A passive positioning reconnaissance system and method based on a magnetoelectric antenna and multi-sensor and micro unmanned aerial vehicle cooperation

Abstract

The application belongs to the field of unmanned aerial vehicles, and discloses a passive positioning reconnaissance system and method based on a magnetoelectric antenna and multiple sensors and a micro unmanned aerial vehicle. The magnetoelectric antenna is arranged at the bottom center of the unmanned aerial vehicle platform, and the magnetoelectric antenna is composed of a piezoelectric layer and a magnetostrictive layer. A damping structure is arranged between the magnetoelectric antenna and the platform. A multiple sensor module is integrated inside the platform, including a GPS, an inertial sensor, a barometer and a magnetometer, for real-time solving of the own pose. A GPS antenna, a whip antenna and a sleeve monopole antenna are arranged on the top of the platform, the arm and the landing gear respectively, forming a spatial staggered layout. In operation, the magnetoelectric antenna captures target electromagnetic signals, combines the own pose obtained by the multiple sensors and the environment image collected by a high-definition camera, and transmits the signals to the ground end for fusion and solving of the target position. The spatial layout of the antenna makes the isolation degree better than -35 dB, solving the electromagnetic compatibility problem. The damping structure makes the vibration transmission rate as low as 0.04, ensuring signal stability.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and specifically to a passive positioning and reconnaissance system and method based on the collaboration of a magnetoelectric antenna, multiple sensors, and a micro UAV. Background Technology

[0002] With the development of modern information technology, unmanned aerial vehicle (UAV) technology has been widely used in fields such as military electronic reconnaissance. Close-range reconnaissance based on micro-UAVs is of great significance in urban warfare due to its high stealth, portability, and flexibility. Passive positioning technology for UAVs, with its high stealth and strong anti-jamming capabilities, has become an important development direction. Magnetoelectric antennas, which are 3-4 orders of magnitude smaller than traditional antennas, are particularly suitable for miniaturized passive positioning systems for UAVs. Traditional antennas, based on oscillating current radiation, require structural dimensions to match the wavelength, resulting in a large size that is difficult to meet the miniaturization requirements of passive positioning devices for UAVs.

[0003] Existing technologies integrate traditional antennas into UAV platforms by optimizing antenna design and reducing antenna size. They also reduce the probability of being detected by radar and electro-optical detection systems through stealth design and material selection, and improve battlefield survivability by using certain flight path planning strategies. Some solutions also use multi-sensor assisted positioning in an attempt to achieve reconnaissance functions with limited payload.

[0004] However, existing UAV reconnaissance systems still have the following shortcomings: 1. They are bulky, significantly increasing their radar cross-section and making them less concealed, thus easily detected and locked by detection systems in application; 2. Conventional shape design and material selection are difficult to effectively evade multi-spectral detection methods on the modern battlefield; 3. They lack intelligent dynamic concealment strategies, further reducing their survivability. Summary of the Invention

[0005] To address the problems mentioned in the prior art, this invention proposes a passive positioning and reconnaissance system and method based on the collaboration of a magnetoelectric antenna and multiple sensors with a micro UAV. It utilizes the miniaturization advantage of the magnetoelectric antenna to achieve overall miniaturization of the UAV, and ensures stable operation of the system in complex electromagnetic environments through load layout and antenna isolation analysis.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This invention proposes a passive positioning and reconnaissance system based on the collaboration of a magnetoelectric antenna and multiple sensors with a micro UAV, including a UAV platform, a magnetoelectric antenna reconnaissance system, and a multi-sensor module; The magnetoelectric antenna reconnaissance system is located at the center of the bottom of the UAV platform. The magnetoelectric antenna reconnaissance system includes a magnetoelectric antenna for capturing the electromagnetic signals of the target and a vibration reduction structure located between the magnetoelectric antenna and the UAV platform. The magnetoelectric antenna is composed of a piezoelectric layer and a magnetostrictive layer laminated together. The multi-sensor module is located inside the UAV platform and is connected to the flight control module in the UAV platform. The multi-sensor module includes at least a GPS module, an inertial sensor, a barometer, and a magnetometer, and is used to calculate the UAV's own position and attitude information in real time. The drone platform is also equipped with a high-definition camera and multiple antennas, including a GPS antenna, a whip antenna, and a sleeve monopole antenna. The GPS antenna is located on the top of the drone platform, the whip antenna is located on the drone platform's arm, and the sleeve monopole antenna is located on the drone platform's landing gear.

[0007] As a further improvement of the present invention, the vibration damping structure includes an upper connecting member, a lower connecting member, and a rubber ball vibration damping device; The upper connector is rigidly connected to the bottom of the UAV platform, and the lower connector is rigidly connected to the magnetoelectric antenna. The upper connector and the lower connector are connected by a rubber ball vibration damping device.

[0008] As a further improvement of the present invention, the piezoelectric layer of the magnetoelectric antenna is used to receive periodic voltage excitation to generate mechanical vibration. The mechanical vibration is transmitted to the magnetostrictive layer through interface coupling, inducing the magnetostrictive layer to undergo an inverse magnetostrictive phase transition and be magnetized, thereby radiating electromagnetic waves into the air.

[0009] As a further improvement of the present invention, the multi-sensor module also includes a data fusion module, which uses a Kalman filter algorithm to fuse the data collected by the GPS module, inertial sensor, barometer and magnetometer.

[0010] As a further improvement of the present invention, the inertial sensor is an integrated six-axis inertial sensor, comprising a three-axis gyroscope and a three-axis accelerometer; The barometer is a high-precision digital barometer with a height resolution of not less than 10cm. The magnetometer is a triaxial magnetometer.

[0011] As a further improvement of the present invention, the flight control module adopts a dual-processor redundant architecture, including a main controller and a secondary controller that are electrically connected to each other; the main controller is used for flight control and communication coordination with external electronic devices, and the secondary controller is used for USB communication management and fault protection of the flight control system. When the main controller is abnormal, the secondary controller takes over the control of the system and executes the emergency landing procedure.

[0012] As a further improvement of the present invention, the GPS antenna is located on the top of the drone platform, with the geometric center point of the drone platform as the origin of the coordinate system. The whip antenna is located at the center of the UAV arm, with installation coordinates of (150mm, 70mm, 20mm); The sleeve monopole antennas are respectively installed on the left and right landing gears of the UAV platform, with installation coordinates of (30mm, 26mm, -26mm); after optimization, the isolation between each antenna is better than -35dB.

[0013] As a further improvement of the present invention, a communication system is also included, the communication system comprising a data transmission module, an image transmission module and a remote control receiver; The data transmission module, image transmission module, and remote controller receiver are all electrically connected to the flight control module. The data transmission module is used to transmit target electromagnetic signal parameters, UAV status data, and ground control commands; the image transmission module is used to transmit environmental images and video data captured by the high-definition camera; and the remote controller receiver is used to receive ground remote control commands.

[0014] As a further improvement of the present invention, the drone platform has a size of no more than 300mm and a weight of no more than 3.5kg; the drone platform adopts a folding arm design, and the folded size in the non-working state is 210mm×210mm×100mm.

[0015] This invention proposes a passive localization and reconnaissance method based on the collaboration of a magnetoelectric antenna, multiple sensors, and a micro-UAV, applied to the aforementioned system, comprising the following steps: Electromagnetic signals of the target are captured by a magnetoelectric antenna mounted on the drone platform; the drone's pose information, including its real-time position, attitude, and altitude, is obtained through a multi-sensor module; and images and video signals of the target's environment are collected by a high-definition camera mounted on the drone platform. Transmit the target's electromagnetic signals, the UAV's pose information, and environmental images and video signals to the ground in real time; The ground-based system fuses the received data and calculates and generates an environmental image of the target location. Based on the environmental images of the target location, the flight attitude, speed, and altitude of the UAV platform are dynamically adjusted through the flight control module to achieve closed-loop reconnaissance.

[0016] Compared with the prior art, the present invention achieves the following technical effects: This invention employs a magnetoelectric antenna composed of a piezoelectric layer and a magnetostrictive layer, achieving efficient radiation without wavelength matching. The antenna size is reduced by 3-4 orders of magnitude compared to traditional antennas. The magnetoelectric antenna reconnaissance system is positioned at the center of the bottom of the UAV platform, creating a compact payload layout that enables overall miniaturization of the UAV platform, significantly reducing radar cross-section and improving stealth and portability. Furthermore, by spatially defining the locations of multiple antennas—with the GPS antenna at the top of the UAV platform, the whip antenna on the arm, the sleeve monopole antenna on the landing gear, and the magnetoelectric antenna at the center of the bottom—this spatially staggered layout effectively reduces electromagnetic coupling between antennas, achieving an isolation better than -35dB. This ensures the magnetoelectric antenna can stably capture target electromagnetic signals even in complex electromagnetic environments.

[0017] This invention effectively isolates vibration transmission at the UAV's operating frequency (≤120Hz) by setting a vibration damping structure between the magnetoelectric antenna and the UAV platform. The vibration transmissibility is as low as 0.04, significantly suppressing the interference of UAV vibration on the magnetoelectric antenna's receiving performance and ensuring the stability of signal acquisition. In addition, this invention uses a multi-sensor module to calculate the UAV's own position and attitude information in real time. Combined with the target electromagnetic signals captured by the magnetoelectric antenna and the environmental images collected by the high-definition camera, it provides a complete data foundation for multi-source data fusion calculation at the ground end, achieving passive positioning with a maximum reconnaissance range of 13km. The positioning accuracy meets the reconnaissance requirements of individual soldier radios. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the internal structure of the UAV of the present invention.

[0020] Figure 3 This is a schematic diagram of the working framework of the present invention.

[0021] Figure 4 This is a schematic diagram of the antenna layout of the present invention.

[0022] Figure 5 The figure shows the simulation results of the antenna isolation.

[0023] Reference numerals: 1. Unmanned aerial vehicle platform; 2. Magnetoelectric reconnaissance system; 3. Gimbal; 4. High-definition camera; 5. GPS module; 6. Data transmission module; 7. Remote controller receiver; 8. Image transmission module; 9. ESC; 10. Propeller; 11. Motor; 12. Battery. Detailed Implementation

[0024] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0030] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0031] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0032] The accompanying drawings illustrate various structural schematic diagrams according to embodiments disclosed in this invention. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0033] See Figure 1 This embodiment proposes a passive positioning and reconnaissance system based on the collaboration of a magnetoelectric antenna and multiple sensors with a micro UAV, including a UAV platform 1, a magnetoelectric antenna reconnaissance system and a multi-sensor module; The magnetoelectric antenna reconnaissance system is located at the center of the bottom of the UAV platform 1. The magnetoelectric antenna reconnaissance system includes a magnetoelectric antenna for capturing electromagnetic signals of the target and a vibration damping structure located between the magnetoelectric antenna and the UAV platform 1. The magnetoelectric antenna is composed of a piezoelectric layer and a magnetostrictive layer laminated together. The multi-sensor module is located inside the UAV platform 1 and is connected to the flight control module in the UAV platform 1. The multi-sensor module includes at least a GPS module 5, an inertial sensor, a barometer, and a magnetometer, and is used to calculate the UAV's own position and attitude information in real time. The unmanned aerial vehicle (UAV) platform 1 is also equipped with a high-definition camera 4 and multiple antennas, including a GPS antenna, a whip antenna, and a sleeve monopole antenna. The GPS antenna is located on the top of the UAV platform 1, the whip antenna is located on the arm of the UAV platform 1, and the sleeve monopole antenna is located on the landing gear of the UAV platform 1.

[0034] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0035] like Figure 1 As shown, the passive positioning and reconnaissance system based on magnetoelectric antennas and multi-sensor collaboration with micro-UAVs in this embodiment mainly consists of a UAV platform 1, a magnetoelectric reconnaissance system 2, and a multi-sensor module. The UAV platform 1, serving as the flight carrier of the entire system, integrates components such as a high-definition camera 4, a GPS module 5, a data transmission module 6, a remote controller receiver 7, an image transmission module 8, an ESC 9, a motor 11, a propeller 10, and a battery 12. The flight control module is built into the UAV platform 1.

[0036] This embodiment differs from existing UAV reconnaissance systems that are bulky and whose antenna size is limited by wavelength. First, it employs a miniature magnetoelectric antenna. By utilizing the radiation mechanism of the magnetoelectric antenna, it can operate independently of the matching relationship between the oscillating current and the wavelength, thus enabling the antenna to be made very small. Second, the payload layout was redesigned around the miniature antenna, including the antenna mounting position, the vibration reduction structure, and the electromagnetic compatibility processing between multiple antennas. This ensures both passive reconnaissance capability and flight stability within a limited space.

[0037] like Figure 2 As shown, the drone platform 1 in the embodiment preferably adopts a quadcopter configuration. The main body of the drone platform 1 is a lightweight frame. The drone platform size is no more than 300mm and the weight is no more than 3.5kg. The drone platform adopts a folding arm design. The folded size in the non-working state is 210mm×210mm×100mm.

[0038] The flight control module is located at the center and controls the speeds of the four motors 11 and the propeller 10 via the electronic speed controller 9, thereby changing the flight attitude and heading. The battery 12 powers the entire system. Internally, this embodiment preferably employs a dual-processor architecture, specifically a main controller and a secondary controller, electrically connected via a bus. The main controller handles flight control calculations, navigation fusion, and communication coordination with external devices; the secondary controller manages the USB communication interface and handles fault protection logic. When the main controller malfunctions, the secondary controller can immediately take over system control and execute an emergency landing procedure.

[0039] The magnetoelectric reconnaissance system 2 is installed at the bottom center of the UAV platform 1. This center-mounted position allows the magnetoelectric antenna's radiation pattern to cover as much downwards as possible, facilitating the capture of electromagnetic signals emitted by ground-based radiation sources. Simultaneously, it keeps the antenna away from other antennas on the top and arms, reducing mutual interference. The magnetoelectric reconnaissance system 2 consists of a magnetoelectric antenna and a vibration-damping structure located between the antenna and the UAV platform 1. Specifically, the magnetoelectric antenna is composed of a layer of piezoelectric material and a layer of magnetostrictive material tightly bonded together. The encapsulated dimensions are approximately 40mm × 6mm, which is 3-4 orders of magnitude smaller than traditional whip antennas or sleeve monopole antennas in the same frequency band.

[0040] The vibration damping structure of this embodiment preferably adopts a three-layer structure. The upper connecting member is rigidly connected to the bottom of the UAV platform 1 by bolts, and the lower connecting member is also fixed to the outer shell of the magnetoelectric antenna by bolts. The upper and lower connecting members are connected by a rubber ball vibration damping device, which is specifically composed of multiple damping balls. There are no restrictions on the upper and lower connecting members, as long as the device can be connected. The vibration of the UAV fuselage is first transmitted to the upper connecting member. After being buffered and absorbed by the rubber ball vibration damping device, a small portion can be transmitted to the lower connecting member and the antenna. Modal analysis verification shows that the vibration transmissibility of this structure can be as low as 0.04 at the common operating frequencies of UAVs, thus ensuring that the magnetoelectric antenna can stably receive target signals.

[0041] The multi-sensor module of this embodiment is electrically connected to the flight control module, specifically including a GPS module 5 for receiving satellite positioning signals; an inertial sensor, in this embodiment an integrated six-axis inertial sensor, which contains a three-axis gyroscope and a three-axis accelerometer, capable of measuring the angular velocity and linear acceleration of the UAV; a high-precision digital barometer with an altitude resolution of 10 cm; and a three-axis magnetometer for measuring geomagnetic direction to assist in heading calculation.

[0042] The raw data collected by the aforementioned sensors is then sent to the data fusion module in the flight control module. The data fusion module can run a Kalman filter algorithm to optimally weight and fuse the GPS position, the motion parameters of the inertial sensor, the altitude of the barometer, and the heading information of the magnetometer, thereby outputting the UAV's current three-dimensional attitude angles, spatial position, and altitude in real time.

[0043] like Figure 4As shown, the UAV platform in this embodiment is also equipped with multiple antennas for communication and control. Specifically, it includes a GPS antenna specifically for receiving satellite signals, which is mounted on the top of the UAV platform 1; a whip antenna for remote control reception, located at the center of one of the arms, with the installation coordinates at (150mm, 70mm, 20mm) with the geometric center of the UAV platform as the origin; and two sleeve monopole antennas, respectively mounted on the left and right landing gears, with installation coordinates approximately (30mm, 26mm, -26mm). The two sleeve monopole antennas are used for data transmission and image transmission, respectively. Including the magnetoelectric antenna, the system in this embodiment has a total of four types of antennas. To avoid severe electromagnetic coupling between antennas and mutual interference leading to poor signal quality, this embodiment uses the simulation software HFSS to optimize the antenna positions. The final result is a spatially staggered layout with a GPS antenna at the top, a whip antenna on the arm, a sleeve monopole antenna on the landing gear, and a magnetoelectric antenna at the bottom. Simulation results show that the isolation between any two antennas is better than -35dB, which is far higher than the conventional design requirements. In this way, the magnetoelectric antenna will not be affected by the communication transmission signals transmitted on the aircraft when capturing weak electromagnetic signals from the ground.

[0044] In this embodiment, the high-definition camera 4 is suspended at the lower front of the drone platform 1 via a gimbal 3. The gimbal 3 itself has vibration reduction and stabilization functions, which can isolate the shaking caused by changes in the drone's attitude and ensure stable and clear images. The environmental images and video signals captured by the high-definition camera 4 are transmitted in real time to the ground station via the image transmission module 8. Ground station personnel can view the real-time images and, in conjunction with the signal characteristics detected by the magnetoelectric antenna and the drone's own attitude data, comprehensively determine the target's position.

[0045] like Figure 3 As shown, the workflow of this system is as follows: The first step is the acquisition of the target's electromagnetic signal. The magnetoelectric antenna is in continuous receiving mode, while the piezoelectric layer does not require external voltage excitation during operation. In receiving mode, electromagnetic waves radiated from an external target first reach the magnetostrictive layer, causing disturbances in the magnetic moments within the magnetostrictive material. These disturbances, through interface coupling, in turn generate voltage signals in the piezoelectric layer. In this embodiment, the magnetoelectric antenna is located at the bottom center, enabling it to monitor electromagnetic radiation in the surrounding environment around the clock, especially signals emitted by ground communication radio stations, radar, and other radiation sources. Once an electromagnetic signal exceeding a set threshold is acquired, the system records the signal's characteristic parameters.

[0046] Simultaneously with target signal acquisition, the multi-sensor module collects data from GPS, gyroscope, accelerometer, barometer, and magnetometer. Each time the Kalman filter in the flight control module runs, it outputs a set of updated 3D position, velocity, attitude angles, and altitude data for the UAV. Meanwhile, the high-definition camera 4 captures images of the foreground at a certain frame rate via the gimbal 3.

[0047] Based on the target electromagnetic signals, the UAV's own pose data, environmental images, and video footage acquired above, the data is transmitted in real-time to the ground-based PC platform via data transmission module 6 and image transmission module 8. The data transmission module is responsible for transmitting signal parameters and pose data, while the image transmission module is responsible for transmitting the video stream; both operate independently without interference.

[0048] After receiving the data, the ground PC platform first performs time synchronization and spatial alignment. Time synchronization ensures that the electromagnetic signal characteristics and UAV attitude correspond at the same moment; spatial alignment combines the UAV's latitude, longitude, altitude, attitude angle with the signal arrival direction measured by the magnetoelectric antenna, and uses geometric relationships to deduce the location of the ground radiation source.

[0049] In this embodiment, due to the small size of the magnetoelectric antenna, achieving high-precision direction finding is difficult. Therefore, the preferred positioning method is single-station positioning based on time difference of arrival or signal strength attenuation models, combined with cross-positioning using data collected multiple times by the UAV at different locations. A multi-source fusion algorithm running on a ground-based PC platform can complete the calculation, ultimately outputting the target's latitude and longitude coordinates or its azimuth distance relative to a reference point. Actual testing shows that the maximum reconnaissance range of this system can reach 13 km.

[0050] The target location information calculated by the ground PC platform can be used to guide the flight of the UAV. The flight control module dynamically adjusts the speed of the four motors according to the target location or the preset reconnaissance path sent by the ground PC platform, thereby changing the UAV's flight attitude, speed and altitude, so that the UAV always stays in the optimal reconnaissance position, thus forming a complete closed loop: from signal detection, data fusion, positioning output to flight adjustment.

[0051] like Figure 5 As shown in the figure, the horizontal axis represents frequency, and the vertical axis represents the isolation in decibels. The multiple curves in the figure represent the transmission coefficients between different antenna pairs, all of which are below -35dB, proving that the layout of the present invention is effective.

[0052] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0053] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A passive positioning and reconnaissance system based on a magnetoelectric antenna and multiple sensors in collaboration with a micro-UAV, characterized in that, This includes unmanned aerial vehicle (UAV) platforms, magnetoelectric antenna reconnaissance systems, and multi-sensor modules; The magnetoelectric antenna reconnaissance system is located at the center of the bottom of the UAV platform. The magnetoelectric antenna reconnaissance system includes a magnetoelectric antenna for capturing the electromagnetic signals of the target and a vibration reduction structure located between the magnetoelectric antenna and the UAV platform. The magnetoelectric antenna is composed of a piezoelectric layer and a magnetostrictive layer laminated together. The multi-sensor module is located inside the UAV platform and is connected to the flight control module in the UAV platform. The multi-sensor module includes at least a GPS module, an inertial sensor, a barometer, and a magnetometer, and is used to calculate the UAV's own position and attitude information in real time. The drone platform is also equipped with a high-definition camera and multiple antennas, including a GPS antenna, a whip antenna, and a sleeve monopole antenna. The GPS antenna is located on the top of the drone platform, the whip antenna is located on the drone platform's arm, and the sleeve monopole antenna is located on the drone platform's landing gear.

2. The passive positioning and reconnaissance system based on a magnetoelectric antenna and multiple sensors in collaboration with a micro-UAV, as described in claim 1, is characterized in that... The vibration damping structure includes an upper connecting component, a lower connecting component, and a rubber ball vibration damping device; The upper connector is rigidly connected to the bottom of the UAV platform, and the lower connector is rigidly connected to the magnetoelectric antenna. The upper connector and the lower connector are connected by a rubber ball vibration damping device.

3. The passive positioning and reconnaissance system based on a magnetoelectric antenna and multiple sensors in collaboration with a micro-UAV, as described in claim 1, is characterized in that... The piezoelectric layer of the magnetoelectric antenna is used to receive periodic voltage excitation to generate mechanical vibration. The mechanical vibration is transmitted to the magnetostrictive layer through interface coupling, inducing the magnetostrictive layer to undergo an inverse magnetostrictive phase transition and be magnetized, thereby radiating electromagnetic waves into the air.

4. The passive positioning and reconnaissance system based on a magnetoelectric antenna and multiple sensors in collaboration with a micro-UAV, as described in claim 1, is characterized in that... The multi-sensor module also includes a data fusion module, which uses a Kalman filter algorithm to fuse data collected by the GPS module, inertial sensor, barometer and magnetometer.

5. The passive positioning and reconnaissance system based on a magnetoelectric antenna and multiple sensors in collaboration with a micro-UAV, as described in claim 4, is characterized in that... The inertial sensor is an integrated six-axis inertial sensor, which includes a three-axis gyroscope and a three-axis accelerometer; The barometer is a high-precision digital barometer with a height resolution of not less than 10cm. The magnetometer is a triaxial magnetometer.

6. The passive positioning and reconnaissance system based on a magnetoelectric antenna and multiple sensors in collaboration with a micro-UAV as described in claim 1, characterized in that, The flight control module adopts a dual-processor redundant architecture, including a main controller and a secondary controller that are electrically connected to each other. The main controller is used for flight control and communication coordination with external electronic devices, while the secondary controller is responsible for USB communication management and fault protection of the flight control system. When the main controller malfunctions, the secondary controller takes over system control and executes an emergency landing procedure.

7. The passive positioning and reconnaissance system based on a magnetoelectric antenna and multiple sensors in collaboration with a micro-UAV, as described in claim 1, is characterized in that... With the geometric center of the UAV platform as the origin of the coordinate system, the GPS antenna is located on the top of the UAV platform. The whip antenna is located at the center of the UAV arm, with installation coordinates of (150mm, 70mm, 20mm); The sleeve monopole antennas are respectively installed on the left and right landing gears of the UAV platform, with installation coordinates of (30mm, 26mm, -26mm); after optimization, the isolation between each antenna is better than -35dB.

8. The passive positioning and reconnaissance system based on a magnetoelectric antenna and multiple sensors in collaboration with a micro-UAV as described in claim 1, characterized in that, It also includes a communication system, which comprises a data transmission module, an image transmission module, and a remote control receiver; The data transmission module, image transmission module, and remote controller receiver are all electrically connected to the flight control module. The data transmission module is used to transmit target electromagnetic signal parameters, UAV status data, and ground control commands; the image transmission module is used to transmit environmental images and video data captured by the high-definition camera; and the remote controller receiver is used to receive ground remote control commands.

9. The passive positioning and reconnaissance system based on a magnetoelectric antenna and multiple sensors in collaboration with a micro-UAV, as described in claim 1, is characterized in that... The drone platform has a size of no more than 300mm and a weight of no more than 3.5kg; the drone platform adopts a folding arm design, and its folded size in the non-working state is 210mm×210mm×100mm.

10. A passive positioning and reconnaissance method based on the collaboration of a magnetoelectric antenna and multiple sensors with a micro-UAV, applied to the system described in any one of claims 1 to 9, characterized in that, Includes the following steps: Electromagnetic signals of the target are captured by a magnetoelectric antenna mounted on the drone platform; the drone's pose information, including its real-time position, attitude, and altitude, is obtained through a multi-sensor module; and images and video signals of the target's environment are collected by a high-definition camera mounted on the drone platform. Transmit the target's electromagnetic signals, the UAV's pose information, and environmental images and video signals to the ground in real time; The ground-based system fuses the received data and calculates and generates an environmental image of the target location. Based on the environmental images of the target location, the flight attitude, speed, and altitude of the UAV platform are dynamically adjusted through the flight control module to achieve closed-loop reconnaissance.

Images