Multi-UAV Resource Scheduling Method, System and Device Based on TDOA Detection and Location

Abstract

The present invention provides a multi-UAV resource scheduling method, system and device based on TDOA detection and positioning. The method includes: obtaining the flight density of UAVs within the monitoring area of the UAVs; setting the scanning frequency and scanning time period of each TDOA site within the monitoring area of the UAVs; scanning the radio signals to form first target data representing the corresponding TDOA sites of the radio signals and the scanning frequencies corresponding to the radio signals; determining the currently selected TDOA site for continuously tracking the radio signals according to the first target data; the currently selected TDOA site continues to receive the radio signals and continues to form second target data; predicting the flight trajectory of the UAVs according to the second target data formed at different times; setting a signal reception range according to the flight trajectory, and dynamically adjusting the currently selected TDOA site within the signal reception range, thus solving the problem of continuous positioning of multiple UAV flights.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a multi-unmanned aerial vehicle resource scheduling method, system and device based on TDOA detection and positioning. Background Art

[0002] With the rapid popularization of various consumer unmanned aerial vehicles, low-altitude civilian unmanned aerial vehicles in urban areas have spread across various industries and regions. While unmanned aerial vehicles bring a lot of convenience and new activities, the control of unmanned aerial vehicles has also become an important social issue. Among them, the basis for the control of unmanned aerial vehicles lies in the detection and positioning of unmanned aerial vehicles.

[0003] Detecting and positioning the radio signals of unmanned aerial vehicles is the main technical means for the current supervision of urban consumer civilian unmanned aerial vehicles. Among them, the TDOA time difference positioning method is one of the mainstream technical approaches. The TDOA time difference positioning method utilizes the cooperation of more than three monitoring stations to achieve the positioning of the radio signals of unmanned aerial vehicles.

[0004] However, with the increasing number of low-altitude unmanned aerial vehicles in cities and the rapid growth of flight density, traditional TDOA positioning systems are mainly aimed at single unmanned aerial vehicles, and it is difficult to effectively solve the problem of continuous positioning of multiple unmanned aerial vehicles. The key lies in that the time and frequency resource allocation of its monitoring stations cannot cope with multiple unmanned aerial vehicles. Summary of the Invention

[0005] The present invention provides a multi-unmanned aerial vehicle resource scheduling method, system and device based on TDOA detection and positioning, aiming to solve the problem of continuous positioning of multiple unmanned aerial vehicles.

[0006] According to the first aspect of the present invention, a multi-unmanned aerial vehicle resource scheduling method is provided, and the method includes:

[0007] Obtain the flight density of unmanned aerial vehicles within the monitoring area of the unmanned aerial vehicles, where the flight density represents the number of unmanned aerial vehicles flying simultaneously per unit area and per unit time;

[0008] Set the scanning frequency and scanning time period of each TDOA station within the monitoring area of the unmanned aerial vehicles; each TDOA station scans and receives the radio signals of the unmanned aerial vehicles according to the set scanning frequency and scanning time period. If the radio signals of the corresponding unmanned aerial vehicles are received, first target data is formed, and the first target data represents the corresponding TDOA station that receives the radio signals and the scanning frequency corresponding to the radio signals;

[0009] Determine the current TDOA selected station for continuously tracking the radio signals according to the first target data;

[0010] The current TDOA selected site continues to receive the radio signal and continues to form second target data;

[0011] Predict the flight trajectory of the UAV based on the second target data formed at different times;

[0012] According to the flight trajectory, set the signal reception range and dynamically adjust the current TDOA selected sites within the signal reception range.

[0013] Optionally, one scanning frequency corresponds to one frequency point; the scanning frequencies include short scanning frequencies and long scanning frequencies; the short scanning frequencies cover the typical frequency band of UAV signals, and the number of short scanning frequencies is equal to the flight density; the scanning time periods include short scanning time periods and long scanning time periods; the short scanning time period is the sum of the scanning times for scanning at each frequency point of the short scanning frequency; the long scanning time period is the sum of the scanning times for scanning at each frequency point of the long scanning frequency.

[0014] Optionally, each TDOA site scans and receives the radio signal of the UAV according to the set scanning frequency and scanning time period, specifically, each TDOA site alternately scans and receives the radio signal of the UAV at the short scanning frequency and the long scanning frequency.

[0015] Optionally, each TDOA site alternately scans and receives the radio signal of the UAV at the short scanning frequency and the long scanning frequency, specifically including:

[0016] Each TDOA site first performs a first scan and reception of the radio signal of the UAV at the short scanning frequency;

[0017] When the time of the first scan and reception reaches the short scanning time period, perform a second scan and reception of the radio signal of the UAV at the long scanning frequency;

[0018] And, if the time interval between two adjacent first scan and receptions is greater than the long scanning time period; then during the second scan and reception, when the duration of the second scan and reception reaches the time interval, pause the second scan and reception, and perform the first scan and reception again until the scanning time reaches the short scanning time period, and then continue the second scan and reception from the frequency at the pause point.

[0019] Optionally, if the flight density is greater than a preset value, for each increase of 1 in the flight density, the short scanning time period is reduced by 10%.

[0020] Optionally, determining the current TDOA selected site for continuing to track the radio signal according to the first target data includes:

[0021] Determine the TDOA site where the radio signal is detected according to the first target data as the preselected TDOA site;

[0022] Sort the preselected TDOA sites;

[0023] Determine four preselected TDOA sites that form the largest quadrilateral area as the currently selected TDOA sites.

[0024] Optionally, the sorting of the preselected TDOA sites includes:

[0025] Among the preselected TDOA sites, sort them from largest to smallest according to the number of remaining short scan frequencies greater than 1; where the number of remaining short scan frequencies represents the difference between the number of short scan frequencies set for the preselected TDOA site and the number of frequency points used to track the radio signal.

[0026] Optionally, the determination of four preselected TDOA sites that form the largest quadrilateral area as the currently selected TDOA sites specifically includes:

[0027] For the sorted preselected TDOA sites, select the preselected TDOA site with the largest number of remaining short scan frequencies as the first site, and select three from the remaining preselected TDOA sites to form the largest quadrilateral with the first site; the four preselected TDOA sites that form the largest quadrilateral area are used as the currently selected TDOA sites.

[0028] Optionally, the non-TDOA selected sites among the preselected TDOA sites no longer perform radio signal scanning and reception.

[0029] Optionally, the prediction of the flight trajectory of the UAV according to the second target data formed at different times includes:

[0030] According to the second target data formed at different times, perform TDOA calculation using the signal time difference, locate the position of the UAV, and mark it;

[0031] After continuous positioning for several times, form the flight trajectory of the UAV, and obtain the flight direction and speed of the UAV.

[0032] Optionally, based on the flight trajectory, set the signal reception range and dynamically adjust the currently selected TDOA sites within the signal reception range, including:

[0033] Set the signal reception range of the TDOA site;

[0034] Predict the time when the UAV will leave the signal reception range of the current TDOA selected site according to the flight direction and speed of the UAV, as well as the signal reception range of other TDOA sites and the corresponding entry times.

[0035] The TDOA site that has left the signal reception range is no longer used as the current TDOA selected site, and the current TDOA site is reconfirmed based on the TDOA sites within the current signal reception range.

[0036] Optionally, the reconfirming the current TDOA site based on the TDOA sites within the current signal reception range includes:

[0037] Select each TDOA site within the signal reception range as the second preselected TDOA site;

[0038] Sort the second preselected TDOA sites;

[0039] Determine the four second preselected TDOA sites that form the largest quadrilateral area as the reconfirmed current TDOA selected sites.

[0040] According to the second aspect of the present invention, there is provided a multi-UAV resource scheduling system for implementing the multi-UAV resource scheduling method described in the first aspect of the present invention. The system includes:

[0041] A flight density acquisition module for acquiring the flight density of UAVs within the monitoring area of the UAVs, where the flight density represents the number of UAVs flying simultaneously per unit area and per unit time;

[0042] A scan setting module for setting the scan frequency and scan time period of each TDOA site within the monitoring area of the UAVs;

[0043] A TDOA monitoring network includes the TDOA sites. Each TDOA site is used to scan and receive the radio signals of the UAVs according to the set scan frequency and scan time period. If the radio signals of the corresponding UAVs are received, first target data is formed, and the first target data represents the corresponding TDOA site that has received the radio signal and the scan frequency corresponding to the radio signal;

[0044] A current TDOA selected site determination module for determining the current TDOA selected site that continues to track the radio signal according to the first target data; the current TDOA selected site is used to continue receiving the radio signal and continue to form second target data;

[0045] A flight trajectory prediction module for predicting the flight trajectory of the UAV according to the second target data formed at different times.

[0046] A dynamic adjustment module is configured to set a signal reception range according to the flight trajectory and dynamically adjust the currently selected TDOA stations within the signal reception range.

[0047] According to a third aspect of the present invention, there is provided an electronic device including a processor and a memory; the memory stores a program that can be called by the processor; wherein, when the processor executes the program, the multi-UAV resource scheduling method described in any one of the first aspects of the present invention is implemented.

[0048] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium storing program instructions, and when the program instructions are executed by a processor of a computer, the processor executes the multi-UAV resource scheduling method described in the first aspect of the present invention.

[0049] The multi-UAV resource scheduling method, system and device based on TDOA detection and positioning provided by the present invention obtain the flight density within the detection area of the UAV, set the scanning frequency and scanning time period of the TDOA stations within the monitoring area of the UAV to obtain the first target data representing the TDOA stations corresponding to the radio signals within the monitoring area of the UAV and the scanning frequency corresponding to the radio signals, and continue to track the UAV according to the first target data to form the second target data for predicting the UAV flight trajectory, and obtain the TDOA selected stations adapted to the radio signals according to the flight trajectory, thus solving the problem of inability to continuously locate multiple UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings without creative efforts based on these drawings.

[0051] Figure 1 is a flowchart of a multi-UAV resource scheduling method in an embodiment of the present invention;

[0052] Figure 2 is a flowchart of TDOA station scanning in an embodiment of the present invention;

[0053] Figure 3 is a flowchart of determining preselected TDOA stations in an embodiment of the present invention;

[0054] Figure 4 is a flowchart of adjusting preselected TDOA stations in an embodiment of the present invention;

[0055] Figure 5 It is a schematic diagram of the modules of a multi-UAV resource scheduling system according to an embodiment of the present invention;

[0056] Figure 6 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Specific embodiments

[0057] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0058] 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 do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0059] Next, the technical solutions of the present invention will be described in detail with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0060] Please refer to Figures 1 to 4 , in an embodiment of the present invention, a multi-UAV resource scheduling method based on TDOA detection and positioning is provided, and the method includes:

[0061] S1: Obtain the flight density of the UAVs within the monitoring area of the UAVs, where the flight density represents the number of UAVs flying simultaneously per unit area and per unit time.

[0062] In an example, taking 2km * 2km as the unit area and minutes as the unit time, the flight density of the UAVs within the urban UAV monitoring area is counted as the flight density here.

[0063] S2: Set the scanning frequencies and scanning time periods of each TDOA site within the monitoring area of the UAV; each TDOA site scans and receives the radio signals of the UAV according to the set scanning frequencies and scanning time periods. If the radio signals of the corresponding UAV are received, first target data is formed, and the first target data characterizes the corresponding TDOA site that receives the radio signal and the scanning frequency corresponding to the radio signal.

[0064] Among them, one scanning frequency corresponds to one frequency point; the scanning frequencies include short scanning frequencies and long scanning frequencies; the short scanning frequencies cover the typical frequency bands of UAV signals, and the number of the short scanning frequencies is equal to the flight density; the scanning time periods include short scanning time periods and long scanning time periods; the short scanning time period is the sum of the scanning times for scanning at each frequency point of the short scanning frequency; the long scanning time period is the sum of the scanning times for scanning at each frequency point of the long scanning frequency.

[0065] Among them, in a specific embodiment, the short scanning frequencies include typical UAV signal frequency bands such as 2.4 GHz, 5.8 GHz, 800 MHz, 900 MHz, 1.1 GHz, 1.2 GHz, 1.4 GHz, etc.; the long-period scanning frequency is the other remaining frequency bands from 100M to 6GHZ.

[0066] Each TDOA site scans and receives the radio signals of the UAV according to the set scanning frequencies and scanning time periods. Specifically, each TDOA site alternately scans and receives the radio signals of the UAV at the short scanning frequencies and long scanning frequencies.

[0067] Please refer to Figure 2 , each TDOA site alternately scans and receives the radio signals of the UAV at the short scanning frequencies and long scanning frequencies, specifically including:

[0068] S21: Each TDOA site first performs a first scan and reception of the radio signals of the UAV at the short scanning frequencies.

[0069] S22: When the time of the first scan and reception reaches the short scanning time period, perform a second scan and reception of the radio signals of the UAV at the long scanning frequencies.

[0070] If the time interval between two adjacent first scan and receptions is greater than the long scanning time period; then during the second scan and reception, when the duration of the second scan and reception reaches the time interval, pause the second scan and reception, and perform the first scan and reception again until the scanning time reaches the short scanning time period, and then continue the second scan and reception from the frequency at the pause point.

[0071] If the flight density is greater than a preset value, for each increase of 1 in the flight density, the short scan time period decreases by 10%.

[0072] In a specific embodiment, if the preset value is 6, when the flight density is less than or equal to 6, the short scan time period is the sum of the scan times for each frequency point of the short scan frequency; when the flight density is 7, the short scan time period is 90% of the sum of the scan times corresponding to the preset value; for each increase of 1 in the flight density, its short scan time period is reduced to 90% of the short scan time period corresponding to the previous flight density.

[0073] S3: Determine the current TDOA selected sites for continuing to track the radio signal according to the first target data; the current TDOA selected sites continue to receive the radio signal and continue to form second target data.

[0074] Specifically, please refer to Figure 3 , and S3 specifically includes:

[0075] S31: Determine the TDOA sites where the radio signal is discovered according to the first target data as the preselected TDOA sites.

[0076] S32: Sort the preselected TDOA sites.

[0077] Among the preselected TDOA sites, sort them from largest to smallest according to the number of remaining short scan frequencies greater than 1; wherein, the number of remaining short scan frequencies represents the difference between the number of short scan frequencies set by the preselected TDOA sites and the number of frequency points used to track the radio signal.

[0078] In an example, if there are 5 frequency points for the short scan frequency of the preselected TDOA site. At this time, it has tracked 3 drones, and the frequencies of these three drones are the current short - period frequency values it has. There are still two empty positions, which means it can set two other frequencies as its short scan frequencies. Then the number of remaining short scan frequencies at this time is 2.

[0079] S33: Determine the four preselected TDOA sites that form the largest quadrilateral area as the current TDOA selected sites.

[0080] For the sorted preselected TDOA sites, select the preselected TDOA site with the largest number of remaining short scan frequencies as the first site, and select three from the remaining preselected TDOA sites that form the largest quadrilateral area with the first site; the four preselected TDOA sites that form the largest quadrilateral area are used as the current TDOA selected sites.

[0081] Among the above-mentioned preselected TDOA sites, the non-TDOA selected sites will no longer perform radio signal scanning and reception.

[0082] S4: Predict the flight trajectory of the UAV based on the second target data formed at different times.

[0083] Specifically, the server uses the time difference of signals to perform TDOA calculations based on the second target data formed at different times, locates the position of the UAV, and marks it. After continuously positioning several times, the flight trajectory of the UAV is formed, and the flight direction and speed of the UAV are obtained.

[0084] Among them, the TDOA calculation includes: determining the distance of the signal source by measuring the time when the radio signal arrives at the TDOA site (this time is the time difference when the radio signal arrives at different TDOA sites). Using the distances from the signal source to each TDOA site, for example: taking the TDOA site as the center and the distance as the radius to draw a circle to obtain the distances from the signal source to each TDOA site, and determining the position of the UAV. After continuously positioning several times, the flight trajectory of the UAV is obtained.

[0085] Please refer to Figure 4 , set the signal reception range based on the flight trajectory of the UAV, and dynamically adjust the current TDOA selected sites within the signal reception range, including:

[0086] S41: Set the signal reception range of the TDOA site.

[0087] S42: According to the flight direction and speed of the UAV, predict the time when the UAV leaves the signal reception range of the current TDOA selected site, as well as the signal reception range and corresponding entry time when it enters other TDOA sites.

[0088] S43: The TDOA site that has left the signal reception range will no longer be used as the current TDOA selected site, and the current TDOA site will be reconfirmed based on the TDOA sites within the current signal reception range.

[0089] The specific method of step S43 is as follows: Select each TDOA site within the signal reception range as the second preselected TDOA site; sort the second preselected TDOA sites; determine the four second preselected TDOA sites that form the largest quadrilateral area as the reconfirmed current TDOA selected sites.

[0090] In a specific embodiment, the specific selection method for determining the four second preselected TDOA sites that form the largest quadrilateral area from the sites where the remaining number of cycle scan frequencies is greater than 1 is as follows: Select the TDOA site with the largest remaining number from the sites where the remaining number of short scan frequencies is greater than 1, and mark it as the No. 1 TDOA site based on this. Then select the other three second preselected TDOA sites with the largest remaining number of short scan frequencies and that form the largest quadrilateral area with the No. 1 TDOA site. These four TDOA sites are the second preselected TDOA sites selected by the server for positioning the UAV signal. At the same time, the server sends the task assignment decision to continue tracking the UAV signal to the selected sites. Along with the movement of this UAV, the four second preselected TDOA sites that form the largest quadrilateral area are constantly changing. Thus, the flight trajectory of the UAV is obtained.

[0091] For the sites that do not receive the server task assignment instruction, they no longer continue to receive the UAV signal. The sites that receive the server task assignment instruction continue to receive the UAV signal and upload it to the server, and the server performs positioning calculations on the UAV signal.

[0092] S5: According to the flight trajectory, set the signal reception range and dynamically adjust the current TDOA selected sites within the signal reception range.

[0093] Please refer to Figure 5 , in an embodiment of the present invention, a multi-UAV resource scheduling system 200 based on TDOA detection and positioning is provided, which is characterized by including:

[0094] A flight density acquisition module 201, configured to acquire the flight density of UAVs within the UAV monitoring area, where the flight density represents the number of UAVs flying simultaneously per unit area and per unit time;

[0095] A scan setting module 202, configured to set the scan frequency and scan time period of each TDOA site within the UAV monitoring area;

[0096] A TDOA monitoring network, including each of the TDOA sites, where each TDOA site is configured to scan and receive the radio signals of UAVs according to the set scan frequency and scan time period. If the radio signals of the corresponding UAVs are received, first target data is formed, and the first target data represents the corresponding TDOA site that receives the radio signal and the scan frequency corresponding to the radio signal;

[0097] The current TDOA selected site determination module 203 is configured to determine the current TDOA selected site for continuously tracking the radio signal according to the first target data; the current TDOA selected site is used to continue receiving the radio signal and continue to form second target data;

[0098] The flight trajectory prediction module 204 is configured to predict the flight trajectory of the UAV according to the second target data formed at different times;

[0099] The dynamic adjustment module 205 is configured to set a signal reception range according to the flight trajectory and dynamically adjust the current TDOA selected sites within the signal reception range.

[0100] Please refer to Figure 6 , an embodiment of the present invention further provides an electronic device 30, including a processor 31 and a memory 32; the memory 32 stores a program that can be called by the processor 31; wherein, when the processor 31 executes the program, the processor 31 can communicate with the memory 32 through a bus 33, and is configured to execute the code in the memory to implement the above-mentioned multi-UAV resource scheduling method based on TDOA detection and positioning.

[0101] In an embodiment of the present invention, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned multi-UAV resource scheduling method based on TDOA detection and positioning is implemented.

[0102] The multi-UAV resource scheduling method, system and device based on TDOA detection and positioning provided by the present invention obtain the flight density within the detection area of the UAV, set the scanning frequency and scanning time period of the TDOA sites within the monitoring area of the UAV to obtain the first target data representing the TDOA sites corresponding to the radio signals within the monitoring area of the UAV and the scanning frequency corresponding to the radio signals, and continue to track the UAV according to the first target data to form second target data that can predict the flight trajectory of the UAV, and obtain the TDOA selected sites adapted to the radio signals according to the flight trajectory, thereby solving the problem of inability to continuously locate multiple UAV flights.

[0103] 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-UAV resource scheduling method based on TDOA detection and positioning, characterized in that The method includes: Obtaining the flight density of drones within the monitoring area of the drone, where the flight density represents the number of drones flying simultaneously per unit area and per unit time; Setting the scanning frequency and scanning time period for each TDOA site within the monitoring area of the drone; each TDOA site scans and receives the radio signals of the drones according to the set scanning frequency and scanning time period. If the radio signals of the corresponding drones are received, first target data is formed, and the first target data represents the corresponding TDOA site that receives the radio signal and the scanning frequency corresponding to the radio signal; Determining the current TDOA selected site for continuously tracking the radio signal according to the first target data; Determining the current TDOA selected site for continuously tracking the radio signal according to the first target data includes: Determining the TDOA site that discovers the radio signal according to the first target data as the preselected TDOA site; Sorting the preselected TDOA sites; Determining the four preselected TDOA sites that form the largest quadrilateral area as the current TDOA selected site; The current TDOA selected site continues to receive the radio signal and continues to form second target data; Predicting the flight trajectory of the drone according to the second target data formed at different times; Setting a signal reception range according to the flight trajectory and dynamically adjusting the current TDOA selected sites within the signal reception range.

2. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 1, characterized in that, One scanning frequency corresponds to one frequency point; the scanning frequency includes a short scanning frequency and a long scanning frequency; the short scanning frequency covers the typical frequency band of the drone signal, and the number of short scanning frequencies is equal to the flight density; the scanning time period includes a short scanning time period and a long scanning time period; the short scanning time period is the sum of the scanning times for scanning at each frequency point of the short scanning frequency; the long scanning time period is the sum of the scanning times for scanning at each frequency point of the long scanning frequency.

3. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 2, wherein, Each TDOA site scans and receives the radio signals of the drones according to the set scanning frequency and scanning time period, specifically, each TDOA site alternately scans and receives the radio signals of the drones at the short scanning frequency and the long scanning frequency.

4. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 3, characterized in that Each TDOA site alternately scans and receives the radio signals of the drones at the short scanning frequency and the long scanning frequency, specifically including: Each TDOA site first performs a first scan and reception of the radio signals of the drones at the short scanning frequency; When the time of the first scan and reception reaches the short scanning time period, a second scan and reception of the radio signals of the drones is performed at the long scanning frequency; Moreover, if the time interval between two adjacent first scans is greater than the long scan time period, then during the second scan reception, when the duration of the second scan reception reaches the time interval, pause the second scan reception and perform the first scan reception again. Continue the second scan reception from the frequency at the pause point after the scan time reaches the short scan time period.

5. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 4, wherein If the flight density is greater than the preset value, for each increase of 1 in the flight density, the short scan time period is reduced by 10%.

6. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 1, wherein: The sorting of the preselected TDOA sites includes: Among the preselected TDOA sites, sort them from largest to smallest according to the number of remaining short scan frequencies greater than 1; wherein, the number of remaining short scan frequencies represents the difference between the number of short scan frequencies set by the preselected TDOA site and the number of frequency points used to track the radio signal.

7. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 6, characterized in that, The determination of the four preselected TDOA sites that form the largest quadrilateral area as the current TDOA selected sites specifically includes: For the sorted preselected TDOA sites, select the preselected TDOA site with the largest number of remaining short scan frequencies as the first site, and select three preselected TDOA sites from the remaining preselected TDOA sites to form the largest quadrilateral with the first site; the four preselected TDOA sites that form the largest quadrilateral area are used as the current TDOA selected sites.

8. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 6 or 7, characterized in that, The non-TDOA selected sites among the preselected TDOA sites no longer perform radio signal scan reception.

9. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 7, wherein: The prediction of the UAV flight trajectory based on the second target data formed at different times includes: According to the second target data formed at different times, use the time difference of signals to perform TDOA calculation, locate the position of the UAV, and mark it. After continuously positioning several times, form the flight trajectory of the UAV and obtain the flight direction and speed of the UAV.

10. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 9, wherein: Based on the flight trajectory, set the signal reception range and dynamically adjust the current TDOA selected sites within the signal reception range, including: Set the signal reception range of the TDOA site. According to the flight direction and speed of the UAV, predict the time when the UAV leaves the signal reception range of the current TDOA selected site, as well as the signal reception range and corresponding entry time when entering other TDOA sites. The TDOA site that leaves the signal reception range no longer serves as the current TDOA selected site, and reconfirm the current TDOA site based on the TDOA sites within the current signal reception range.

11. The multi-UAV resource scheduling method based on TDOA detection and positioning according to claim 10, wherein The reconfirmation of the current TDOA site based on the TDOA sites within the current signal reception range includes: Select the TDOA sites within the signal reception range as the second preselected TDOA sites. Sort the second preselected TDOA sites; Determine four second preselected TDOA sites that form the largest quadrilateral area as the currently reconfirmed selected TDOA sites.

12. A multi-UAV resource scheduling system based on TDOA detection and positioning, characterized in that, Including: A flight density acquisition module for acquiring the flight density of drones within the drone monitoring area, where the flight density represents the number of drones flying simultaneously per unit area and per unit time; A scan setting module for setting the scan frequency and scan time period of each TDOA site within the drone monitoring area; A TDOA monitoring network including each TDOA site, and each TDOA site is used to scan and receive the radio signals of drones according to the set scan frequency and scan time period. If the radio signals of the corresponding drones are received, first target data is formed, and the first target data represents the corresponding TDOA site that received the radio signal and the scan frequency corresponding to the radio signal; A currently selected TDOA site determination module for determining the currently selected TDOA site that continues to track the radio signal according to the first target data; the currently selected TDOA site is used to continue receiving the radio signal and continue to form second target data; Determining the currently selected TDOA site that continues to track the radio signal according to the first target data includes: Determining the TDOA site that discovers the radio signal according to the first target data as the preselected TDOA site; Sort the preselected TDOA sites; Determine four preselected TDOA sites that form the largest quadrilateral area as the currently selected TDOA sites; A flight trajectory prediction module for predicting the flight trajectory of drones according to the second target data formed at different times; A dynamic adjustment module for setting a signal reception range according to the flight trajectory and dynamically adjusting the currently selected TDOA sites within the signal reception range.

13. An electronic device, characterized in that, Including a processor and a memory, The memory is used to store codes and related data; The processor is used to execute the codes in the memory to implement the multi-drone resource scheduling method based on TDOA detection and positioning according to any one of claims 1 to 11.

14. A storage medium, characterized in that, A computer program is stored thereon, and when the program is executed by the processor, it implements the multi-drone resource scheduling method based on TDOA detection and positioning according to any one of claims 1 to 11.

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