TDOA site detection method, device, equipment, and storage medium

Abstract

The present invention provides a TDOA site detection method, device, equipment, and storage medium, including: among L TDOA sites, determining N TDOA sites as current sending sites and L-N TDOA sites as current receiving sites; wherein N and L are integers greater than or equal to 1, and N is less than L; controlling the current sending site to send a target signal externally; obtaining a detection result, wherein the detection result indicates whether the current receiving site detects the target signal and the time when the current receiving site detects the target signal; based on the detection result, determining whether some or all of the current receiving sites are abnormal. This solves the problem that manual inspection is high in cost, heavy in workload, slow in speed, and difficult to ensure reliability.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle technology, and in particular to a TDOA site detection method, device, equipment and storage medium. Background Art

[0002] In current urban supervision, the importance of drone detection, positioning and tracking is becoming increasingly prominent. Among them, based on TDOA time difference passive positioning technology, it can detect, identify, locate and track multiple drones without actively transmitting radio signals, which is very suitable for drone management in cities with dense electromagnetic environments. Usually, due to the vast scope of the city and the complexity of the urban terrain, it is necessary to deploy a grid-based TDOA system to achieve coverage of drone detection and positioning in the entire protected area.

[0003] However, when the number of TDOA sites is large and the distribution is scattered, the inspection of their equipment status will be a complicated task. At the same time, due to the passive characteristics of the TDOA system, the conventional problem discovery mode used for mobile communication base stations is no longer applicable. If the drone is not detected, the system will not alarm, and there will be no user complaints. Therefore, the inspection of the TDOA system can only rely on manual inspections by the staff who maintain the system. In addition to the high cost, large workload and slow speed of manual inspections, the reliability is also difficult to guarantee. Summary of the invention

[0004] The present invention provides a TDOA site detection method, device, equipment, and storage medium to solve the problems of high cost, heavy workload, slow speed, and difficulty in ensuring reliability of manual inspection.

[0005] According to a first aspect of the present invention, a method for detecting a TDOA site is provided, comprising:

[0006] Among all L TDOA sites, N TDOA sites are determined as current sending sites and LN TDOA sites are determined as current receiving sites; wherein N is an integer greater than or equal to 1;

[0007] Controlling the current sending site to send a target signal externally;

[0008] Acquire a detection result, wherein the detection result indicates whether the current receiving station detects the target signal and the time when the current receiving station detects the target signal;

[0009] Based on the detection result, determining whether some or all of the current receiving sites are abnormal;

[0010] Optionally, the N current sending sites are randomly selected, and any two of the current sending sites are not adjacent to each other.

[0011] Optionally, controlling the current sending site to send a target signal externally includes:

[0012] Control the current sending site to send the target signal externally with specified parameters; the specified sending parameters include at least one of the following: frequency, power; the specified sending parameters match the sending parameters of the signal sent when the specified UAV is detected by the TDOA site.

[0013] Optionally, controlling the current sending site to send a target signal externally includes: controlling the current sending site to send the target signal multiple times, the duration of each sending being a first duration, and the interval between two adjacent sendings being a second duration.

[0014] Optionally, controlling the first TDOA site to send the target signal externally includes: if any first receiving site fails to detect the target signal of the first sending site, and the corresponding second receiving site detects the target signal of the corresponding first sending site, it is determined that an abnormality occurs in the first receiving site; wherein the first receiving site and the second receiving site are both adjacent to the first sending site.

[0015] Optionally, controlling the first TDOA site to send the target signal externally includes: if a plurality of third receiving sites all detect the target signal sent by the second sending site, calculating the time difference at which the plurality of third receiving sites receive the corresponding target signal; the plurality of third receiving sites are adjacent to the second sending site;

[0016] Based on the time difference, it is determined whether an abnormality occurs in part or all of the third sites.

[0017] Optionally, before determining whether some or all of the third receiving sites are abnormal based on the time difference, the method further includes: obtaining first positioning results of the plurality of third receiving sites for the second sending site.

[0018] It is determined that a deviation between the first positioning result and the actual position of the second sending site exceeds a deviation threshold.

[0019] Optionally, based on the time difference, determine whether some or all of the third receiving sites have abnormalities, including: if the time difference corresponding to any third receiving site is adapted to the positions of the multiple third receiving sites and the second sending site, determine that no abnormality has occurred at any third receiving site.

[0020] Optionally, determining whether some or all of the third receiving sites are abnormal based on the time difference further includes: if the time difference corresponding to any of the third receiving sites is not adapted to the positions of the multiple third sites and the second sending site, obtaining a second positioning result of any of the third receiving sites and the fourth receiving site for another third sending site;

[0021] If the deviation between the second positioning result and the actual position of the third sending site does not exceed the deviation threshold, it is determined that an abnormality occurs in the signal propagation link between any third receiving site and the second sending site.

[0022] According to a second aspect of the present invention, a detection device for a TDOA site is provided, comprising:

[0023] A current sending site selection module is used to determine N TDOA sites as current sending sites and (LN) TDOA sites as current receiving sites among all L TDOA sites; wherein N is an integer greater than or equal to 1;

[0024] A signal sending module, used to control the current sending site to send a target signal externally;

[0025] A detection result acquisition module, wherein the detection result indicates whether the current receiving station detects the target signal and the time when the current receiving station detects the target signal;

[0026] An abnormality analysis module, used to determine whether some or all of the current receiving sites have abnormalities based on the detection results;

[0027] According to a third aspect of the present invention, there is provided an electronic device, comprising a processor and a memory, wherein the memory is used to store code;

[0028] The processor is used to execute the code in the memory to implement the TDOA site detection method involved in the first aspect and its optional solutions.

[0029] According to a fourth aspect of the present invention, the present invention further provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements a TDOA site detection method involved in the first aspect and its optional solutions.

[0030] The present invention provides a TDOA site detection method, device, equipment and storage medium. Among L TDOA sites, N TDOA sites are determined as current sending sites, and the current sending site is controlled to send a target signal externally. According to the sent target signal, it is determined whether the current receiving site detects the target signal and the time when the current receiving site detects the target signal, thereby determining whether some or all of the current receiving sites have abnormalities. Among them, the detection result of the signal when an abnormality occurs is often different from the detection result when no abnormality occurs. Therefore, based on this, the present invention can help to accurately determine whether an abnormality occurs in the current receiving site. In this process, no human participation is required. It can be seen that the present invention uses the signal transmission and reception between TDOA sites to complete the self-inspection of the TDOA site. In addition to the high cost, large workload and slow speed of manual inspection, the problem of difficult to ensure reliability is overcome. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 It is a grid deployment diagram of TDOA sites of the TDOA system;

[0033] Figure 2 It is a flow chart of a TDOA site detection method in one embodiment of the present invention;

[0034] Figure 3 is a schematic diagram of the process of step S14 in one embodiment of the present invention Figure 1 ;

[0035] Figure 4 is a schematic diagram of the process of step S14 in one embodiment of the present invention Figure 2 ;

[0036] Figure 5 is a schematic diagram of the process of step S14 in one embodiment of the present invention Figure 3 ;

[0037] Figure 6 is a flow chart of step S146 in one embodiment of the present invention;

[0038] Figure 7 It is a program module diagram of a TDOA site detection method in one embodiment of the present invention;

[0039] Figure 8It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0043] The TDOA site detection method provided in the embodiment of the present invention can be applied to any device, terminal or server that has data processing capability and can communicate with the TDOA site.

[0044] In some application scenarios, the TDOA system can be used to locate the monitored object (such as a drone). The TDOA system can be equipped with a TDOA site and corresponding control equipment (such as a TDOA system server). The detection method of the embodiment of the present invention can be applied to these control devices and can also be applied to any other device independent of the TDOA system (such as a server, terminal). Figure 1 In the embodiment shown, it is applied to a TDOA system server.

[0045] The TDOA site can be understood as a device or device combination that can achieve positioning by communicating with the monitored object (such as a drone) in the process of positioning the monitored object (such as a drone) based on the principle of TDOA. TDOA specifically refers to Time Difference Of Arrival, which can be understood as the time difference of arrival.

[0046] The monitored object may refer to any object that needs to be located, such as a drone, a mobile terminal, a vehicle, etc. In addition, it may be an object to be located indoors or outdoors. Regardless of the field or scenario in which the TDOA station of the embodiment of the present invention is applied, it does not deviate from the scope of the embodiment of the present invention.

[0047] like Figure 1 In a further example, the TDOA system can realize the grid deployment of TDOA sites. The TDOA sites are controlled by the TDOA system server. The abnormal situations that may occur when the TDOA sites receive signals include: the detection function of the TDOA site is abnormal, so the signal is not detected; the clock system of the TDOA site may be abnormal; the propagation link of the TDOA site is abnormal.

[0048] In the case of grid deployment, the TDOA sites may be arranged in a two-dimensional array, for example. In each row of the TDOA sites in the two-dimensional array, the spacing between adjacent TDOA sites is the same, and in each column of the TDOA sites in the two-dimensional array, the spacing between adjacent TDOA sites is the same.

[0049] On this basis, for any TDOA site, its adjacent TDOA sites may refer to adjacent TDOA sites in the same row, adjacent TDOA sites in the same column, and in some examples, may also include diagonally adjacent TDOA sites.

[0050] In addition, if the TDOA sites are not deployed in a grid manner, the TDOA sites adjacent to a certain TDOA site can also be understood as the TDOA sites that are closest to the TDOA site along the corresponding direction.

[0051] Please refer to Figure 2 , a TDOA site detection method is provided, comprising:

[0052] S11: among the L TDOA sites, determine N TDOA sites as current sending sites and LN TDOA sites as current receiving sites;

[0053] Wherein N is an integer greater than or equal to 1, and N is less than L;

[0054] S12: Control the current sending site to send a target signal externally;

[0055] S13: Obtain detection results;

[0056] S14: Based on the detection result, determine whether some or all of the current receiving sites are abnormal;

[0057] In one implementation, the TDOA site may be a spatial spectrum direction finding TDOA site.

[0058] In other implementations, the TDOA site may also be other types of detection stations.

[0059] The current sending site refers to the TDOA site that is currently determined to need to send a target signal externally.

[0060] In a further example, the content and / or method of the signal sent by the current sending site can refer to the content and / or method of the signal sent when the monitored object (such as a drone) is monitored. Furthermore, the current sending site can also be regarded as simulating the monitored object and sending a target signal.

[0061] The current receiving site refers to a TDOA site that is currently determined not to send a target signal externally but needs to monitor and receive the target signal.

[0062] by Figure 1 Taking the example, the TDOA site at position (f1, P1), the TDOA site at position (f2, P2), the TDOA site at position (f3, P3), the TDOA site at position (f4, P4), and the TDOA site at position (f5, P5) shown therein can be regarded as the current sending sites, and the remaining sites can be regarded as the current receiving sites.

[0063] The above steps S11 to S14 may be implemented in a repeated cycle. Steps S11 to S14 only indicate a process of a cycle. Further, for a certain TDOA station, when steps S11 to S14 are implemented in a certain cycle, it may be determined as the current sending station, and it may also be determined as the current receiving station in another cycle. In addition, the N taken in each cycle may be different.

[0064] In addition, in the process of repeated implementation, in one example, steps S11 to S14 can be implemented on all TDOA sites in each cycle. At this time, L is the total number of all TDOA sites. In another example, for a TDOA site that has been determined to be normal (or abnormal), it may not be used as the current sending site or the current receiving site, or it may be directly determined as the current sending site or the current receiving site. It can be seen that for different cycles, L may be the same or different.

[0065] The detection result indicates whether the current receiving station detects the target signal, and the time when the current receiving station detects the target signal;

[0066] Among them, whether the target signal is detected can reflect whether the current receiving site has the ability to detect signals (or can be understood as receiving and collecting signals), and the time difference of the current receiving site can be calculated according to the time when the target signal is detected. It can be seen that the detection results of the signal when an abnormality occurs are often different from the detection results when no abnormality occurs. Therefore, the present invention can help to accurately determine whether an abnormality occurs in the current receiving site. In this process, no human participation is required. It can be seen that the present invention uses the signal transmission and reception between TDOA sites to complete the self-inspection of the TDOA site. It overcomes the problems of high cost, large workload, slow speed, and difficult to ensure reliability of manual inspection.

[0067] In one embodiment, the N current sending sites are randomly selected. Meanwhile, the embodiment of the present invention does not exclude the method of selecting the current sending sites according to a preset rule. Wherein, any two current sending sites are not adjacent to each other. The adjacent referred to herein can be understood by referring to the relevant description of this specification.

[0068] In the above scheme, since the current sending sites are not adjacent, the detection efficiency can be effectively improved.

[0069] One specific method of random selection is: according to the TDOA site numbering sequence, each time step S11 is executed, a string of 01 random sequences can be generated, and the site with the number corresponding to the sequence 0 is used as the current sending site. Among the adjacent TDOA sites, only one TDOA site can be used as the current sending site. For the one that has been used as the current sending site, when the sequence is generated next time (that is, when step S11 is implemented again in the next cycle), it is directly set to 1. Then, in the process of cyclically implementing steps S11 to S14, each step S11 process can be implemented in accordance with this method until all TDOA sites in the TDOA system have traversed the current sending site position, and then this setting is removed. At this time, the cyclic implementation of steps S11 to S14 can be stopped. In addition, in order to ensure the test effect, the cyclic implementation can also be continued without stopping.

[0070] In another embodiment, the above-mentioned current sending site selection method (i.e., the implementation method of step S11) may also adopt other feasible methods, and N TDOA sites may be designated as current sending sites according to a preset rule, which can ensure that the current sending site traverses all the TDOA sites.

[0071] It can be seen that as long as the current sending sites selected are not adjacent to each other when steps S11 to S14 are implemented in each cycle, and after multiple cycles, the current sending site traverses each TDOA site, it will be sufficient.

[0072] In one implementation, each TDOA site is used as the current sending site only once. The method in this embodiment has higher detection efficiency.

[0073] This method of determining the current sending site can not only overcome the disadvantages of manual inspection one by one, saving time and manpower, but also comprehensively test the positioning function of all TDOA sites.

[0074] In one embodiment, step S12 includes:

[0075] Control the current sending site to send the target signal externally with specified parameters; the specified sending parameters include at least one of the following: frequency, power; the specified sending parameters match the sending parameters of the signal sent when the specified UAV is detected by the TDOA site.

[0076] The specified transmission parameter includes at least one of the following: frequency or power, which indicates that the transmission parameter each time may be a certain frequency, a certain power, or a combination of a certain frequency or power;

[0077] In one embodiment, the frequency or power is a commonly used transmission power or frequency of a drone;

[0078] In another embodiment, the power or frequency may be the transmission frequency or power of the drone with the most occurrences counted;

[0079] In another embodiment, the power or frequency may be the most frequently occurring transmission frequency or power of drones in a particular area;

[0080] In other implementations, the power or frequency may also be the transmission frequency or power of other drones, but is not limited to a specific drone transmission frequency or power, and may be modified according to actual conditions.

[0081] Furthermore, the above scheme can effectively simulate the signal sending method of the designated drone being monitored, so that the detection results of the TDOA site can accurately reflect the detection capability of the designated drone.

[0082] In one embodiment, step S12 includes: controlling the current sending site to send the target signal multiple times, the duration of each sending is a first duration, and the interval between two adjacent sendings is a second duration.

[0083] The first duration is the duration of a target signal sent by the current sending site, and the second duration is the interval between any two target information sent by the current sending site.

[0084] In one embodiment, the first duration and the second duration may be a commonly used transmission interval and transmission duration of a drone.

[0085] In another embodiment, it may not be limited to the commonly used transmission duration and transmission interval of the drone, and may be any transmission duration and interval suitable for the current receiving station to monitor the target signal;

[0086] In one embodiment, the commonly used drone transmission duration and interval may be the drone transmission duration and interval with the most occurrences in statistics.

[0087] In another implementation, it may be the most frequently occurring drone delivery time and interval in a specific area, or it may be the delivery time and interval of other drones, but it is not limited to a specific drone delivery time and interval, and may be flexible according to actual conditions.

[0088] Specifically, in one implementation, the first duration of the target signal is 1 s, and the second duration is 5 s.

[0089] Please refer to Figure 3 In one embodiment, step S14 includes

[0090] S141: Whether any first receiving station detects the first sending station target signal;

[0091] S142: Whether the corresponding second receiving station detects the target signal of the corresponding first sending station;

[0092] If the judgment result of step S141 is no, and the judgment result of step S142 is yes, then step S143 may be implemented: determining that an abnormality occurs at the first receiving site;

[0093] If the judgment result of step S141 is yes, then no abnormality occurs at the first receiving site.

[0094] If the judgment result of step S141 is no and the judgment result of step S142 is no, it is determined that an abnormality occurs in the first receiving site.

[0095] The first receiving site and the second receiving site are both adjacent to the first sending site.

[0096] The above abnormal situation refers to an abnormality in the detection system of the first receiving site or an abnormality in the signal propagation link between the first sending site and the first receiving site. The detection system has the ability to detect the target signal sent by the first sending site.

[0097] If any first receiving site fails to detect the target signal of the first sending site, but the corresponding second receiving site detects the target signal of the corresponding first sending site, it means that there is an abnormality in the detection system of the first receiving site, or there is an abnormality in the signal propagation link between the first sending site and the first receiving site.

[0098] Furthermore, in the same cycle, if the second receiving site can receive signals from other current sending sites, it means that there is an abnormality in the signal propagation link between the first sending site and the first receiving site; if the second receiving site also cannot receive signals from other current sending sites, it is determined that there is an abnormality in the detection system of the first receiving site.

[0099] Please refer to Figure 4 , step S14 comprises:

[0100] S144: whether the plurality of third receiving stations all detect the target signal sent by the second sending station;

[0101] If the judgment result of step S144 is yes, then the following steps may be performed:

[0102] S145: Calculating the time difference of receiving the corresponding target signal by the plurality of third receiving sites; the plurality of third receiving sites are adjacent to the second sending site;

[0103] S146: Based on the time difference, determine whether some or all of the third sites have abnormalities.

[0104] The time difference refers to the difference between the time when the corresponding receiving station (such as the third receiving station) receives the target signal and the time when the target signal is sent;

[0105] The abnormality occurring at the third receiving site refers to: an abnormality occurring at the clock system of the third receiving site, or an abnormality occurring at the signal transmission link between the third receiving site and the second sending site.

[0106] Please refer to Figure 5 In one embodiment, before step S146, the following steps may also be included:

[0107] S147: Obtain first positioning results of the plurality of third receiving sites for the second sending site;

[0108] S148: Determine that the deviation between the first positioning result and the actual position of the second sending site exceeds a deviation threshold.

[0109] Furthermore, only when the first positioning result deviates greatly from the actual position of the second sending site, is it determined based on the time difference whether an abnormality has occurred at the third site.

[0110] The first positioning result may, for example, determine the time difference of multiple third receiving sites, and then the multiple third receiving sites may form multiple time differences, and the time difference may reflect the distance of each third receiving site relative to the second sending site. Based on this, when the real position of each third receiving site is known, the first positioning result may be located for the second sending site;

[0111] In one implementation, the deviation threshold is 30 meters. In actual analysis, it is not necessary to stick to this value, and it can be within a range close to this value.

[0112] Please refer to Figure 6 In one embodiment, step S146 may specifically include:

[0113] S1461: Whether the time difference corresponding to any third receiving site is adapted to the positions of the plurality of third receiving sites and the second sending site;

[0114] If the judgment result of step S1461 is yes, step S1462 may be implemented: determining that no abnormality occurs at any of the third receiving sites.

[0115] Among them, no abnormality means that there is no abnormality in the clock system of the third receiving site, and there is no abnormality in the signal propagation link between the third receiving site and the second sending site. At the same time, it can be inferred without a doubt that there is no abnormality in the detection system of the third receiving site, which can be used to detect the position of the UAV when the UAV passes over the third receiving station.

[0116] If the judgment result of step S1461 is no, then the following steps may be performed:

[0117] S1463: Obtain a second positioning result of any third receiving site and the fourth receiving site for another third sending site;

[0118] S1464: Whether the deviation between the second positioning result and the actual position of the third sending site exceeds a deviation threshold;

[0119] If the judgment result of step S1464 is no, step S1465 can be determined: determining whether an abnormality occurs in the signal propagation link between any third receiving site and the second sending site.

[0120] If the determination result of step S1464 is yes, an abnormality occurs in the clock system of the third site.

[0121] Among them, if the time difference corresponding to any of the third receiving sites is not adapted to the positions of the multiple third sites and the second sending site (that is, the judgment result of step S1461 is no), at this time, it is speculated that there are two possible abnormal situations in the third receiving site: the clock system of the third receiving site is abnormal, or the signal propagation link between the third receiving site and the second sending site is abnormal.

[0122] The adaptation can be understood as: the time difference corresponding to any third receiving site is the position of the plurality of third sites and the second sending site

[0123] Then: obtaining a second positioning result of any one of the third receiving site and the fourth receiving site for another third sending site;

[0124] If the deviation between the second positioning result and the actual position of the third sending site does not exceed the deviation threshold (i.e., the result of step S1464 is no), the possibility that the clock system of the third receiving site is abnormal is excluded, and it is determined that the signal propagation link between any third receiving site and the second sending site is abnormal;

[0125] If the deviation between the second positioning result and the actual position of the third sending site exceeds the deviation threshold (ie, the judgment result of step S1464 is yes), the abnormal situation of the third receiving site may be an abnormal situation in the clock system of the third site.

[0126] The deviation threshold in the above step S1464 may be the same as the deviation threshold in step S148 or may be different.

[0127] The abnormal situation of the propagation link means that: a factor that affects the actual detection time difference of the current receiving site occurs between the current sending site and the current receiving site; this influencing factor may be a blocking or interference factor between the current sending site and the current receiving site, which affects the time difference of the current receiving site.

[0128] Please refer to Figure 7 , a detection device 20 for a TDOA site, comprising:

[0129] The current sending site selection module 21 is used to determine N TDOA sites as current sending sites and LN TDOA sites as current receiving sites among all L TDOA sites; wherein N is an integer greater than or equal to 1;

[0130] A signal sending module 22, used to control the current sending site to send a target signal externally;

[0131] A detection result acquisition module 23, wherein the detection result indicates whether the current receiving station detects the target signal and the time when the current receiving station detects the target signal;

[0132] The abnormal situation analysis module 24 is used to determine whether some or all of the current receiving sites are abnormal based on the detection results.

[0133] In one embodiment, the N current sending sites are randomly selected, and any two of the current sending sites are not adjacent to each other.

[0134] In one embodiment, the signal sending module 22 is specifically used to:

[0135] Control the current sending site to send the target signal externally with specified parameters; the specified sending parameters include at least one of the following: frequency, power; the specified sending parameters match the sending parameters of the signal sent when the specified UAV is detected by the TDOA site.

[0136] In one embodiment, the signal sending module 22 is specifically used to:

[0137] The current sending site is controlled to send the target signal multiple times, the duration of each sending is a first duration, and the interval between two adjacent sendings is a second duration.

[0138] In one embodiment, the abnormal situation analysis module 24 is specifically used to:

[0139] If any first receiving site fails to detect the target signal of the first sending site, but the corresponding second receiving site detects the target signal of the first sending site, it is determined that an abnormality has occurred at the first receiving site; wherein both the first receiving site and the second receiving site are adjacent to the first sending site.

[0140] In one embodiment, the abnormal situation analysis module 24 is specifically used to:

[0141] If the plurality of third receiving sites all detect the target signal sent by the second sending site, then the time difference of the plurality of third receiving sites receiving the corresponding target signal is calculated; the plurality of third receiving sites are adjacent to the second sending site;

[0142] Based on the time difference, it is determined whether an abnormality occurs in part or all of the third sites.

[0143] In one embodiment, the abnormal situation analysis module 24 is specifically used to:

[0144] Obtaining first positioning results of the plurality of third receiving sites for the second sending site;

[0145] It is determined that a deviation between the first positioning result and the actual position of the second sending site exceeds a deviation threshold.

[0146] In one embodiment, the abnormal situation analysis module 24 is specifically used to:

[0147] If the time difference corresponding to any third receiving site is adapted to the actual positions of the multiple third receiving sites and the second sending site, it is determined that no abnormality occurs to any third receiving site.

[0148] In one embodiment, the abnormal situation analysis module 24 is specifically used to:

[0149] If the time difference corresponding to any third receiving site is not adapted to the positions of the plurality of third sites and the second sending site, then:

[0150] Obtain a second positioning result of any one of the third receiving site and the fourth receiving site for another third sending site;

[0151] If the deviation between the second positioning result and the actual position of the third sending site does not exceed the deviation threshold, it is determined that an abnormality occurs in the signal propagation link between any third receiving site and the second sending site.

[0152] Please refer to Figure 8 , an electronic device 30 is provided, including a processor 31 and a memory 32, wherein the memory is used to store code; the processor 31 and the memory 32 communicate via a bus 33.

[0153] The processor is used to execute the code in the memory to implement the TDOA site detection method mentioned above.

[0154] The present invention also provides a storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned TDOA site detection method is implemented.

[0155] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting a TDOA site, characterized in that: include: Among the L TDOA sites, N TDOA sites are determined as current sending sites, and LN TDOA sites are determined as current receiving sites; Wherein N and L are both integers greater than or equal to 1, and N is less than L; Controlling the current sending site to send a target signal externally; Acquire a detection result, wherein the detection result indicates whether the current receiving station detects the target signal and the time when the current receiving station detects the target signal; Based on the detection result, determining whether some or all of the current receiving sites are abnormal; Based on the positioning detection results, determine whether an abnormality has occurred, including: If any first receiving site fails to detect the target signal of the first sending site, and the corresponding second receiving site detects the target signal of the first sending site, it is determined that an abnormality occurs at the first receiving site; wherein both the first receiving site and the second receiving site are adjacent to the first sending site; Based on the positioning detection results, determine whether an abnormality has occurred, including: If the plurality of third receiving sites all detect the target signal sent by the second sending site, then the time difference of the plurality of third receiving sites receiving the corresponding target signal is calculated; the plurality of third receiving sites are adjacent to the second sending site; Based on the time difference, determining whether some or all of the third sites are abnormal; Before determining whether some or all of the third receiving sites are abnormal based on the time difference, the method further includes: Obtaining first positioning results of the plurality of third receiving sites for the second sending site; Determining that a deviation between the first positioning result and the actual position of the second sending site exceeds a deviation threshold; Based on the time difference, determining whether some or all of the third receiving sites are abnormal includes: If the time difference corresponding to any third receiving site is adapted to the real positions of the plurality of third receiving sites and the second sending site, it is determined that no abnormality occurs at any third receiving site; Based on the time difference, determining whether some or all of the third receiving sites are abnormal includes: If the time difference corresponding to any third receiving site is not adapted to the positions of the plurality of third sites and the second sending site, then: Obtain a second positioning result of any one of the third receiving site and the fourth receiving site for another third sending site; If the deviation between the second positioning result and the actual position of the third sending site does not exceed the deviation threshold, it is determined that an abnormality occurs in the signal propagation link between any third receiving site and the second sending site.

2. A TDOA site detection method according to claim 1, characterized in that: The N current sending sites are randomly selected, and any two of the current sending sites are not adjacent to each other.

3. A TDOA site detection method according to claim 1, characterized in that: Controlling the current sending site to send a target signal externally includes: Control the current sending site to send the target signal externally with specified parameters; the specified sending parameters include at least one of the following: frequency, power; the specified sending parameters match the sending parameters of the signal sent when the specified UAV is detected by the TDOA site.

4. A TDOA site detection method according to claim 1, characterized in that: Controlling the first TDOA site to send the target signal externally includes: The current sending site is controlled to send the target signal multiple times, the duration of each sending is a first duration, and the interval between two adjacent sendings is a second duration.

5. A detection device for a TDOA site, characterized in that: A current sending site selection module is used to determine N TDOA sites as current sending sites and (LN) TDOA sites as current receiving sites among all L TDOA sites; Wherein N is an integer greater than or equal to 1; A signal sending module, used to control the current sending site to send a target signal externally; A detection result acquisition module, wherein the detection result indicates whether the current receiving station detects the target signal and the time when the current receiving station detects the target signal; An abnormality analysis module, used to determine whether some or all of the current receiving sites have abnormalities based on the detection results; Based on the positioning detection results, determine whether an abnormality has occurred, including: If any first receiving site fails to detect the target signal of the first sending site, and the corresponding second receiving site detects the target signal of the first sending site, it is determined that an abnormality occurs at the first receiving site; wherein both the first receiving site and the second receiving site are adjacent to the first sending site; Based on the positioning detection results, determine whether an abnormality has occurred, including: If the plurality of third receiving sites all detect the target signal sent by the second sending site, then the time difference of the plurality of third receiving sites receiving the corresponding target signal is calculated; the plurality of third receiving sites are adjacent to the second sending site; Based on the time difference, determining whether some or all of the third sites are abnormal; Before determining whether some or all of the third receiving sites are abnormal based on the time difference, the method further includes: Obtaining first positioning results of the plurality of third receiving sites for the second sending site; Determining that a deviation between the first positioning result and the actual position of the second sending site exceeds a deviation threshold; Based on the time difference, determining whether some or all of the third receiving sites are abnormal includes: If the time difference corresponding to any third receiving site is adapted to the real positions of the plurality of third receiving sites and the second sending site, it is determined that no abnormality occurs at any third receiving site; Based on the time difference, determining whether some or all of the third receiving sites are abnormal includes: If the time difference corresponding to any third receiving site is not adapted to the positions of the plurality of third sites and the second sending site, then: Obtain a second positioning result of any one of the third receiving site and the fourth receiving site for another third sending site; If the deviation between the second positioning result and the actual position of the third sending site does not exceed the deviation threshold, it is determined that an abnormality occurs in the signal propagation link between any third receiving site and the second sending site.

6. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory is used to store codes; The processor is used to execute the code in the memory to implement the TDOA site detection method described in any one of claims 1 to 4.

7. A storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for detecting a TDOA site as described in any one of claims 1 to 4 is implemented.

Images