Antenna position determination method, apparatus, and computer device

Abstract

The present disclosure provides an antenna position determination method, device and computer equipment. The method comprises: in the assembly stage of the underwater unmanned platform, the antenna is sequentially arranged at a plurality of preset positions of the underwater unmanned platform, and signal acquisition is performed by the antenna at each preset position; based on the signal and noise collected by the antenna at each preset position, the preset positions with a signal-to-noise ratio not meeting a first condition are excluded, and at least one first preset position is obtained; in the underwater navigation stage of the underwater unmanned platform, the antenna is sequentially arranged at the at least one first preset position of the underwater unmanned platform, and signal acquisition is performed by the antenna at one first preset position in each navigation cycle; based on the signal and noise collected by the antenna at each first preset position, a first preset position with a signal-to-noise ratio meeting a second condition in the at least one first preset position is determined as the installation position of the antenna.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to an antenna location determination method, apparatus, and computer equipment. Background Technology

[0002] Long-wave signals propagate through waveguides formed by the Earth and the ionosphere, possessing unique advantages such as long propagation distance, signal stability, the ability to penetrate deep seawater, and minimal impact from geomagnetic storms and the ionosphere. Therefore, long-wave signals can be used for underwater long-distance communication and navigation. Summary of the Invention

[0003] This disclosure provides an antenna location determination method, apparatus, and computer equipment. The antenna location determination method using this disclosure can meet the antenna arrangement requirements of underwater unmanned platforms. The technical solution is as follows:

[0004] This disclosure provides at least one embodiment of an antenna position determination method, the antenna position determination method comprising:

[0005] During the final assembly of the underwater unmanned platform, antennas are sequentially installed at multiple preset positions on the underwater unmanned platform, and signal acquisition is performed through the antennas at each preset position.

[0006] Based on the signals and noise collected by the antenna at each preset location, preset locations whose signal-to-noise ratio does not meet the first condition are excluded, and at least one first preset location is obtained.

[0007] During the underwater navigation phase of the underwater unmanned platform, the antenna is sequentially installed at at least one first preset position on the underwater unmanned platform, and signals are collected through the antenna at one of the first preset positions in each navigation cycle;

[0008] Based on the signals and noise collected by the antenna at each of the first preset positions, a first preset position in the at least one first preset position whose signal-to-noise ratio meets the second condition is determined as the installation position of the antenna.

[0009] Optionally, the first condition includes a signal-to-noise ratio exceeding a first threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple preset positions.

[0010] Optionally, the first condition includes a signal-to-noise ratio exceeding a second threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple first preset positions.

[0011] Optionally, the method further includes:

[0012] Based on the noise collected at each of the preset locations, the source of the noise is analyzed.

[0013] Optionally, the antenna includes various types of antennas.

[0014] The antennas are sequentially positioned at at least one first preset location on the underwater unmanned platform. During each navigation cycle, signal acquisition is performed via the antenna at one of the first preset locations, including:

[0015] Each type of antenna is sequentially installed at at least one first preset position on the underwater unmanned platform, and signal acquisition is performed by one type of antenna at one of the first preset positions during each navigation cycle;

[0016] The method further includes:

[0017] The antenna model is determined for the first preset position in which the signal-to-noise ratio meets the second condition.

[0018] Optionally, the method further includes:

[0019] During the underwater navigation phase of the underwater unmanned platform, the antenna is installed at the mounting location, and signals are collected at different times, in different sea areas, and at different depths through the antenna at the mounting location;

[0020] The effective operating range of the underwater unmanned platform is determined based on the signals collected by the antenna at the installation location.

[0021] At least one embodiment of this disclosure provides an antenna position determination device, the antenna position determination device comprising:

[0022] The acquisition module is used during the final assembly stage of the underwater unmanned platform, where antennas are sequentially installed at multiple preset positions on the underwater unmanned platform, and signals are acquired through the antennas at each preset position.

[0023] The determining module is used to, based on the signal and noise collected by the antenna at each of the preset locations, exclude preset locations whose signal-to-noise ratio does not meet the first condition from the plurality of preset locations, and obtain at least one first preset location;

[0024] The acquisition module is also used to, during the underwater navigation phase of the underwater unmanned platform, have the antennas sequentially installed at at least one first preset position on the underwater unmanned platform, and to acquire signals through the antenna at one of the first preset positions during each navigation cycle;

[0025] The determining module is further configured to determine, based on the signals and noise collected by the antenna at each of the first preset positions, a first preset position in the at least one first preset position whose signal-to-noise ratio meets the second condition, as the installation position of the antenna.

[0026] Optionally, the first condition includes a signal-to-noise ratio exceeding a first threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple preset positions;

[0027] The first condition includes a signal-to-noise ratio exceeding a second threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple first preset positions.

[0028] At least one embodiment of this disclosure provides a computer device including a processor and a memory, the memory storing at least one line of program code, the program code being loaded and executed by the processor to implement the antenna position determination method as described above.

[0029] At least one embodiment of this disclosure provides a computer-readable storage medium storing at least one line of program code, which is loaded and executed by a processor to implement the antenna position determination method as described in any of the preceding claims.

[0030] The beneficial effects of the technical solutions provided in this disclosure are:

[0031] In this embodiment, by collecting the signal and noise data of the antenna at each preset location, preset locations whose signal-to-noise ratio (SNR) does not meet the first condition are first eliminated, reducing the number of locations that need to be detected during actual navigation. On the other hand, this elimination method still leaves some antenna locations susceptible to electromagnetic interference from electrical equipment in the underwater unmanned platform. However, since this electromagnetic interference may be offset by environmental noise interference during navigation, these locations are retained. By collecting the signal and noise data of the antenna at each first preset location during underwater navigation, a first preset location whose SNR meets the second condition is determined from at least one first preset location and used as the antenna installation location. This method considers both electromagnetic interference and environmental noise, and by pre-eliminating some locations during the platform assembly stage, it reduces the number of locations that need to be detected in subsequent navigation stages. This ensures the rationality of the antenna installation location selection and saves time required for location selection. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of an antenna position determination method provided in an embodiment of this disclosure;

[0034] Figure 2 This is a flowchart of an antenna position determination method provided in an embodiment of this disclosure;

[0035] Figure 3 This is a schematic diagram of the structure of an antenna position determination device provided in an embodiment of this disclosure;

[0036] Figure 4 This is a structural block diagram of a computer device provided in an embodiment of this disclosure. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0038] Currently, low-frequency antennas for receiving long-wave signals underwater typically employ magnetic antennas and horizontal electric antennas. The transmission performance of underwater long-wave signals is primarily affected by antenna capability, platform motion interference, and natural interference. Natural interference in the long-wave band mainly consists of atmospheric noise, primarily originating from high-current pulses associated with lightning. Platform motion interference includes motor operation interference, electromagnetic interference from other equipment, and noise interference from antenna movement cutting magnetic field lines.

[0039] Due to the aforementioned interference, the placement of the antenna on underwater unmanned platforms becomes particularly crucial.

[0040] Figure 1 This is a flowchart of an antenna position determination method provided in an embodiment of this disclosure. See also... Figure 1 ,include:

[0041] Step 101: During the final assembly of the underwater unmanned platform, antennas are sequentially installed at multiple preset positions on the underwater unmanned platform, and signal acquisition is performed through the antennas at each preset position.

[0042] In this embodiment of the disclosure, the underwater unmanned platform is an unmanned underwater vehicle (UUV) platform. The underwater unmanned platform final assembly stage refers to the workshop installation stage of the underwater unmanned platform.

[0043] In this embodiment of the disclosure, the antenna is a low-frequency antenna.

[0044] In this embodiment of the disclosure, the multiple preset positions of the underwater unmanned platform refer to the locations pre-selected on the underwater unmanned platform for installing antennas. These multiple preset positions are distributed at the head, middle, and tail of the underwater unmanned platform. For example, multiple preset positions are arranged at intervals at the head, middle, and tail of the underwater unmanned platform, thereby covering as many corners of the underwater unmanned platform as possible, so that the best antenna installation position can be selected.

[0045] Step 102: Based on the signals and noise collected by the antenna at each preset position, exclude the preset positions whose signal-to-noise ratio does not meet the first condition, and obtain at least one first preset position.

[0046] Among them, the signal refers to the long-wave signal transmitted by the shore-based station.

[0047] In this embodiment of the disclosure, the first condition includes a signal-to-noise ratio exceeding a first threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios corresponding to multiple preset positions.

[0048] For example, if the first threshold is A, then step 102 excludes preset positions where the signal-to-noise ratio does not exceed A. As another example, if the first condition is the 10 positions with the highest signal-to-noise ratio, then step 102 excludes preset positions with lower signal-to-noise ratios besides the 10 positions with the highest signal-to-noise ratios.

[0049] In this embodiment of the disclosure, the specific value of the first threshold A can be set as needed and is not limited thereto. In addition, when selecting positions by comparing signal-to-noise ratio, the first condition can refer to a specific quantity, such as 10 preset positions, or it can refer to a proportion, such as 20% of preset positions.

[0050] This step involves using the signal-to-noise ratio as a basis to eliminate some preset positions with poor signal-to-noise ratios from multiple preset positions, thus narrowing down the range of further selections.

[0051] Step 103: During the underwater navigation phase of the underwater unmanned platform, the antenna is sequentially installed at at least one first preset position on the underwater unmanned platform, and signal acquisition is performed through the antenna at one of the first preset positions in each navigation cycle.

[0052] In this embodiment of the disclosure, the underwater navigation phase of the underwater unmanned platform refers to the phase in which the underwater unmanned platform performs navigation operations underwater after it has been installed in the workshop.

[0053] In this embodiment of the disclosure, the underwater unmanned platform can navigate in a cyclical manner. For example, each navigation cycle refers to navigating along a predetermined route within a set area, which may traverse different sea areas and depths within the area. Furthermore, the underwater unmanned platform can also change its course at different times, thereby enabling it to collect signals at different times.

[0054] Step 104: Based on the signals and noise collected by the antenna at each of the first preset positions, determine the first preset position in the at least one first preset position whose signal-to-noise ratio meets the second condition, and use it as the installation position of the antenna.

[0055] In this embodiment of the disclosure, the first condition includes a signal-to-noise ratio exceeding a second threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among a plurality of first preset positions.

[0056] For example, if the second threshold is B, then step 104 excludes the first preset position where the signal-to-noise ratio does not exceed B. As another example, if the second condition is the highest signal-to-noise ratio, then step 104 selects the preset position with the highest signal-to-noise ratio.

[0057] In this embodiment of the disclosure, the specific value of the second threshold B can be set as needed, for example, it can be the same as the first threshold, or greater than the first threshold.

[0058] This step involves selecting the location with the best signal-to-noise ratio from at least one preset location as the antenna installation location, based on the signal-to-noise ratio.

[0059] In this embodiment, by collecting the signal and noise data of the antenna at each preset location, preset locations whose signal-to-noise ratio (SNR) does not meet the first condition are first eliminated, reducing the number of locations that need to be detected during actual navigation. On the other hand, this elimination method still leaves some antenna locations susceptible to electromagnetic interference from electrical equipment in the underwater unmanned platform. However, since this electromagnetic interference may be offset by environmental noise interference during navigation, these locations are retained. By collecting the signal and noise data of the antenna at each first preset location during underwater navigation, a first preset location whose SNR meets the second condition is determined from at least one first preset location and used as the antenna installation location. This method considers both electromagnetic interference and environmental noise, and by pre-eliminating some locations during the platform assembly stage, it reduces the number of locations that need to be detected in subsequent navigation stages. This ensures the rationality of the antenna installation location selection and saves time required for location selection.

[0060] Figure 2 This is a flowchart of an antenna position determination method provided in an embodiment of this disclosure. See also... Figure 2 ,include:

[0061] Step 201: During the final assembly of the underwater unmanned platform, antennas are sequentially installed at multiple preset positions on the underwater unmanned platform, and signal acquisition is performed through the antennas at each preset position.

[0062] In this embodiment of the disclosure, the antenna is a magnetic antenna or a horizontal electric antenna.

[0063] In this embodiment of the disclosure, the process of acquiring signals via an antenna includes:

[0064] The antenna receives long-wave signals transmitted by the shore-based station, amplifies them initially, and sends them to the antenna commonspinner. After being split, the signals are sent to the dynamic signal acquisition card. Without affecting normal signal reception, the dynamic signal acquisition card conditions, filters, performs analog-to-digital conversion (A / D conversion), and performs simple statistical processing on the signals. Then, the digital signals are sent to the computer motherboard of the embedded all-in-one machine via the Peripheral Component Interconnect (PCI) bus, and the computer motherboard of the embedded all-in-one machine executes subsequent steps.

[0065] In this embodiment, the dynamic signal acquisition card has two analog input channels and two analog output channels. All channels can be synchronously sampled at a maximum sampling rate of 204.8 KS / s and support multiple triggering methods. The main specifications are as follows:

[0066] Frequency range: 10Hz-100kHz;

[0067] Frequency resolution: 1Hz;

[0068] ADC resolution: 24-bit;

[0069] DAC resolution: 24-bit;

[0070] Maximum input level range ≥ ±10V;

[0071] Input channel dynamic range: ≥98dB;

[0072] Input channel noise density: ≤8nV / Hz 1 / 2 ;

[0073] Channel bottom noise: ≤ -130dBm (100Hz RBW).

[0074] Step 202: Based on the signals and noise collected by the antenna at each preset position, exclude the preset positions whose signal-to-noise ratio does not meet the first condition, and obtain at least one first preset position.

[0075] In this embodiment of the disclosure, steps 202 and steps 204-207 are all executed by the computer motherboard of the embedded all-in-one machine. Under the control of the application program, the computer motherboard performs operations such as processing, analyzing, fusing, displaying, archiving, and storing the acquired signals and noise.

[0076] The embedded all-in-one machine serves as the processing center. It features a 3rd generation Intel Core i5 processor, at least 8GB of RAM, and a 256GB Solid State Drive (SSD). It has a built-in 10AH lithium battery pack and battery management system; the embedded all-in-one machine's built-in battery system displays the battery level in real-time on the taskbar after the testing platform is started. A fully charged battery allows the testing platform to operate for 30-40 minutes. It includes a 12-inch high-definition LCD screen with a touchscreen for user interaction. It also has multiple Universal Serial Bus (USB) 3.0 ports for connecting a keyboard and mouse. Users can operate the embedded all-in-one machine like a personal computer (PC), conforming to users' existing operating habits.

[0077] The application software in the embedded all-in-one machine directly faces the user, providing an intuitive and user-friendly interface and rich data analysis and processing functions to complete automated testing tasks. It performs three main functions: integrated development environment invocation, instrument drivers, and a user interface for the virtual instrument. The application software for the virtual instrument is developed by the user using various programming software. Graphical development software such as LabVIEW simplifies the programming process, and LabVIEW programs are easily integrated with various data acquisition hardware, enabling communication with multiple mainstream industrial fieldbuses and linking with most common standard real-time databases. Considering that this monitoring system needs to be completed in a short time and ensure stable operation, LabVIEW was chosen as the program development software for this monitoring system.

[0078] The application software mainly consists of a data acquisition module, a data processing module, a data storage module, and a data communication module. The data acquisition module receives data; the data processing module processes and analyzes the data; the data storage module handles the acquisition, preprocessing, and analysis of the data, as well as configuring the acquisition system parameters; and the data communication module facilitates data interaction with the host computer and remote control. The following is a detailed description of each module:

[0079] 1) Data Acquisition Module

[0080] Data acquisition generally employs two methods: traditional data acquisition (DAQ) and DAQmx. These two drivers each have their own application programming interfaces (APIs) and different hardware and software setup methods. DAQmx offers the following advantages over DAQ: more efficient multi-threaded data acquisition, higher performance than traditional DAQ, higher driver performance and reliability, easier data acquisition, and more advanced routing features that simplify the triggering and synchronization of DAQ devices. Based on the above analysis, this disclosure adopts a data acquisition system based on the DAQmx driver.

[0081] 2) Data Processing Module

[0082] The received long-wavelength signals acquired in this embodiment are extremely complex, especially after long-distance spatial attenuation and attenuation by deep seawater, making the signals extremely weak. Furthermore, the acquired signals often contain various interference signals, preventing the acquired data from directly reflecting the signal characteristics. Additionally, not all acquired signals are useful; for example, data is unavailable when the acquisition system first starts operating or during shore-based station hibernation. Therefore, the system requires preprocessing the acquired data to obtain usable signal segments. After preprocessing, various mathematical analyses are performed on the sampled data, including time-domain analysis, frequency-domain analysis, and wavelet analysis. Spectrum analysis is also a frequency-domain analysis method for signals. Converting a time-domain signal to a frequency-domain signal using Fourier transform aims to understand the frequency components of the signal and the intensity of each component. The time-domain display of the signal (amplitude at sampling points) can be converted to a frequency-domain display using the Discrete Fourier Transform (DFT). To quickly calculate the DFT, the Fast Fourier Transform (FFT) method is typically used. The FFT output is bilateral, displaying both positive and negative frequency information simultaneously. This is achieved by converting the FFT output samples to a single-sided FFT using only half of the samples. The frequency spacing between the FFT samples is fs / N, where fs is the sampling frequency.

[0083] In this embodiment of the disclosure, the data processing module processes the signals and noise at different locations such as the head, middle and tail of the unmanned platform where the antenna is arranged, determines the amplitude of the noise and the useful signal, and determines the signal-to-noise ratio.

[0084] The amplitude of the useful signal (a narrowband signal with a known frequency) is determined by converting the time-domain signal to a frequency-domain signal using a Discrete Fourier Transform (DFT) on the signal plus noise, thereby determining the amplitude of the useful signal (the narrowband signal with a known frequency). Noise generally refers to all interference in the generation, inspection, measurement, or recording system that is unrelated to the presence or absence of the useful signal. Wavelet analysis can be used to extract noise from the signal plus noise to determine the noise amplitude.

[0085] 3) Data storage module

[0086] Whether data is collected on-site or remotely, it needs to be stored. This module provides multiple data storage methods, such as: text file input and storage, spreadsheet file storage, data log file input and output, waveform file input and output, and test data file.

[0087] 4) Data communication module

[0088] Achieving unattended data acquisition is a crucial task. Unattended operation significantly reduces the workload of operators. To achieve this, the following conditions must be met: 1. The ability to remotely control the operating mode of the field data acquisition unit, enabling remote control of the unit's hardware operation. 2. The ability to automatically send the data acquired and processed by the field data acquisition unit to the host computer. Therefore, network data communication between the data acquisition unit and the host computer is necessary. DataSocket is a new real-time high-speed data exchange programming technology based on the TCP / IP industry standard, providing a unified API (Application Programming Interface) programming interface. It is a programming technology for real-time high-speed data exchange in measurement and automation engineering. Considering transmission speed, reliability, and ease of program development, a network transmission method based on DataSocket technology is adopted to complete the communication between the data acquisition unit and the host computer.

[0089] Optionally, the method may further include: analyzing the source of the noise based on the noise collected at each of the preset locations.

[0090] First, determine the distribution of the noise spectrum and compare it with known noise spectrum data for different electrical devices. Alternatively, turn off a particular electrical device and observe the changes in the spectrum shape to determine the source of the noise signal.

[0091] For example, based on the shape of the time-domain and frequency-domain signals detected by the testing equipment, the source of the noise signal can be roughly determined. Different treatments can be chosen for different interference sources. For example, if it is a high-power interference source such as a motor or propeller, it is best to take measures such as moving it away from the source or deflecting the antenna angle, that is, eliminating the corresponding preset position or deflecting the antenna angle. If it is a small-power, scattered interference such as a power supply or electrical load, it is not necessary to eliminate the preset position; generally, line shielding, adding filters, etc., are used.

[0092] In this embodiment, the noise levels determined at different antenna locations can be used not only to determine the antenna position but also to calculate a standard noise level by adding circuitry to the antenna. If the surrounding electromagnetic noise is much higher than this level, it will directly affect and degrade the antenna performance. Therefore, the first threshold of this disclosure can be determined based on this standard noise level.

[0093] Step 203: During the underwater navigation phase of the underwater unmanned platform, each type of antenna is sequentially installed at at least one first preset position on the underwater unmanned platform, and signal acquisition is performed through one type of antenna at one of the first preset positions during each navigation cycle.

[0094] The signal acquisition method in step 203 is the same as in step 201.

[0095] Step 204: Based on the signals and noise collected by the antenna at each of the first preset positions, determine the first preset position in the at least one first preset position whose signal-to-noise ratio meets the second condition, and use it as the installation position of the antenna.

[0096] In this step, the method for determining the signal-to-noise ratio is the same as in step 202, and will not be repeated here.

[0097] Step 205: Determine the antenna model set at the first preset position in which the signal-to-noise ratio meets the second condition.

[0098] Multiple antenna models were used at the same location, and the antenna model with the highest signal-to-noise ratio was selected as the model to be used subsequently.

[0099] Step 206: During the underwater navigation phase of the underwater unmanned platform, the antenna is installed at the mounting location, and signals are collected at different times, in different sea areas, and at different depths through the antenna at the mounting location.

[0100] In this step, since the optimal position for the antenna has been selected, the interference from the unmanned platform's own movement on the long-wave reception effect is minimized, which is in line with the development trend of unmanned platform activities towards ocean and deep-sea operations.

[0101] In this step, the long-wave signals received by the low-frequency antenna of the unmanned platform are recorded, processed, and analyzed.

[0102] In this step, the noise and useful signal strength of long waves can be automatically collected at different times, sea areas, and depths during the unmanned platform's long-distance voyage in an unattended manner. The long-wave signal detection and analysis device consists of a dynamic signal acquisition card, an embedded all-in-one computer, and data acquisition and processing software. The platform's low-frequency antenna is connected to the analog acquisition channel of the acquisition card, enabling the acquisition card to collect long-wave signals and send them to the computer motherboard of the embedded all-in-one computer via the PCI bus. Under the control of the application program, the embedded all-in-one computer performs integrated processing of the long-wave signals, completes various analysis processes, and can automatically generate test reports.

[0103] Step 207: Determine the effective operating range of the underwater unmanned platform based on the signal collected by the antenna at the installation location.

[0104] While determining the antenna installation location, during the long-range mission execution phase of the unmanned platform, the long-wave signal detection and analysis device can automatically collect long-wave atmospheric noise and useful signal intensity at different times, sea areas and depths in an unattended manner, providing analytical support and data basis for analyzing and evaluating the effective operating range of the UUV unmanned platform.

[0105] For example, locations where the strength (amplitude) of a useful signal exceeds a threshold are selected, and the range is determined based on these locations as the effective range of activity, thereby ensuring the transmission of useful signals during underwater operations.

[0106] In the assembly and underwater navigation phases of the unmanned platform, this embodiment can collect electromagnetic noise from different parts of the platform using a long-wave signal detection and analysis device and a low-frequency antenna. This allows for analysis of signal sources and assessment of their impact on the low-frequency antenna, providing a basis and evidence for the final installation location and arrangement of the antenna. After the antenna is fixed in place, during the unmanned platform's long-range mission execution phase, the long-wave signal detection and analysis device can automatically collect long-wave atmospheric noise and useful signal strength at different times, sea areas, and depths in an unattended manner. This provides analytical support and data for analyzing and assessing the effective operating range and depth of the unmanned platform. Furthermore, the processing and analysis of the collected data allows for a comprehensive evaluation of the batch consistency, reliability, and long-term stability of various types of long-wave antennas.

[0107] Figure 3 This is a schematic diagram of an antenna position determination device provided in an embodiment of this disclosure. See also... Figure 3 The antenna position determination device includes: a data acquisition module 301 and a determination module 302.

[0108] Among them, the acquisition module 301 is used to acquire signals by sequentially setting antennas at multiple preset positions on the underwater unmanned platform during the final assembly stage of the underwater unmanned platform.

[0109] The determining module 302 is used to, based on the signal and noise collected by the antenna at each of the preset positions, exclude preset positions whose signal-to-noise ratio does not meet the first condition from the plurality of preset positions, and obtain at least one first preset position;

[0110] The acquisition module 301 is also used to, during the underwater navigation phase of the underwater unmanned platform, have the antennas sequentially installed at at least one first preset position on the underwater unmanned platform, and to acquire signals through the antenna at one of the first preset positions in each navigation cycle;

[0111] The determining module 302 is further configured to determine, based on the signals and noise collected by the antenna at each of the first preset positions, a first preset position in the at least one first preset position whose signal-to-noise ratio meets the second condition, as the installation position of the antenna.

[0112] Optionally, the first condition includes a signal-to-noise ratio exceeding a first threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple preset positions;

[0113] The first condition includes a signal-to-noise ratio exceeding a second threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple first preset positions.

[0114] Optionally, the determining module 302 is further configured to analyze the source of the noise based on the noise collected at each of the preset locations.

[0115] Optionally, the antenna includes multiple types of antennas, each type of antenna being sequentially arranged at at least one first preset position on the underwater unmanned platform, and the acquisition module 301 is used to acquire signals through an antenna of one type at one of the first preset positions in each navigation cycle.

[0116] The determining module 302 is further configured to determine the antenna model set at the first preset position in the at least one first preset position where the signal-to-noise ratio meets the second condition.

[0117] Optionally, the acquisition module 301 is also used to, during the underwater navigation phase of the underwater unmanned platform, have the antenna installed at the installation position, and to acquire signals at different times, different sea areas and different depths through the antenna at the installation position;

[0118] The determining module 302 is also used to determine the effective operating range of the underwater unmanned platform based on the signal collected by the antenna at the installation location.

[0119] It should be noted that the antenna position determination device provided in the above embodiments is only illustrated by the division of the above functional modules when determining the antenna position. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the antenna position determination device and the antenna position determination method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0120] Figure 4 This is a structural block diagram of a computer device provided in an embodiment of this disclosure. Typically, the computer device includes a processor 601 and a memory 602.

[0121] Processor 601 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 601 may be implemented using at least one of the following hardware forms: DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). Processor 601 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state.

[0122] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 602 are used to store at least one instruction, which is executed by the processor 601 to implement the antenna position determination method performed by a computer device provided in the method embodiments of this application.

[0123] This disclosure also provides a computer program product, which includes computer program code. When the computer program code is run by a computer device, the computer device can execute the antenna position determination method provided in the method embodiments of this application.

[0124] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A method for determining the position of an antenna, characterized in that, The antenna is a low-frequency antenna, and the method for determining the antenna position includes: During the final assembly of the underwater unmanned platform, antennas are sequentially installed at multiple preset positions on the underwater unmanned platform. Signals are collected by the antennas at each preset position. The multiple preset positions on the underwater unmanned platform refer to the positions selected in advance on the underwater unmanned platform for installing the antennas. The multiple preset positions are distributed at the head, middle and tail of the underwater unmanned platform. The antennas include various types of antennas. Based on the signals and noise collected by the antenna at each preset position, preset positions whose signal-to-noise ratio does not meet the first condition are excluded, and at least one first preset position is obtained. During the underwater navigation phase of the underwater unmanned platform, each type of antenna is sequentially installed at at least one first preset position on the underwater unmanned platform. In each navigation cycle, signal acquisition is performed by one type of antenna at one of the first preset positions. Each navigation cycle refers to navigation within a set area according to a set route. Based on the signals and noise collected by the antenna at each of the first preset positions, a first preset position in the at least one first preset position whose signal-to-noise ratio meets the second condition is determined as the installation position of the antenna; The antenna model is determined for the first preset position in which the signal-to-noise ratio meets the second condition.

2. The method according to claim 1, characterized in that, The first condition includes a signal-to-noise ratio exceeding a first threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple preset positions.

3. The method according to claim 1, characterized in that, The first condition includes a signal-to-noise ratio exceeding a second threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple first preset positions.

4. The method according to claim 1, characterized in that, The method further includes: Based on the noise collected at each of the preset locations, the source of the noise is analyzed.

5. The method according to claim 1, characterized in that, The method further includes: During the underwater navigation phase of the underwater unmanned platform, the antenna is installed at the mounting location, and signals are collected at different times, in different sea areas, and at different depths through the antenna at the mounting location; The effective operating range of the underwater unmanned platform is determined based on the signals collected by the antenna at the installation location.

6. An antenna position determination device, characterized in that, The antenna is a low-frequency antenna, and the antenna position determination device includes: The acquisition module is used during the final assembly stage of the underwater unmanned platform. The antennas are sequentially installed at multiple preset positions on the underwater unmanned platform. The signal is acquired by the antennas at each preset position. The multiple preset positions on the underwater unmanned platform refer to the positions selected in advance on the underwater unmanned platform for installing the antennas. The multiple preset positions are distributed at the head, middle and tail of the underwater unmanned platform. The antennas include various types of antennas. The determining module is used to, based on the signal and noise collected by the antenna at each of the preset locations, exclude preset locations whose signal-to-noise ratio does not meet the first condition from the plurality of preset locations, and obtain at least one first preset location; The acquisition module is also used to, during the underwater navigation phase of the underwater unmanned platform, sequentially install each type of antenna at at least one first preset position on the underwater unmanned platform, and acquire signals through an antenna of one type at one of the first preset positions in each navigation cycle, wherein each navigation cycle refers to navigation within a set area according to a set route. The determining module is further configured to determine, based on the signals and noise collected by the antenna at each of the first preset positions, a first preset position in the at least one first preset position whose signal-to-noise ratio meets the second condition, as the installation position of the antenna; The antenna model is determined for the first preset position in which the signal-to-noise ratio meets the second condition.

7. The apparatus according to claim 6, characterized in that, The first condition includes a signal-to-noise ratio exceeding a first threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple preset positions; The first condition includes a signal-to-noise ratio exceeding a second threshold, or a signal-to-noise ratio belonging to a higher number of signal-to-noise ratios among multiple first preset positions.

8. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one line of program code, which is loaded and executed by the processor to implement the antenna position determination method as described in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the antenna position determination method as described in any one of claims 1 to 5.

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