is signal screening, which sets a signal strength threshold, which is determined based on the strength range of the normal communication signal of the unmanned aerial vehicle, signals below the threshold are judged as environmental noise or weak interference and are directly filtered out; while signals above the threshold are marked as suspicious signals and enter the next step of analysis; Next, the suspicious signal is subjected to frequency hopping feature recognition, which tracks the frequency of the same suspicious signal in continuous multiple scans, if the frequency of the signal changes in the adjacent two scans (interval 1 millisecond), and the changed frequency is still within the range of the three core frequency bands, the change rule is further observed, the frequency change of the interference signal of the frequency hopping communication system has no fixed period, in the continuous 10 scans, if the frequency of the signal appears at least 3 different values, and the interval time of each change is not fixed (for example, there is a time interval of 1 millisecond, and there is a time interval of 2 milliseconds), it can be determined that the signal is an interference signal under the frequency hopping communication system.

[0025] After determining the interference signal, the frequency point of the hopping is recorded. From the moment the interference signal is identified, every time the frequency of the signal is detected to change, the changed frequency point value is immediately recorded. At the same time, in order to distinguish the interference signal from the normal frequency hopping communication signal of the unmanned aerial vehicle itself, the recorded frequency point is compared with the normal communication frequency hopping frequency point list preset by the unmanned aerial vehicle. If a frequency point is in the normal list, the frequency point is excluded and is not included in the record of the interference hopping frequency point. In the process of continuous tracking, the recorded frequency point is continuously updated. For the frequency point that has been recorded, if it appears again, it will not be recorded repeatedly. Only the new frequency point that appears for the first time will be added to the record. During the flight of the unmanned aerial vehicle, the operation of scanning, identifying and recording will continue. Every 30 seconds, the recorded frequency points are summarized and arranged to form a random hopping frequency point set covered by the interference signal at that moment. With the continuation of the flight, new hopping frequency points will be continuously supplemented to the set, so that the set can fully reflect the hopping of the interference signal in the whole flight stage.

[0026] In a preferred embodiment of the present application, step 2, the hopping frequency point set is input into the radio frequency sharing front end. The radio frequency signal of the communication antenna is coupled to the spectrum analysis unit through the duplexer. The signal compensation of the coupling path is performed by using the automatic gain control and the phase equalizer to obtain the corrected interference spectrum data, which can include: Step 220, input the hopping frequency point set into the unit responsible for receiving and processing the radio frequency signal to configure the receiving frequency point of the unit; Step 221, based on the receiving frequency point, the radio frequency signal received by the communication antenna including the interference is guided to the component responsible for spectrum analysis through the signal separation and coupling device to obtain the coupled interference signal; Step 222, input the coupled interference signal into the component responsible for signal amplitude adjustment to perform dynamic gain compensation on the coupled interference signal to obtain the gain compensation interference signal; Step 223, input the gain compensation interference signal into the component responsible for signal phase adjustment to perform dynamic phase compensation on the gain compensation interference signal to obtain the phase compensation interference signal, which specifically includes: receiving the gain compensation interference signal from the automatic gain control component, performing frequency hopping frequency point directional scanning on the signal, extracting the instantaneous phase offset of each hopping frequency point, and generating a frequency point-phase offset mapping table; based on the frequency point-phase offset mapping table, calculating the real-time phase compensation amount of the signal transmission path at each hopping frequency point to generate a dynamic correction instruction set including frequency point compensation parameters; inputting the dynamic correction instruction set into the phase rotator array of the phase equalizer, performing point-by-point phase rotation operation on the gain compensation interference signal according to the hopping frequency point sequence to generate a phase pre-correction signal; performing full-band phase consistency detection on the phase pre-correction signal, calculating the root mean square error value of the measured phase and the ideal phase to obtain the phase compensation interference signal; Step 224, in the component responsible for spectrum analysis, the spectrum calculation is performed on the phase compensation interference signal, and the corrected interference spectrum data including the frequency-amplitude correspondence is generated.

[0027] In the embodiment of the application, all the frequency points in the set of hopping frequency points are first sorted and arranged in ascending order, for example, a plurality of discrete frequency points between 700 MHz and 900 MHz, and these frequency points are sequentially transmitted to the unit responsible for receiving and processing the radio frequency signal. The unit reads the frequency point value one by one. For each frequency point, the frequency point adjustment component inside the unit starts to work, adjusts the receiving frequency by changing the capacitance or inductance parameters of the internal circuit, for example, when the input frequency point is 750 MHz, the adjustment component adjusts the circuit parameters to the state of resonance with 750 MHz. At this time, the actual receiving frequency is verified by the internal detection circuit. If the deviation from the target frequency point exceeds 0.05 MHz, the parameters continue to be fine-tuned until the deviation is within 0.05 MHz. The configuration process of each frequency point lasts about 5 microseconds. After the configuration is completed, a confirmation signal is generated, and the configuration of the next frequency point is performed. It is ensured that all the hopping frequency points are accurately set as receiving frequency points, and the receiving bandwidth of each frequency point is limited within ±2 MHz to avoid receiving irrelevant frequency signals.

[0028] The radio frequency signal received by the communication antenna contains multiple frequency components. Based on the receiving frequency point configured in step 220, the signal separation and coupling device (duplexer) starts to work. The duplexer has two channels inside, one for transmitting normal communication signals of the unmanned aerial vehicle, and the other for coupling interference signals. When the mixed signal enters the duplexer, the internal filter will screen according to the frequency, allowing only the signal matched with the receiving frequency point (including the interference signal of the frequency point) to enter the coupling channel, and other frequency signals to enter the communication channel. For example, if the receiving frequency point is set to 800 MHz, the filter will pass the signals within the range of 798 MHz to 802 MHz through the coupling channel. During the coupling process, the internal coupling coil is used to distribute energy, coupling about 30% of the signal energy to the spectrum analysis path while ensuring that the frequency characteristics of the signal remain unchanged. After the coupling is completed, the signal strength is preliminarily detected. If the strength is lower than -60 dBm, it is boosted to about -50 dBm through the internal amplifier. The final signal, which is the coupled interference signal, is delivered to the next component.

[0029] After the coupling of the interference signal into the component responsible for signal amplitude adjustment, the component first starts the amplitude monitoring function, and samples the signal amplitude every 2 microseconds to obtain the real-time amplitude value. For example, the sampling value is -45dBm, which is compared with the preset standard amplitude range (-35dBm to -30dBm), and it is found that it is lower than the lower limit. At this time, the gain controller in the component starts to work. The gain controller calculates the gain amount that needs to be increased according to the amplitude difference. If the current amplitude is -45dBm, which is 10dB different from the lower limit -35dBm, the gain is adjusted from the initial 0dB to 10dB, so that the signal amplitude is increased to -35dBm. If the next sampling finds that the amplitude is increased to -25dBm, which exceeds the upper limit, the gain is reduced to 5dB, so that the amplitude falls to -30dBm. The amplitude of each gain adjustment does not exceed 5dB, and the adjustment interval is 1 microsecond, which ensures the smooth change of the amplitude. After continuous dynamic adjustment, the signal amplitude is stabilized in the standard range, and the gain compensation interference signal is formed.

[0030] After the gain compensation interference signal enters the phase adjustment component, the signal phase is measured by the phase detector first, and the phase value is recorded every 1 millisecond. For example, the measured phase at a certain time is 20°. At the same time, the component will retrieve the ideal phase value (such as 0°) corresponding to the current signal frequency from the internal stored phase standard table, calculate the phase deviation as 20°, and start the phase correction according to the deviation value. The phase adjuster changes the voltage of the internal phase shift circuit to make the signal phase close to the ideal value. If the deviation is 20°, the voltage of the phase shift circuit is adjusted to the corresponding gear to reduce the phase by 15°. At this time, the detected phase is 5°, which still has a deviation, and the voltage is continuously adjusted to reduce the phase by 5° to reach 0°. If the phase deviation is still greater than 3° after multiple adjustments, the current deviation value is recorded, and it is mainly compensated in subsequent adjustments until the phase deviation is stabilized within ±2°, and the phase compensation interference signal is formed.

[0031] After the phase compensation interference signal enters the spectrum analysis component, it is first divided into signal segments with a time length of 20 milliseconds. For each segment, the signal strength at different frequencies is analyzed. Starting from the starting frequency of the segment, the amplitude of each frequency point is detected in sequence at intervals of 0.1 MHz. For example, in the range of 800 MHz to 801 MHz, the amplitudes of the frequency points 800.0 MHz, 800.1 MHz,..., and 801.0 MHz are detected to obtain values such as -32 dBm and -35 dBm. These data are arranged in order of frequency to form a frequency-amplitude correspondence table for the segment. The correspondence tables of all signal segments are summarized, abnormal values with amplitudes suddenly exceeding ±10 dB are removed, and the average values of the amplitudes of the same frequency points are obtained. For example, the amplitudes of 800.0 MHz in three segments are -32 dBm, -33 dBm, and -31 dBm, and the average value is -32 dBm. Finally, the average amplitudes of all hopping frequency points and surrounding frequencies are sorted out to form a complete frequency-amplitude correspondence, that is, the corrected interference spectrum data.

[0032] By calibrating each hopping frequency point, it is ensured that the receiving unit can accurately capture the signal of each interference frequency point, reducing signal loss caused by frequency point deviation. By using the filtering and coupling functions of the duplexer, the interference signal is extracted specifically without affecting normal communication, the purity of the interference signal is improved, the interference of irrelevant signals is reduced, dynamic gain compensation adjusts the signal amplitude in real time, analysis errors caused by too weak signals or component damage caused by too strong signals are avoided, it is ensured that the signal is processed within the final amplitude range, and through fine phase adjustment, the phases of signals of different frequency points are kept uniform, providing a phase-consistent signal basis for spectrum analysis. Through multi-segment analysis and data optimization, the generated frequency-amplitude correspondence is more in line with the actual interference situation, and the accuracy of the entire positioning method is improved.

[0033] In a preferred embodiment of the present application, the above step 3, based on the interference spectrum data, reconstructs the spatial field strength distribution topology of the interference signal, drives the multi-station direction finding array to perform time difference positioning calculation, and generates geographic coordinate data of the interference source, which can include: Step 330, based on the interference spectrum data, extracting a set of discretized field strength distribution parameters of the interference signal in three-dimensional space; Step 331, performing spatial distribution reconstruction processing on the set of discretized field strength distribution parameters to construct morphological features representing the three-dimensional spatial field strength distribution, and sending a synchronous acquisition control signal to the multi-station direction finding array according to the morphological features; Step 332, based on the synchronous acquisition control signal, enabling each station in the multi-station direction finding array to synchronously acquire time-domain waveform data of the interference signal to generate a multi-station synchronous waveform set; Step 333, time difference analysis processing is performed on the multi-site synchronous waveform set to calculate the propagation time difference value between waveforms of each site, and a time difference dataset between sites is generated; Step 334, based on the time difference dataset between sites, in combination with the preset site position information, the geographical coordinate data of the interference source is generated through the spatial geometric positioning relationship.

[0034] In the embodiment of the present application, from the corrected interference spectrum data, the frequency of all the frequency hopping points and the corresponding signal amplitude are screened out, and the position information (longitude and latitude accuracy to 0.0001 degree, height accuracy to 1 meter) recorded by the unmanned aerial vehicle every second during flight is combined to establish a corresponding table of "frequency-amplitude-position", for example, when the unmanned aerial vehicle is at east longitude 116.3000°, north latitude 39.9000°, and height 500 meters, the signal amplitude of 800MHz frequency point is-30dBm, and this complete data is recorded. Then, the flight area of the unmanned aerial vehicle is divided into three-dimensional grids according to 0.001 degree of longitude, 0.001 degree of latitude and 10 meters of height, each grid is a space unit of about 110m x 110m x 10m, and the arithmetic mean of all recorded signal amplitudes of the same frequency in each grid is taken as the field strength value of the grid at the frequency, for example, there are three amplitude values-30dBm, -32dBm and-28dBm of 800MHz frequency point in a grid, and the average value is-30dBm, which is taken as the field strength value of the grid at the frequency. The center point coordinates (taking the middle value of the grid boundary) of all the grids and the corresponding field strength values of the frequency are collected to form a discrete field strength distribution parameter set, each parameter contains specific three-dimensional coordinates, frequency and field strength amplitude.

[0035] First, the invalid data with field strength amplitude lower than-70dBm in the discrete parameter set is removed, and the valid data is retained. For adjacent three-dimensional grids, linear interpolation method is used to supplement data blanks, if grid A (field strength-30dBm) and grid B (field strength-40dBm) are 100 meters apart, then the field strength of the virtual points every 10 meters in the middle is-31dBm, -32dBm, …, -39dBm in turn, and in this way, the discrete parameters are expanded into continuous three-dimensional field strength distribution description, and then the morphological characteristics are identified from the description, the field strength peak value at each frequency is counted, and the area with the highest peak value (such as the field strength of a group of grids is more than-20dBm) is determined as the strong interference signal area. The field strength attenuation value every 100 meters from the peak area to the surrounding is calculated, such as 5dBm eastward and 8dBm westward, and the direction with the fastest attenuation is determined. If the field strength of the peak area is more than-25dBm, it is judged that the interference source is active, and a synchronous acquisition control signal is sent to the multi-station direction finding array, which contains the acquisition start time (such as 10:00:00:000000 microseconds) and the continuous acquisition time length 2 seconds, to ensure that each site starts and stops acquisition at the same time.

[0036] After receiving the synchronization acquisition control signal, each site immediately calibrates the internal clock with the GPS time, ensuring that the error is not more than 0.5 microseconds. At the specified start time, all sites simultaneously start the acquisition device to sample the interference signal, with a sampling interval of 0.1 microseconds (i.e., 10 million samples per second). Each sample records the current time point (accurate to 0.1 microseconds) and the signal amplitude value (accurate to 0.1 dBm). For example, site 1 collects an amplitude of -32.5 dBm at 10:00:00:000000.0 microseconds, -32.3 dBm at 000000.1 microseconds, and so on. This process continues for 2 seconds, collecting a total of 20 million data points. After the acquisition is complete, each site arranges the data in chronological order to form its own time-domain waveform data (a continuous data sequence with time as the horizontal axis and amplitude as the vertical axis). The waveform data from all sites is organized by site number, and the start times of each site are checked for consistency (error ≤ 0.1 microseconds). Once confirmed, the multi-site synchronized waveform set is formed.

[0037] From the multi-site synchronized waveform set, the signal segments with an amplitude exceeding -30 dBm in each site waveform are extracted (considered as valid interference signal segments). For each segment, the time point at which the amplitude first reaches the peak value is marked. For example, the peak time for site A is 10:00:00:001234.5 microseconds, for site B is 001236.8 microseconds, and for site C is 001235.1 microseconds. The peak time difference between any two sites is calculated. The time difference between A and B is 001236.8-001234.5=2.3 microseconds, between A and C is 001235.1-001234.5=0.6 microseconds, and between B and C is 001236.8-001235.1=1.7 microseconds. To reduce errors, the time difference is calculated for five consecutive signal peaks (with an interval of about 1 millisecond), and the average value is taken. For example, the five time differences between A and B are 2.3, 2.5, 2.2, 2.4, and 2.6 microseconds, with an average of 2.4 microseconds. The average time difference between all pairs of sites is recorded in the format "site 1-site 2: time difference (microseconds)" to form the inter-site time difference dataset.

[0038] Get the preset position (longitude and latitude accurate to 0.0001 degree, height accurate to 1 meter) of each station of the multi-station direction finding array, such as station A (east longitude 116.3000°, north latitude 39.9000°, 100 meters), station B (east longitude 116.3010°, north latitude 39.9000°, 100 meters), station C (east longitude 116.3005°, north latitude 39.9010°, 100 meters), and the electromagnetic wave propagation speed is known to be 300 meters / microsecond, the time difference is converted into a distance difference, the time difference of 2.4 microseconds of A and B corresponds to a distance difference of 2.4*300=720 meters, and a hyperboloid is drawn according to the distance difference with A and B as the foci (the locus of points in three-dimensional space with a fixed distance difference to the two foci); another hyperboloid is drawn using the time difference of 0.6 microseconds (distance difference of 180 meters) of A and C, and the intersection of the two hyperboloids is a curve where the interference source may be located, and a third hyperboloid is drawn using the time difference of 1.7 microseconds (distance difference of 510 meters) of B and C, and the intersection of the intersection line and the intersection point is the candidate coordinates of the interference source, and the time difference converted from the distance difference of the coordinates to each station is verified, and if the error is less than or equal to 0.3 microseconds, the coordinates (such as east longitude 116.3050°, north latitude 39.9030°, 200 meters) are determined as the geographic coordinate data of the interference source.

[0039] By subdividing the three-dimensional grid and calculating the average field strength, the abstract frequency spectrum data is converted into parameters bound to specific spatial positions, making the field strength distribution of the interference signal more concrete. Through interpolation and morphological feature recognition, the strength distribution and attenuation law of the interference signal are clearly outlined, enabling rapid locking of the approximate area of the interference source, making multi-station collection more targeted, avoiding resource waste, strictly calibrating the time of each station and synchronously collecting, ensuring that the waveform data is completely aligned on the time axis, calculating the time difference through multiple peak value averaging to offset accidental errors caused by signal fluctuations, making the time difference data between stations more stable, providing accurate time basis for positioning calculation, converting the time difference data into specific geographic coordinates based on the intersection principle of spatial hyperboloids, further reducing errors through multi-station cross-validation, and accurately locking the position of the interference source, providing key position information for the avoidance and response of the unmanned aerial vehicle to interference.

[0040] In a preferred embodiment of the present application, step 4, the interference source geographic coordinate data is integrated with the real-time interference intensity sampling value, multi-dimensional interference features in the coverage area are extracted, coupling weights between the features are calculated, and a signal strength dynamic compensation coefficient set is generated, which can include: Step 440, based on the interference source geographic coordinate data, simultaneously collecting a real-time interference intensity sampling value sequence in the current environment, and performing spatio-temporal alignment processing on the geographic coordinate data and the real-time interference intensity sampling value sequence to generate a spatio-temporally correlated interference observation data set; Step 441, based on the interference observation data set, a multi-dimensional interference feature vector set including spatial position, intensity time-varying characteristics and spectral characteristics in the coverage area is extracted; Step 442, the multi-dimensional interference feature vector set is analyzed for interaction between features, and the weight distribution value of each feature dimension on the influence of interference propagation is calculated, which specifically includes: analyzing the multi-dimensional interference features in the real-time interference intensity sampling value, extracting three independent feature vectors of distance feature, terrain feature and frequency band feature; the distance feature and the terrain feature are input into a spatial attenuation calculation unit to generate a spatial superposition attenuation quantitative value of the electromagnetic wave propagation path; the frequency band feature is input into a frequency domain loss matching unit to generate a propagation loss quantitative value of the current interference frequency band by querying a preset frequency band-propagation loss mapping table; the spatial superposition attenuation quantitative value and the propagation loss quantitative value are input into a dynamic weight distributor to generate a dynamic weight distribution value of the feature dimension according to the contribution proportion to the interference intensity; Step 443, according to the weight distribution value, a dynamic compensation coefficient set for signal intensity correction is generated in combination with the real-time interference intensity sampling value sequence.

[0041] In the embodiment of the application, the geographic coordinate data of the interference source (such as East longitude 116.3050°, North latitude 39.9030°, height 200 meters) is determined, and a coverage area with a radius of 5 kilometers is demarcated as a sampling range with the center of the geographic coordinate data. In the area, the unmanned aerial vehicle collects real-time interference intensity every 50 meters of flight, and the sampling frequency is 10 times per second. Each sampling records the current longitude, latitude, height (accurate to 1 meter) and corresponding interference intensity value (accurate to 0.1 dBm) to form a real-time interference intensity sampling value sequence, such as (East longitude 116.3000°, North latitude 39.9000°, 500 meters, -32.5 dBm), (East longitude 116.3005°, North latitude 39.9005°, 500 meters, -33.1 dBm) and the like. In the time-space alignment processing, the geographic coordinate data and the interference intensity value collected at the same time are matched based on time. If only the coordinate is collected at a certain time and the intensity is not collected, the average value of the intensity values of the adjacent two times is calculated to supplement. If only the intensity is collected and the coordinate is not collected, the coordinate at the time is calculated according to the flight trajectory of the unmanned aerial vehicle. For example, the coordinate (point A) is collected at 10:00:01 but the intensity is not collected, the intensity of the previous second is -32.5 dBm, and the intensity of the next second is -33.5 dBm, then the intensity of the time is -33.0 dBm and is bound with point A, and finally all the matched data are arranged in time sequence to generate a time-space related interference observation data set containing "time-longitude-latitude-height-interference intensity".

[0042] Extract spatial location features from the interference observation dataset: Calculate the straight-line distance between each sampling point and the interference source, such as the distance between a sampling point and the interference source is 1200 meters; At the same time, record the terrain type (such as flat land, mountainous area, building area) where the sampling point is located, forming a spatial location feature vector (distance, terrain type).

[0043] Extract intensity time-varying characteristics: Calculate the change rate of the interference intensity value of the same sampling point for 10 consecutive times, such as from -30dBm to -35dBm, the change rate is 5dBm per second; The fluctuation range (the difference between the maximum and minimum values) of the intensity within 1 minute is calculated, such as the fluctuation range is 8dBm, forming an intensity time-varying feature vector (change rate, fluctuation range).

[0044] Extract frequency spectrum features: Analyze the distribution of interference signals at each frequency hopping point for each sampling point, and calculate the intensity proportion of the top 3 frequency points (such as 800MHz accounting for 40%, 810MHz accounting for 30%, and 820MHz accounting for 20%), and record the average interval of the frequency points (such as 10MHz), forming a frequency spectrum feature vector (main frequency points and proportion, average interval).

[0045] The above three types of feature vectors are summarized according to the sampling points to form a multi-dimensional interference feature vector set.

[0046] Select 100 typical sampling points of multi-dimensional feature vectors, analyze the interaction between features: Calculate the correlation between the distance in the spatial location feature and the interference intensity, such as the intensity decreases by 3dBm on average for every 100 meters of distance increase, the correlation is 0.8 (the closer the value is to 1, the greater the impact); Analyze the influence of terrain type on intensity, such as mountainous area will make the intensity decrease by 5dBm than flat land, the correlation is 0.6.

[0047] Analyze the correlation between intensity time-varying characteristics and propagation: The greater the intensity change rate, the worse the stability of the interference source, the correlation with propagation is 0.5; The greater the fluctuation range, the more unstable the signal, the correlation is 0.4.

[0048] Analyze the influence of frequency spectrum features: The signal with concentrated main frequency points has less propagation loss, the correlation is 0.7; The larger the frequency point interval, the more obvious the attenuation in propagation, the correlation is 0.3.

[0049] Normalize the correlation of each feature dimension (the sum of all correlations is 1), such as the total correlation of spatial location features is 0.8+0.6=1.4, the intensity time-varying characteristics is 0.5+0.4=0.9, the frequency spectrum features is 1.0+0.3=1.0, the total is 3.3; Then the weight of spatial location is 1.4 / 3.3≈0.42, the weight of intensity time-varying characteristics is 0.9 / 3.3≈0.27, the weight of frequency spectrum features is 1.0 / 3.3≈0.31, and the weight distribution value of each feature dimension is obtained.

[0050] According to the weight distribution value of step 442, the real-time interference intensity of each sampling point is calculated, for example, the real-time intensity of a certain sampling point is-35dBm, the spatial position feature shows that the distance is too far, resulting in low intensity (need to compensate +2dBm), the weight 0.42 corresponds to the compensation 2*0.42≈0.84dBm; the intensity time-varying characteristic shows that the signal is enhanced (need to compensate-1dBm), the weight 0.27 corresponds to the compensation-1*0.27≈-0.27dBm; the spectral feature shows that the frequency point is scattered, resulting in attenuation (need to compensate +3dBm), the weight 0.31 corresponds to the compensation 3*0.31≈0.93dBm, and the total compensation coefficient is 0.84-0.27+0.93≈1.5dBm; the compensation coefficient of each sampling point is calculated in the above manner, and then the grid compensation coefficient of every 10 meters interval in the coverage area is obtained by using the area interpolation method (such as taking the compensation coefficients of the adjacent 5 sampling points as the average) according to the spatial distribution of the sampling points.

[0051] By accurately matching the space-time relationship between the geographic coordinates and the interference intensity, the analysis error caused by data misplacement is avoided, a reliable data basis is provided for multidimensional analysis, the features are extracted from three dimensions of space, time variation and spectrum, the key influencing factors of the interference signal propagation are covered, the limitations of single feature analysis are broken through, the essential characteristics of the interference can be more comprehensively described, the influence weight of each feature on the interference propagation is clarified through correlation analysis and normalization processing, the interference of irrelevant features is avoided, and the compensation coefficient set generated by the weight can correct the intensity sampling value in real time according to different positions and interference characteristics, so that the quantification of the interference intensity is closer to the actual situation.

[0052] In a preferred embodiment of the present application, the above-mentioned step 5, the signal intensity dynamic compensation coefficient set is applied to the real-time interference intensity sampling value, when the compensated interference intensity exceeds the flight safety threshold, the flight path planner is activated to generate an avoidance path, and the emergency landing controller is called to execute the landing protocol, which can include: Step 550, the dynamic compensation coefficient set is applied to the real-time interference intensity sampling value, and the corrected interference intensity value sequence is generated by point-by-point compensation calculation; Step 551, the safety threshold comparison processing is performed on the corrected interference intensity value sequence, when the single-point intensity value is greater than the preset flight safety threshold, it is marked as an out-of-limit point; when the number of continuous out-of-limit points is greater than or equal to the alarm threshold, a flight path avoidance trigger signal is generated; Step 552, based on the flight path avoidance trigger signal, the flight path planner is activated, the spatial distribution situation of the interference source is constructed by using the geographic coordinate data of the interference source, and the avoidance path topology is generated by combining the current position of the unmanned aerial vehicle and the task target; Step 553, input the bypass path topology into the emergency landing controller, generate a landing trajectory according to the safe landing area coordinates in the path topology, and drive the actuator to complete the landing protocol.

[0053] In the embodiment of the application, a signal strength dynamic compensation coefficient set is called from the storage device, the coefficient set is arranged in time sequence, each time node corresponds to a compensation coefficient, the coefficient value is determined in advance according to interference data and environmental parameters (for example, the coefficient 1.1 corresponds to 9 o'clock in the morning, and the coefficient 1.3 corresponds to 3 o'clock in the afternoon), real-time interference intensity sampling values are obtained from signal sampling of the unmanned aerial vehicle, the sampling frequency is 10 times per second, and each sampling obtains a specific value (for example, the first sampling value at the first second is 62 units, and the second sampling value at the first second is 65 units); in point-by-point compensation calculation, each real-time sampling value is operated with the compensation coefficient corresponding to the same time node, the real-time sampling value is multiplied by the compensation coefficient to obtain a single correction value, for example, a sampling value is 70 units, and the compensation coefficient of the corresponding time node is 1.2, so the correction value is 70 multiplied by 1.2, and the result is 84 units; according to the time sequence of sampling, all the correction values obtained through compensation calculation are sequentially arranged to form a sequence of corrected interference intensity values, for example, the correction values of 5 consecutive samplings are 78 units, 82 units, 85 units, 81 units, and 79 units, and the sequence [78, 82, 85, 81, 79] is formed in sequence.

[0054] The preset flight safety threshold is 90 units, and the alarm threshold is 3 consecutive points. The flight safety threshold is a critical value determined according to the anti-interference capability of the unmanned aerial vehicle hardware, and the alarm threshold is the minimum number of consecutive over-limit points triggering the evasion action verified through multiple tests. The corrected interference intensity value sequence is checked point by point, each value is compared with 90 units, if the value is 92 units, which is greater than 90 units, it is marked as an over-limit point; if the value is 88 units, which is less than 90 units, it is marked as a normal point; starting from the first value in the sequence, the number of consecutive over-limit points is counted, if the 3rd, 4th and 5th values are over-limit points, the number of consecutive over-limit points is 3; if the 6th value is a normal point, the counting is interrupted, and the counting is restarted from the next over-limit point; when the number of consecutive over-limit points reaches 3, a flight path evasion trigger signal is immediately generated; if the number of consecutive over-limit points is 2, even if a single over-limit point appears later, as long as 3 consecutive over-limit points are not formed, the trigger signal is not generated.

[0055] When the flight path planner is activated, the geographic coordinate data of all interference sources is extracted from the database, including the longitude, latitude and interference influence radius of each interference source (for example, interference source A is located at longitude 116.3 degrees east, latitude 39.9 degrees north, and the influence radius is 500 meters). A three-dimensional coordinate system is established with the current position of the UAV as the center, the geographic coordinates of the interference sources are converted into three-dimensional coordinates in the coordinate system, and the spherical interference area is drawn according to the influence radius. All spherical areas together constitute the spatial distribution situation of the interference sources, which directly shows which areas have interference risks. Through positioning, the longitude and latitude (for example, longitude 116.4 degrees east, latitude 39.8 degrees north) and altitude (for example, 500 meters) of the current position of the UAV, as well as the longitude and latitude (for example, longitude 116.6 degrees east, latitude 39.7 degrees north) and altitude (for example, 500 meters) of the task target point are obtained. In the spatial distribution situation of the interference sources, find a path from the current position to the task target point without passing through any spherical interference area, first determine multiple feasible turning points, then calculate the straight line distance between the turning points to ensure that each straight line avoids the interference area; generate 3 candidate avoidance paths, each path contains the specific coordinates of the starting point, turning point and ending point (for example, the turning point of path 1 is longitude 116.5 degrees east, latitude 39.8 degrees north), calculate the total length (for example, path 1 is 2000 meters long, path 2 is 2200 meters long) and the estimated flight time (for example, path 1 takes 5 minutes) of each path, and select the path with the shortest length and the least turning as the avoidance path topology.

[0056] The emergency landing controller analyzes the avoidance path topology and extracts the coordinates of the safe landing area (for example, longitude 116.5 degrees east, latitude 39.75 degrees north, altitude 100 meters). This area has been pre-evaluated as a flat area with no interference and a slope less than 5 degrees. According to the current flight speed (for example, 100 kilometers per hour) and altitude (for example, 500 meters) of the UAV and the coordinates of the safe landing area, the landing trajectory is calculated. The UAV needs to fly horizontally for 1500 meters first, then reduce the altitude at a rate of 100 meters per minute, and then turn to horizontal sliding when it is 10 meters above the landing area. Convert the landing trajectory into specific execution instructions. During the horizontal flight stage, the engine maintains 70% thrust, the thrust decreases by 5% every 30 seconds during the descent stage, and the rudder adjusts the angle by 5 degrees during the turning. Each instruction is accurate to the second (for example, at the 10th second, the thrust is adjusted to 65%). Send the execution instructions to the engine, rudder and other execution mechanisms of the UAV. At the same time, real-time monitoring of the actual position and planned trajectory deviation is carried out through sensors. If the horizontal deviation is 5 meters, immediately send the rudder adjustment instruction to correct the direction; if the height deviation is 10 meters, adjust the engine thrust to correct the height, until the UAV lands smoothly in the safe landing area and the engine is turned off to complete the landing protocol.

[0057] The real-time sampling value is corrected point by point through a dynamic compensation coefficient, the interference of environmental changes (such as weather, terrain) on signal measurement can be alleviated, the corrected value is closer to the actual interference strength, the single-point overrun mark is combined with the judgment mode of continuous overrun counting, unnecessary avoidance actions caused by instantaneous interference peak values can be avoided, and continuous interference can be prevented from being ignored, the accuracy of the flight path adjustment trigger is improved, the path is planned based on the spatial distribution situation of the interference source, all high-interference areas can be bypassed by the unmanned aerial vehicle, the path parameters are optimized in combination with the task target, the flight distance and time are reduced under the premise of ensuring safety, the task execution efficiency is improved, the landing trajectory is accurately calculated and the deviation is corrected in real time, the unmanned aerial vehicle can stably land in a safe area in a complex interference environment, the risk of equipment damage is reduced, the safety of the unmanned aerial vehicle and the task load is ensured, the dynamic compensation mechanism can adapt to environmental interference characteristics at different times and in different places, and the flexible path planning and landing control strategy enables the unmanned aerial vehicle to normally operate in various interference scenes, and the application range of the unmanned aerial vehicle is expanded.

[0058] As shown in Figure 2 The embodiment of the present application also provides an unmanned aerial vehicle electromagnetic interference positioning system, which comprises: A signal detection module is used for performing wideband spectrum scanning on a remote control link frequency band, a remote measurement link frequency band and an image transmission frequency band in a full flight phase of the unmanned aerial vehicle, detecting interference signals in a frequency hopping communication system in real time, identifying random hopping frequency points covered by the interference signals and forming a hopping frequency point set; A compensation processing module is used for inputting the hopping frequency point set into a radio frequency sharing front end, coupling radio frequency signals of a communication antenna to a spectrum analysis unit through a duplexer, and compensating the coupled path through automatic gain control and a phase equalizer to obtain corrected interference spectrum data; An interference positioning module is used for reconstructing a spatial field strength distribution topology of the interference signals based on the interference spectrum data, driving a multi-station direction-finding array to perform time difference positioning calculation, and generating geographic coordinate data of the interference source; A feature integration module is used for integrating the geographic coordinate data of the interference source and real-time interference strength sampling values, extracting multi-dimensional interference features in a covered area, calculating coupling weights between the features, and generating a signal strength dynamic compensation coefficient; An avoidance control module is used for applying the signal strength dynamic compensation coefficient to the real-time interference strength sampling values, activating a flight path planner to generate an avoidance path when the compensated interference strength exceeds a flight safety threshold, and calling an emergency landing controller to execute a landing protocol.

[0059] It should be noted that the system corresponds to the above method, and all implementation manners in the above method embodiment are applicable to this embodiment, and the same technical effects can be achieved.

[0060] The embodiment of the present application also provides a computing device, comprising a processor, a memory storing a computer program, the computer program being executed by the processor to perform the method as described above. All implementation manners in the above method embodiment are suitable for this embodiment and can achieve the same technical effects.

[0061] The embodiment of the present application also provides a computer readable storage medium storing instructions, which, when executed on a computer, cause the computer to perform the method as described above. All implementation manners in the above method embodiment are suitable for this embodiment and can achieve the same technical effects.

[0062] The above is the preferred embodiment of the present application, it should be pointed out that, for those skilled in the art, without departing from the principles of the present application, can make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for locating electromagnetic interference of unmanned aerial vehicles, characterized in that: The method comprises: Step 1: During the full flight phase of the UAV, a broadband spectrum scan is performed on the remote control link frequency band, the telemetry link frequency band, and the image transmission frequency band to detect interference signals in the frequency hopping communication system in real time, identify random hopping frequency points covered by the interference signals, and form a hopping frequency point set; Step 2: Input the hopping frequency set into the RF shared front end, couple the RF signal from the communication antenna to the spectrum analysis unit through the duplexer, and use automatic gain control and phase equalizer to compensate the coupling path to obtain the corrected interference spectrum data. Step 3: Based on the interference spectrum data, reconstruct the spatial field strength distribution topology of the interference signal, drive the multi-station direction-finding array to perform time difference positioning calculation, and generate the geographic coordinate data of the interference source; Step 4: Integrate the geographical coordinate data of the interference source with the real-time interference intensity sampling value, extract the multi-dimensional interference characteristics within the coverage area, calculate the coupling weights between the characteristics, and generate a set of dynamic signal strength compensation coefficients; Step 5: Apply the signal strength dynamic compensation coefficient set to the real-time interference intensity sampling value. When the compensated interference intensity exceeds the flight safety threshold, activate the trajectory planner to generate an avoidance path and call the emergency landing controller to execute the landing protocol.

2. The method for locating UAV electromagnetic interference according to claim 1, characterized in that: The hopping frequency set is input into the RF shared front end. The RF signal from the communication antenna is coupled to the spectrum analysis unit through a duplexer. Automatic gain control and phase equalizer are used to compensate for the coupling path to obtain corrected interference spectrum data, including: Inputting the hopping frequency point set to the unit responsible for receiving and processing the radio frequency signal to configure the receiving frequency point of the unit; Based on the receiving frequency, the radio frequency signal including interference received by the communication antenna is guided to the component responsible for spectrum analysis through signal separation and coupling devices to obtain a coupled interference signal; The coupled interference signal is input to the component responsible for signal amplitude adjustment, and dynamic gain compensation is performed on the coupled interference signal to obtain a gain compensated interference signal; The gain compensation interference signal is input to the component responsible for signal phase adjustment, and dynamic phase compensation is performed on the gain compensation interference signal to obtain a phase compensation interference signal; In the component responsible for spectrum analysis, spectrum calculation is performed on the phase-compensated interference signal to generate corrected interference spectrum data including a frequency-amplitude correspondence relationship.

3. The method for locating electromagnetic interference of a drone according to claim 2, characterized in that: The gain compensation interference signal is input to a component responsible for signal phase adjustment, and dynamic phase compensation is performed on the gain compensation interference signal to obtain a phase compensation interference signal, including: Receive the gain compensation interference signal from the automatic gain control component, perform frequency hopping point directional scanning on the signal, extract the instantaneous phase offset of each hopping frequency point, and generate a frequency point-phase offset mapping table; Based on the frequency-phase offset mapping table, the real-time phase compensation amount of the signal transmission path at each hopping frequency point is calculated, and a dynamic correction instruction set including frequency compensation parameters is generated; Inputting the dynamic correction instruction set into the phase rotator array of the phase equalizer, performing a point-by-point phase rotation operation on the gain compensation interference signal according to the frequency hopping point sequence, and generating a phase pre-correction signal; The phase pre-correction signal is subjected to full-band phase consistency detection, and the root mean square error between the measured phase and the ideal phase is calculated to obtain the phase compensation interference signal.

4. The method for locating electromagnetic interference of a drone according to claim 3, characterized in that: Based on the interference spectrum data, the spatial field strength distribution topology of the interference signal is reconstructed, and the multi-station direction-finding array is driven to perform time difference positioning calculations to generate the geographic coordinate data of the interference source, including: Based on the interference spectrum data, the discretized field intensity distribution parameter set of the interference signal in three-dimensional space is extracted; Perform spatial distribution reconstruction on the discretized field intensity distribution parameter set to construct morphological features that characterize the three-dimensional field intensity distribution. Based on the morphological features, synchronous acquisition control signals are sent to the multi-station direction-finding array. Based on the synchronous acquisition control signal, each station in the multi-station direction finding array synchronously acquires the time domain waveform data of the interference signal to generate a multi-station synchronous waveform set; Perform time difference analysis on the multi-site synchronous waveform collection, calculate the propagation time difference between the waveforms of each site, and generate the inter-site time difference dataset; Based on the time difference dataset between sites and combined with the preset site location information, the geographic coordinate data of the interference source is generated through the spatial geometric positioning relationship.

5. The method for locating electromagnetic interference of a drone according to claim 4, characterized in that: Integrate the geographical coordinate data of the interference source with the real-time interference intensity sampling value, extract the multi-dimensional interference characteristics within the coverage area, calculate the coupling weights between the characteristics, and generate a set of dynamic signal strength compensation coefficients, including: Based on the geographical coordinate data of the interference source, the real-time interference intensity sampling value sequence in the current environment is collected at the same time, and the geographical coordinate data and the real-time interference intensity sampling value sequence are temporally and spatially aligned to generate a temporally and spatially correlated interference observation dataset; Based on the interference observation data set, a multi-dimensional interference feature vector set including spatial position, intensity time-varying characteristics and spectrum characteristics is extracted within the coverage area; Perform feature interaction analysis on the multi-dimensional interference feature vector set and calculate the weight distribution value of the impact of each feature dimension on interference propagation; According to the weight distribution value, combined with the real-time interference intensity sampling value sequence, a dynamic compensation coefficient set for signal intensity correction is generated.

6. The method for locating UAV electromagnetic interference according to claim 5, characterized in that: Perform feature interaction analysis on the multi-dimensional interference feature vector set and calculate the weight distribution value of the impact of each feature dimension on interference propagation, including: Analyze the multi-dimensional interference features in the real-time interference intensity sampling values ​​and extract three sets of independent feature vectors: distance feature, terrain feature, and frequency band feature; Inputting distance features and terrain features into a spatial attenuation calculation unit to generate a spatial superposition attenuation quantization value of the electromagnetic wave propagation path; The frequency band characteristics are input into the frequency domain loss matching unit, and the propagation loss quantization value of the current interference frequency band is generated by querying the preset frequency band-propagation loss mapping table; The quantized value of spatial superposition attenuation and the quantized value of propagation loss are input into the dynamic weight allocator, and the dynamic weight allocation value of the feature dimension is generated according to the contribution ratio to the interference intensity.

7. The method for locating UAV electromagnetic interference according to claim 6, characterized in that: The dynamic signal strength compensation coefficient set is applied to the real-time interference intensity sampling value. When the compensated interference intensity exceeds the flight safety threshold, the trajectory planner is activated to generate an avoidance path and the emergency landing controller is called to execute the landing protocol, including: Applying the dynamic compensation coefficient set to the real-time interference intensity sampling value, and generating a corrected interference intensity value sequence through point-by-point compensation calculation; The corrected interference intensity value sequence is compared with the safety threshold. When the single-point intensity value exceeds the preset flight safety threshold, it is marked as an out-of-limit point. When the number of consecutive out-of-limit points is greater than or equal to the warning threshold, a track avoidance trigger signal is generated. Based on the track avoidance trigger signal, the track planner is activated, and the geographical coordinate data of the interference source is used to construct the spatial distribution of the interference source. The avoidance path topology is generated based on the current position of the UAV and the mission objective. The avoidance path topology is input into the emergency landing controller, and the landing trajectory is generated according to the coordinates of the safe landing area in the path topology, which drives the actuator to complete the landing protocol.

8. An electromagnetic interference positioning system for unmanned aerial vehicles, the system implementing the method according to any one of claims 1 to 7, characterized in that: include: The signal detection module is used to perform broadband spectrum scanning on the remote control link frequency band, telemetry link frequency band, and image transmission frequency band during the full flight phase of the UAV, detect interference signals under the frequency hopping communication system in real time, identify random hopping frequency points covered by the interference signal, and form a hopping frequency point set; The compensation processing module is used to input the hopping frequency point set into the RF shared front end, couple the RF signal of the communication antenna to the spectrum analysis unit through the duplexer, and use the automatic gain control and phase equalizer to perform signal compensation on the coupling path to obtain the corrected interference spectrum data; The interference positioning module is used to reconstruct the spatial field strength distribution topology of the interference signal based on the interference spectrum data, drive the multi-station direction-finding array to perform time difference positioning calculation, and generate the geographic coordinate data of the interference source; The feature integration module is used to integrate the geographical coordinate data of the interference source with the real-time interference intensity sampling value, extract the multi-dimensional interference characteristics within the coverage area, calculate the coupling weights between the characteristics, and generate the signal strength dynamic compensation coefficient; The avoidance control module is used to apply the dynamic signal strength compensation coefficient to the real-time interference intensity sampling value. When the compensated interference intensity exceeds the flight safety threshold, the trajectory planner is activated to generate an avoidance path and the emergency landing controller is called to execute the landing protocol.

9. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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