Interference power threshold estimation method and system based on UAV frequency hopping communication

Abstract

The present invention provides a method for estimating an interference power threshold based on unmanned aerial vehicle (UAV) frequency hopping communication, comprising the following steps: detecting the communication signal parameters and azimuth angles of the uplink and downlink of the UAV frequency hopping communication system using a radio frequency signal detection device; obtaining the distance, azimuth, pitch angle, and altitude parameters between the UAV and the interference system through radar detection, and calculating the communication distance between the UAV and the ground station and the ground station transmission power based on the detected communication signal parameters and location information; setting a minimum bit error rate value for blocking UAV communication, calculating the minimum signal-to-interference ratio threshold acceptable to the UAV communication receiver, and determining the interference power threshold for the UAV frequency hopping communication. The present invention, based on the interference power threshold estimation method and system for UAV frequency hopping communication, can estimate the interference power threshold for civilian UAVs based on the characteristic parameters of the UAV frequency hopping communication, meeting actual application scenarios and optimizing the interference effect.

Description

Technical Field

[0001] The present invention relates to the field of communication interference technology, and in particular to an interference power threshold estimation method, system, electronic device and storage medium based on unmanned aerial vehicle frequency hopping communication. Background Art

[0002] With the rapid development of information technology, drones have begun to transform from military equipment to scientific research and civilian equipment, gradually achieving miniaturization, information technology, and lightweighting. By 2022, multi-rotor aircraft have become the most widely used drone in the civilian sector. The rapid development of drone technology has greatly lowered the barrier to entry for these products. Coupled with the immaturity of existing control measures, the security threats posed by drones are increasing, necessitating effective crackdowns on illegal drone operations.

[0003] Extensive data from continuous electromagnetic wave simulation experiments indicates that highly integrated and microelectronic electronic devices are highly sensitive to continuous electromagnetic wave interference and damage. When electromagnetic wave intensity reaches or exceeds the interference threshold of the microelectronic device and its ports, the functions of the microelectronic device and its ports will be disrupted by continuous electromagnetic waves. UAV remote control, telemetry, tracking and positioning, and intelligence data transmission all rely on wireless communication equipment. Therefore, high-power suppressive continuous electromagnetic wave interference can be used to counteract this by blocking the communication link of the drone's receiver port.

[0004] A drone's communication data link consists of an uplink and a downlink. The uplink, through which the ground station sends control commands to the drone and its onboard equipment, has a relatively low data rate. The downlink, used to transmit drone status information, video image data, and sensor data, has a relatively high data rate. In the countermeasures against drones, high-power electromagnetic interference focuses on the uplink command and control signals, disrupting or blocking its remote control and telemetry communications, forcing the drone to hover or return, achieving the jamming objective. However, higher jamming power is not necessarily better, and jamming power resources are always limited. Excessive jamming power not only wastes precious power resources but also significantly increases the risk of exposure. Therefore, determining an appropriate jamming power threshold is particularly important.

[0005] Existing methods for jamming frequency-hopping communications rely on broadband noise signals with fixed or manually adjusted power. These methods suffer from poor effectiveness and efficiency, making optimal jamming performance difficult to achieve. This makes it impossible to quickly and effectively target unauthorized drones in real-world applications. Therefore, determining the jamming power threshold for specific jamming targets in real-world scenarios is a key issue that needs to be addressed when jamming drone uplink communications. Summary of the Invention

[0006] In order to solve the problems existing in the prior art, the present invention provides a method and system for estimating the interference power threshold based on UAV frequency hopping communication, which can realize the estimation of the interference power threshold of civil UAVs according to the characteristic parameters of UAV frequency hopping communication, meet the actual application scenarios, and optimize the interference effect.

[0007] To achieve the above objectives, the present invention provides a method for estimating an interference power threshold based on UAV frequency hopping communication, comprising the following steps:

[0008] Detect the communication signal parameters and azimuth angles of the uplink and downlink of the UAV frequency hopping communication system through radio frequency signal detection equipment;

[0009] The distance, azimuth, pitch angle, and altitude parameters between the UAV and the jamming system are obtained through radar detection. Based on the communication signal parameters and location information obtained through detection, the communication distance between the UAV and the ground station and the ground station transmission power are calculated.

[0010] Set the minimum bit error rate value for blocking drone communications, calculate the minimum signal-to-interference ratio threshold acceptable to the drone communication receiver, and determine the interference power threshold for drone frequency hopping communications.

[0011] Furthermore, the step of detecting the communication signal parameters and azimuth angles of the uplink and downlink of the UAV frequency hopping communication system by the radio frequency signal detection device also includes:

[0012] The communication signal parameters include modulation type, signal average power, information transmission rate, frequency hopping center frequency, frequency hopping rate and frequency hopping signal bandwidth;

[0013] The uplink includes remote control command information sent by the ground station to the UAV;

[0014] The downlink includes data information transmitted from the UAV to the ground station;

[0015] The communication signal parameter data rate of the uplink is greater than the communication signal parameter data rate of the downlink.

[0016] Furthermore, the step of obtaining the distance, azimuth, pitch angle and altitude parameters between the UAV and the jamming system by radar detection, and calculating the communication distance between the UAV and the ground station and the ground station transmission power based on the communication signal parameters and position information obtained by the detection, also includes:

[0017] According to the loss caused by electromagnetic wave propagation in free space and formula 1, the UAV downlink transmission power Pt is calculated d

[0018] Pt d +Gt d =Prd -Gr j +20lg(F d )+20lg(R j )+32.4 Formula 1

[0019] Among them, Gt d is the drone antenna gain (in dBi), Gr j is the antenna gain of the RF detection device (in dBi), Pr d The signal power (in dBm) of the downlink frequency hopping communication of the UAV received by the RF detection equipment, F d is the center frequency of the UAV downlink (in MHz), R j is the straight-line distance from the UAV to the jamming system (in km);

[0020] The distance R between the ground station and the interference system is calculated based on the electromagnetic wave free space propagation formula d :

[0021] Pt u +Gt u =Pr u -Gr j +20lg(F u )+20lg(R d )+32.4 Formula 2

[0022] From formula 2, we can get:

[0023] 20lg(R d )=Pt u +Gt u +Gr j -Pr u -20lg(Fx)-32.4 Formula 3

[0024] Among them, Pt u is the uplink transmission power of the ground station (in dBm), the uplink transmission power is the same as the downlink transmission power, that is, Pt u =Pt d , F u is the center frequency of the UAV uplink (in MHz), Pr u The average power (in dBm) of the signal from the uplink of the UAV frequency hopping communication system reaching the interference system is obtained for RF signal detection.

[0025] Furthermore, the steps of setting the minimum bit error rate value for blocking drone communication, calculating the minimum signal-to-interference ratio threshold acceptable to the drone communication receiver, and determining the drone frequency hopping communication interference power threshold also include:

[0026] Establish a three-dimensional geometric relationship between the UAV, the ground station, and the jamming system. With the jamming system as the origin, the azimuth angle of the ground station detected is β, the azimuth angle of the UAV detected is α, the pitch angle is 0, the height SS′=h, and the distance OS between the jamming system and the UAV is |R j ;

[0027] According to the three-dimensional geometric relationship, the projection of the UAV on the ground and the distance line of the interference system are obtained: OS′=R j ·cosφ;

[0028] The angle θ formed between the distance line OS′ between the projection of the UAV on the ground and the jamming system and the distance line OD between the jamming system and the ground station is: θ = |β-α|;

[0029] According to the obtained distance between the interference system and the ground station, R d , then OD=R d ;

[0030] The distance line DS′ between the UAV’s projection on the ground and the ground station is:

[0031] DS' 2 =OS' 2 +OD 2 +2 × OS'.OD.cosθ=(R j ·cosφ) 2 +R d 2 +2×R j ·cosφ·R d cos|β-α| Formula 4

[0032] Calculate the distance R between the ground station and the drone s :

[0033] R s 2 =DS′ 2 +SS' 2 =(R j ·cosφ) 2 +R d 2 +2×R j #cosφ·R d ·cos|β-α|+h 2 Formula 5

[0034] According to the electromagnetic wave free space propagation formula, the received power Pr of the UAV receiving the signal transmitted by the ground station is calculated. s :

[0035] Ptu +Gt u =Pr s -Gr s +20lg(F u )+20lg(R s )+32.4 Formula 6

[0036] From formula 6, we can get:

[0037] Pr s =Pt u +Gt u +Gr s -20lg(F u )-20lg(R s )-32.4 Formula 7

[0038] Among them, Pt u is the uplink transmission power of the ground station (in dBm); F u is the uplink center frequency (in MHz); Gr s is the receiving antenna gain of the UAV (in dBi).

[0039] Furthermore,

[0040] Define the sensitivity criteria for UAV communication receivers, evaluate the communication interference effect based on the bit error rate, and classify the communication interference level;

[0041] The critical interference power threshold is calculated based on the maximum bit error rate acceptable to the UAV communication receiver.

[0042] Furthermore,

[0043] According to the modulation mode of the drone uplink detected, the minimum bit error rate value that effectively blocks the drone communication is set, and according to the bit error rate calculation formula of the drone uplink modulation mode, the minimum signal-to-noise ratio required to achieve the predetermined bit error rate is calculated.

[0044] Furthermore,

[0045] Given a bit error rate Pb, the minimum acceptable bit signal-to-noise ratio of the UAV communication receiver is γ;

[0046] For a frequency hopping communication system, the signal-to-noise ratio is:

[0047]

[0048] Among them, S is the received signal power, N is the noise power, E b is the bit signal energy, N0 is the thermal noise power spectrum density, B u is the frequency hopping signal uplink bandwidth, is the uplink information transmission rate, defined as Anti-interference processing gain for frequency hopping communication;

[0049] When the signal-to-noise ratio When the UAV communication receiver’s bit error rate is higher than the preset value.

[0050] Furthermore,

[0051] When the interference signal reaches the receiving end of the UAV communication, the signal-to-noise ratio is approximately expressed as:

[0052]

[0053] definition is the signal-to-interference ratio, S is the target signal power at the receiving end of the UAV communication, and J is the interference signal power at the receiving end of the UAV communication;

[0054] According to the known UAV received ground station uplink signal power Pr s and the anti-interference processing gain G S , according to the given bit error rate Pb, the required signal-to-noise ratio γ is calculated, and the received signal signal-to-interference ratio threshold is obtained as [SJR] TH :

[0055]

[0056] When the following conditions are met:

[0057]

[0058] Then the UAV communication receiving end reaches the critical interference effect, and the minimum input power J of the interference signal of the UAV communication receiving end is obtained as:

[0059]

[0060] According to the formula for electromagnetic wave propagation in free space, the equivalent isotropic transmission power EIRP of the interference signal emitted by the interference system is J for:

[0061] EIRP J =J-Gr s +20lg(F u )+20lg(R j )+32.4

[0062] Then the power Pt of the interference signal emitted by the interference system j Pt j =EIRP J -Gt j +L f

[0063] Among them, Gt j is the interference antenna gain, L f is the feeder loss;

[0064] According to the given bit error rate, the interference power threshold [Pt j ] TH for:

[0065] [Pt j ] TH =EIRP J -Gt j +L f

[0066] =H-Gr s +20lg(F u )+20lg(R j )+32.4-Gt j +L f

[0067] =Pr s -[SJR] TH -Gr s +20lg(F u )+20lg(R j )+32.4-Gt j +L f

[0068] Among them, Gt j is the interference antenna gain, L f is the feeder loss.

[0069] To achieve the above object, the present invention also provides an interference power threshold estimation system based on UAV frequency hopping communication, comprising:

[0070] Radio frequency detection equipment, which is used to detect the communication signal parameters and azimuth angles of the UAV uplink and downlink, and send them to the signal processing module;

[0071] Radar equipment, which is used to detect the azimuth, pitch and altitude information of the drone and send it to the signal processing module;

[0072] The signal processing module is used to analyze and process the data detected by the radio frequency detection equipment and the radar equipment, calculate the frequency hopping processing gain, the transmission power of the ground station and the communication distance between the ground station and the UAV, obtain the signal-to-interference ratio required by the UAV frequency hopping communication system, and use the signal-to-interference ratio to determine the interference power threshold of the interference signal transmitted by the interference system.

[0073] To achieve the above-mentioned purpose, the present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a program running on the processor, and when the processor runs the program, it executes the steps of the above-mentioned interference power threshold estimation method based on UAV frequency hopping communication.

[0074] To achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium having computer instructions stored thereon, which, when executed, execute the steps of the above-mentioned interference power threshold estimation method based on UAV frequency hopping communication.

[0075] The interference power threshold estimation method and system based on UAV frequency hopping communication of the present invention have the following beneficial effects:

[0076] The interference power threshold can be quickly calculated based on the uplink and downlink communication signal parameters and location information of the drone detected by the radio frequency detection system and radar equipment. This allows our jammers to suppress the drone with minimal interference transmission power when power resources are limited, achieving the best jamming effect. This can effectively interfere with different types of civilian drones in actual usage scenarios.

[0077] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0079] Figure 1 Flowchart of an interference power threshold estimation method based on UAV frequency hopping communication according to an embodiment of the present invention;

[0080] Figure 2 Schematic diagram of the planar geometric relationship between the uplink and downlink data links of the UAV, the ground station and the jamming system according to an embodiment of the present invention;

[0081] Figure 3 Schematic diagram of the three-dimensional geometric relationship between the UAV, the ground station and the jamming system according to an embodiment of the present invention;

[0082] Figure 4 2. It is a schematic diagram of simulation of the relationship between the signal-to-interference ratio and the bit error rate of the BFSK and FH-BFSK communication systems according to an embodiment of the present invention;

[0083] Figure 5 Schematic diagram of the interference power threshold estimation system module based on UAV frequency hopping communication according to the present invention. DETAILED DESCRIPTION

[0084] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0085] Example 1

[0086] Figure 1 The following is a flow chart of the interference power threshold estimation method based on UAV frequency hopping communication according to the present invention. Figure 1 , the interference power threshold estimation method based on UAV frequency hopping communication of the present invention is described in detail.

[0087] In step 101, the communication signal parameters and azimuth angles of the uplink and downlink of the UAV frequency hopping communication system are detected by radio frequency signal detection equipment.

[0088] Preferably, the communication signal parameters include modulation type, signal average power, information transmission rate, frequency hopping center frequency, frequency hopping rate and bandwidth.

[0089] In this embodiment, the communication signal parameters and azimuth angles of the UAV's uplink and downlink are first detected by radio frequency signal detection equipment. The communication signal parameters include at least its modulation type, average signal power, information transmission rate, frequency hopping center frequency, frequency hopping rate and bandwidth. The uplink is the remote control command information sent by the ground station to the UAV, and the data rate is relatively low. The downlink is the status information, video images and other data transmitted by the UAV to the ground station, and the data rate is relatively high. Therefore, the uplink and downlink can be distinguished based on the signal bandwidth and frequency hopping rate.

[0090] In this embodiment, Figure 2 As shown, there is a relationship between the UAV uplink and downlink data links and the ground station and jamming system. Figure 2 The plane geometric relationship shown. The RF signal detection equipment detects that the average power of the signal from the UAV frequency hopping communication uplink reaching the interference system is Pr u , the information transmission rate is UAV uplink frequency hopping center frequency F u , the frequency hopping signal bandwidth is B u The azimuth angle between the ground station and the interference system is β; the RF signal detection equipment detects that the average power of the signal from the UAV frequency hopping communication downlink to the interference system is Pr d , the information transmission rate is UAV downlink frequency hopping center frequency F d , the frequency hopping signal bandwidth is B d, the azimuth angle of the UAV from the jamming system is α; because the data rate of the uplink is small and the data rate of the downlink is large, that is, the frequency hopping signal bandwidth of the uplink is B u and signal transmission rate Both are smaller than the downlink frequency hopping signal bandwidth B d and symbol transmission rate Then B u d ,

[0091] In step 102, the distance, azimuth, pitch angle and altitude parameters between the UAV and the jamming system are obtained through radar detection, and the ground station transmission power and the communication distance between the UAV and the ground station are calculated based on the communication signal parameters and position information obtained by the detection.

[0092] Preferably, the distance between the UAV and the jamming system detected by radar is R_j, the pitch angle is φ, and the height is h.

[0093] The UAV downlink transmission power Pt is obtained by inverse calculation based on the electromagnetic wave free space propagation formula d ,

[0094] Pt d +Gt d =Pr d -Gr h +20lg(F d )+20lg(R j )+32.4 Formula 1

[0095] In formula 1, Pt d is the UAV transmission power (in dBm); Gt d is the UAV antenna gain (usually 3dBi), Gr j is the antenna gain of the RF detection device (in dBi); Pr d F is the signal power of the UAV downlink received by the RF detection device (in dBm); d is the frequency hopping center frequency of the UAV downlink (in MHz), R j is the straight-line distance from the UAV to the jamming system (in km).

[0096] In this embodiment, generally speaking, the downlink and uplink transmission powers of civilian drones represented by DJI are the same, so we can get the uplink transmission power Pt of the ground station u , Pt u =Pt d .

[0097] ​According to the electromagnetic wave free space propagation formula, the distance R between the ground station and the interference system can be obtained by reverse calculation. d :

[0098] |Pt u +Gt u =Pr u -Gr j +20lg(F u )+20lg(r d )+32.4 Formula 2

[0099] From formula 2, we can get:

[0100] 20lg(R d )=Pt u +Gt u +Gr i -Pr u -20lg(F u )-32.4 Formula 3

[0101] Among them, Pt u is the uplink transmission power of the ground station (in dBm); F u is the uplink frequency hopping center frequency (in MHz); Gt u is the ground station transmitting antenna gain (usually 3dBi); Gr j is the antenna gain of the radio frequency detection device (in decibels dBi); Pr u is the average power of the UAV uplink signal reaching the interference system (in dBm); R d is the distance between the ground station and the interference system (in km).

[0102] In step 103, a minimum bit error rate value (usually 0.1) that can effectively block drone communication is set, the minimum signal-to-interference ratio threshold acceptable to the drone communication receiver is calculated, and the drone frequency hopping communication interference power threshold is determined.

[0103] Preferably, there is a gap between the UAV, the ground station and the jamming system. Figure 3 The three-dimensional geometric relationship shown. Let the projection of the drone on the ground be point S', and the line connecting the projection of the drone on the ground and the distance of the interference system be OS'. With the interference system as the origin, the azimuth angle of the ground station detected by the radio frequency detection equipment is β; the azimuth angle of the drone detected by the radar is α, the pitch angle is φ, the height SS'=h, and the distance OS=R j .

[0104] according to Figure 3 The solid geometric relationship shown can be used to calculate the distance line between the UAV's projection on the ground and the jamming system: OS′=R j·cosφ.

[0105] The angle θ formed between OS′ and OD is: θ = |β-α|.

[0106] According to the obtained distance between the interference system and the ground station, R d , so OD=R d , so the distance of DS′ can be obtained as:

[0107] DS′ 2 =OS′ 2 +OD 2 +2×OS′.OD.cosθ=(R j ·cosφ) 2 +R d 2 +2×R j ·cosφ·R d cos|β-α| Formula 4

[0108] Further calculate the distance R between the ground station and the UAV s :

[0109] R s 2 =DS′ 2 +SS' 2 =(R j ·cccosφ) 2 +R d 2 +2×R j ·cosφ·R d ·cos|β-α|+h 2 Formula 5

[0110] According to the electromagnetic wave free space propagation formula, the receiving power Pr of the UAV receiving the signal transmitted by the ground station can be calculated. s (Unit is dBm):

[0111] Pt u +Gt u =Pr s -Gr s +20lg(F u )+20lg(R s )+32.4 Formula 6

[0112] Pr s =Pt u +Gt u +Gr s -20lg(F u )-20lg(R s )-32.4 Formula 7

[0113] Among them, Pt u is the uplink transmission power of the ground station (in decibels dBm); F u is the uplink frequency hopping center frequency (in MHz); Gr s is the receiving antenna gain of the UAV (usually 3dBi); R s is the distance between the ground station and the UAV (in km).

[0114] Furthermore, the sensitivity criterion of the UAV communication receiver is defined. GJB6741-2009 stipulates that when evaluating the interference effect of digital communication, the bit error rate criterion is generally selected as the evaluation basis. The bit error rate criterion evaluates the interference effect based on the bit error rate increment - bit error rate Pb. The interference effect evaluation level is shown in Table 1:

[0115] Table 1 Interference level classification of bit error rate evaluation criteria

[0116] Interference level Level classification Interference effect description 5 Pb≤1% Interference is very weak 4 1%<Pb≤5% Weak interference 3 5%<Pb≤7.5% Weak interference 2 7.5%<Pb≤10% Strong interference 1 10%<Pb The interference is very strong Work disruption level Unable to communicate

[0117] In this embodiment, as shown in Table 1, different interference levels can be selected based on actual conditions. When the interference level reaches level 2 or above, the communication system's bit error rate (Pb) will reach above 7.5%. It is generally believed that interference is effective when the bit error rate reaches above 10%. Therefore, the critical interference power can be calculated based on the maximum bit error rate (Pb) acceptable to the drone communication receiver, thus determining the interference power threshold.

[0118] Preferably, according to the modulation mode of the detected drone uplink, a minimum bit error rate value (usually 0.1) that can effectively block drone communication is set, and the bit error rate calculation formula of the modulation mode is used to calculate the minimum signal-to-noise ratio SNR required to achieve the predetermined bit error rate Pb.

[0119] In this embodiment, the bit error rate calculation formulas for various common drone modulation modes are shown in Table 2 below:

[0120]

[0121] In this embodiment, the above method can be used to obtain that, for a given bit error rate Pb, the minimum acceptable bit signal-to-noise ratio of the UAV communication receiver is γ.

[0122] For a frequency hopping communication system, the signal-to-noise ratio can be expressed as:

[0123]

[0124] Among them, S is the received signal power, N is the noise power, Eb is the bit signal energy, N0 is the noise power spectrum density, B u is the uplink frequency hopping signal bandwidth, is the uplink information transmission rate, defined as is the anti-interference processing gain of the uplink frequency hopping communication. When the bit error rate of the drone communication receiver is higher than the preset value.

[0125] Preferably, when the interference signal reaches the UAV communication receiver, the noise power of the communication system can be ignored because the interference power is much greater than the noise power. The signal-to-noise ratio can be approximately expressed as:

[0126]

[0127] definition is the signal-to-interference ratio, S is the signal power at the receiving end of UAV communication, and J is the interference signal power at the receiving end of UAV communication.

[0128] In this embodiment, it can be seen from the above analysis that when the UAV receives the uplink signal power Pr s and the anti-interference processing gain G S In this case, given the bit error rate Pb, the required bit signal-to-noise ratio γ is calculated, and the received signal signal-to-interference ratio threshold is obtained as [SJR] TH :

[0129]

[0130] If the following conditions are met:

[0131]

[0132] It is considered that the UAV communication receiving end reaches the critical interference effect at this time, and the minimum input power J of the interference signal at the UAV receiving end is obtained as:

[0133]

[0134] According to the electromagnetic wave free space propagation formula, the equivalent isotropic transmission power EIRP of the interference signal emitted by the interference system is J for:

[0135] EIRP J =J-Gr s +20lg(F u )+20lg(R j )+32.4

[0136] Then, the power Pt of the interference signal transmitted by the interference system is j Pt j =EIRPJ -Gt j +L f

[0137] Among them, Gt J is the interference antenna gain (in dBi), L f is the feeder loss (in decibels dB).

[0138] In this embodiment, the bit error rate can be selected according to the desired interference effect in Table 1. When the bit error rate is given, the interference power threshold [Pt j ] TH (Unit is dBm):

[0139] [Pt j ] TH =EIRP J -Gt j +L f

[0140] =J-Gr s +20lg(F u )+20lg(R j )+32.4-Gt j +L f

[0141] =Pr s -[SJR] TH -Gr s +20lg(F u )+20lg(R j )+32.4-Gt j +L f

[0142] Among them, Gt J is the interference antenna gain (in dBi), L f is the feeder loss (in decibels dB)

[0143] Example 2

[0144] Figure 5 FIG. 1 is a schematic diagram of a system module for estimating interference power threshold value based on UAV frequency hopping communication according to the present invention. Figure 5 As shown, the interference power threshold estimation system based on UAV frequency hopping communication of the present invention includes:

[0145] The radio frequency detection device 10 is used to detect the communication signal parameters and azimuth angles of the uplink and downlink of the drone and send them to the signal processing module 30.

[0146] Specifically, communication signal parameters include modulation type, average signal power, information transmission rate, frequency hopping frequency, frequency hopping rate and bandwidth.

[0147] The radar device 20 is used to detect the azimuth, pitch and altitude information of the UAV and send the information to the signal processing module 30.

[0148] The signal processing module 30 is used to analyze and process the data detected by the RF detection device 10 and the radar device 20, calculate the frequency hopping processing gain, the transmission power of the ground station, and the communication distance between the ground station and the UAV, thereby estimating the signal-to-interference ratio required for the UAV frequency hopping communication system, and use this signal-to-interference ratio to determine the interference power threshold of the jammer's interference signal.

[0149] Example 3

[0150] In another embodiment of the present application, to verify the effectiveness of the interference power threshold estimation method based on UAV frequency hopping communication in the above embodiment, a simple simulation verification of the above method was performed using Matlab. Due to limited conditions and to reduce the simulation workload, the frequency hopping communication interference system was simplified during modeling. During the simulation, the signal transmission process was not simulated and analyzed, only the signal transmission and reception processes were simulated and analyzed, and an idealized channel and default synchronization were used.

[0151] First, a frequency hopping communication system was constructed. The main design parameters of the system are as follows:

[0152]

[0153] Since the modulation mode is 2FSK, the bit error rate formula is:

[0154]

[0155] Given a bit error rate Pb = 0.1, the bit signal-to-noise ratio is calculated from the above formula:

[0156] γ=5dB

[0157] The frequency hopping processing gain is:

[0158]

[0159] The received signal-to-interference ratio threshold can be obtained as:

[0160] [SJR] TH =γ-G S =-23dB

[0161] The generated signal power is calculated, and broadband Gaussian white noise interference with different signal-to-interference ratios is added to the BFSK system and the FH-BFSK system with a frequency hopping system. The simulation results are as follows: Figure 4 shown.

[0162] For a BFSK system, the bit error rate reaches 0.1 when the signal-to-interference ratio is 5dB. Further increasing the interference signal power will cause the bit error rate to exceed 0.1. Therefore, for a given bit error rate of 0.1, the minimum acceptable signal-to-interference ratio for a BFSK communication system is 5dB. This estimated value is close to the actual value, demonstrating the reliability of the method for estimating the minimum signal-to-noise ratio using the modulation method bit error ratio formula.

[0163] Furthermore, for the FH-BFSK system, the bit error rate reaches 0.1 when the signal-to-interference ratio is -23dB. Further increasing the interference signal power will cause the bit error rate to exceed 0.1. Therefore, for a given bit error rate of 0.1, the signal-to-interference ratio threshold for the FH-BFSK modulation system is -23dB. Furthermore, FH-BFSK (Frequency-Hopping Binary Frequency Shift Keying) has a gain of nearly 28dB over BFSK (Binary Frequency Shift Keying). This estimated value is close to the true value, demonstrating the reliability of this interference power threshold estimation method.

[0164] The present invention provides an interference power threshold estimation system based on frequency-hopping communications for drones. The electromagnetic susceptibility interference threshold of a specific device is typically determined through testing. Based on the drone's uplink and downlink communication signal parameters and location information detected by a radio frequency detection system and radar equipment, the system rapidly calculates the interference power threshold. This allows the jammer to suppress the drone with minimal interference transmission power, achieving optimal interference effectiveness even when power resources are limited. This system is adaptable to effectively jamming different types of civilian drones in practical scenarios.

[0165] The present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a program running on the processor, and when the processor runs the program, the steps of the above-mentioned interference power threshold estimation method based on unmanned aerial vehicle frequency hopping communication are executed.

[0166] The present invention also provides a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed, the steps of the above-mentioned interference power threshold estimation method based on UAV frequency hopping communication are executed. The interference power threshold estimation method based on UAV frequency hopping communication is described in the previous section and will not be repeated here.

[0167] Those skilled in the art will understand that the foregoing descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will be able to modify the technical solutions described in the foregoing embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. The interference power threshold estimation method based on UAV frequency hopping communication includes the following steps: Detect the communication signal parameters and azimuth angles of the uplink and downlink of the UAV frequency hopping communication system through radio frequency signal detection equipment; The distance, azimuth, pitch angle, and altitude parameters between the UAV and the jamming system are obtained through radar detection. Based on the communication signal parameters and location information obtained through detection, the communication distance between the UAV and the ground station and the ground station transmission power are calculated. Set the minimum bit error rate value for blocking drone communications, calculate the minimum signal-to-interference ratio threshold acceptable to the drone communication receiver, and determine the interference power threshold for drone frequency hopping communications.

2. The interference power threshold estimation method based on UAV frequency hopping communication according to claim 1 is characterized in that: The step of detecting the communication signal parameters and azimuth angles of the uplink and downlink of the UAV frequency hopping communication system by the radio frequency signal detection device also includes: The communication signal parameters include modulation type, signal average power, information transmission rate, frequency hopping center frequency, frequency hopping rate and frequency hopping signal bandwidth; The communication signal parameter data rate of the uplink is greater than the communication signal parameter data rate of the downlink.

3. The interference power threshold estimation method based on UAV frequency hopping communication according to claim 1 is characterized in that: The step of obtaining the distance, azimuth, pitch angle and altitude parameters between the UAV and the jamming system by radar detection, and calculating the communication distance between the UAV and the ground station and the transmission power of the ground station based on the communication signal parameters and position information obtained by detection, further includes: According to the loss caused by electromagnetic wave propagation in free space and formula 1, the UAV downlink transmission power Pt is calculated d Pt d +Gt d =Pr d -Gr j +20lg(F d )+20lg(R j )+32.4 Formula 1 Among them, Gt d is the UAV antenna gain, Gr j is the antenna gain of the RF detection equipment, Pr d The signal power of the downlink of the UAV frequency hopping communication received by the RF detection equipment, F d is the frequency hopping center frequency of the UAV downlink, R j is the straight-line distance from the UAV to the jamming system; The distance R between the ground station and the interference system is calculated based on the electromagnetic wave free space propagation formula d : Pt u +Gt u =Pr u -Gr j +20lg(F u )+20lg(R d )+32.4 Formula 2 From formula 2, we can get: 20lg(R d )=Pt u +Gt u +Gr j -Pr u -20lg(F u )-32.4 Formula 3 Among them, Pt u is the uplink transmission power of the ground station, the uplink transmission power is the same as the downlink transmission power, that is, Pt u =Pt d , F u is the center frequency of the UAV uplink frequency hopping, Pr u The average power of the signal from the uplink of the UAV frequency hopping communication system reaching the interference system is obtained for RF signal detection.

4. The interference power threshold estimation method based on UAV frequency hopping communication according to claim 1 is characterized in that: The steps of setting the minimum bit error rate value for blocking drone communication, calculating the minimum signal-to-interference ratio threshold acceptable to the drone communication receiver, and determining the drone frequency hopping communication interference power threshold also include: Establish a three-dimensional geometric relationship between the UAV, the ground station and the jamming system, with the jamming system as the origin O, the UAV as point S, the UAV's projection on the ground as point S', the ground station as point D, the azimuth angle of the ground station detected as β, the azimuth angle of the UAV detected as α, the pitch angle as φ, the height SS'=h, and the distance between the jamming system and the UAV as OS=R j ; According to the three-dimensional geometric relationship, the projection of the UAV on the ground and the distance line of the interference system are obtained: OS′=R j ·cosφ; The angle θ formed between the distance line OS′ between the projection of the UAV on the ground and the jamming system and the distance line OD between the jamming system and the ground station is: θ = |β-α|; According to the obtained distance between the interference system and the ground station, R d , then OD=R d ; The distance line DS′ between the ground station and the projection of the UAV on the ground is: DS′ 2 =OS′ 2 +OF 2 +2×OS′·OD·cosθ =(R j ·cosφ) 2 +R d 2 +2×R j ·cosφ·R d ·cos|β-α| Formula 4 Calculate the distance R between the ground station and the drone s : R s 2 =DS′ 2 +SS′ 2 =(R j ·cosφ) 2 +R d 2 +2×R j ·cosφ·R d ·cos|β - α|+h 2 Formula 5 According to the electromagnetic wave free space propagation formula, the received power Pr when the UAV receives the signal transmitted by the ground station and reaches the UAV receiver is calculated. s : Pt u +Gt u =Pr s -Gr s +20lg(F u )+20lg(R s )+32.4 Formula 6 From formula 6, we can get: Pr s =Pt u +Gt u +Gr s -20lg(F u )-20lg(R s )-32.4 Formula 7 Among them, Pt u is the uplink transmission power of the ground station; F u Gr is the uplink frequency hopping center frequency; s The receiving antenna gain of the UAV.

5. The interference power threshold estimation method based on UAV frequency hopping communication according to claim 4 is characterized in that: Also includes, Define the sensitivity criteria for UAV communication receivers, evaluate the communication interference effect based on the bit error rate, and classify the communication interference level; The critical interference power threshold is calculated based on the maximum bit error rate acceptable to the UAV communication receiver.

6. The interference power threshold estimation method based on UAV frequency hopping communication according to claim 5 is characterized in that: Also includes, According to the modulation mode of the drone uplink detected, the minimum bit error rate value that effectively blocks the drone communication is set, and according to the bit error rate calculation formula of the drone uplink modulation mode, the minimum signal-to-noise ratio required to achieve the predetermined bit error rate is calculated.

7. The interference power threshold estimation method based on UAV frequency hopping communication according to claim 6 is characterized in that: Also includes, Given a bit error rate Pb, the minimum acceptable bit signal-to-noise ratio of the UAV communication receiver is γ; For a frequency hopping communication system, the signal-to-noise ratio is: Among them, S is the received signal power, N is the noise power, E b is the bit signal energy, N0 is the thermal noise power spectrum density, B u is the frequency hopping signal uplink bandwidth, Rb u is the uplink information transmission rate, defined as Anti-interference processing gain for frequency hopping communication; When the signal-to-noise ratio When the UAV communication receiver’s bit error rate is higher than the preset value.

8. The interference power threshold estimation method based on UAV frequency hopping communication according to claim 7 is characterized in that: Also includes, When the interference signal reaches the receiving end of the UAV communication, the signal-to-noise ratio is approximately expressed as: definition is the signal-to-interference ratio, S is the target signal power at the receiving end of the UAV communication, and J is the interference signal power at the receiving end of the UAV communication; According to the known UAV received ground station uplink signal power Pr s and the anti-interference processing gain G S , according to the given bit error rate Pb, the required signal-to-noise ratio γ is calculated, and the received signal signal-to-interference ratio threshold is obtained as [SJR] TH : When the following conditions are met: Then the UAV communication receiving end reaches the critical interference effect, and the minimum input power J of the interference signal of the UAV communication receiving end is obtained as: According to the formula for electromagnetic wave propagation in free space, the equivalent isotropic transmission power EIRP of the interference signal emitted by the interference system is H for: EIRP J =J-Gr s +20lg(F u )+20lg(R j )+32.4 Then the power Pt of the interference signal emitted by the interference system j Pt j =EIRP J -Gt j +L f Among them, Gt j is the interference antenna gain, L f is the feeder loss; According to the given bit error rate, the interference power threshold [Pt j ] TH for: [Pt. j ] TH =EIRP J -Gt j +L f =J-Gr s +20lg(F u )+20lg(R j )+32.4-Gt j +L f =Pr s -[SHR] TH -Gr s +20lg(F u )+20lg(R j )+32.4-Gt j +L f Among them, Gt j is the interference antenna gain, L f is the feeder loss.

9. The interference power threshold estimation system based on UAV frequency hopping communication is characterized by: include, Radio frequency detection equipment, which is used to detect the communication signal parameters and azimuth angles of the UAV uplink and downlink, and send them to the signal processing module; Radar equipment, which is used to detect the azimuth, pitch and altitude information of the drone and send it to the signal processing module; The signal processing module is used to analyze and process the data detected by the radio frequency detection equipment and the radar equipment, calculate the frequency hopping processing gain, the transmission power of the ground station and the communication distance between the ground station and the UAV, obtain the signal-to-interference ratio required by the UAV frequency hopping communication system, and use the signal-to-interference ratio to determine the interference power threshold of the interference signal transmitted by the interference system.

10. An electronic device, characterized in that: It includes a memory and a processor, wherein the memory stores a program running on the processor, and when the processor runs the program, the steps of the interference power threshold estimation method based on unmanned aerial vehicle frequency hopping communication according to any one of claims 1 to 8 are executed.

11. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed, the steps of the interference power threshold estimation method based on UAV frequency hopping communication according to any one of claims 1 to 8 are executed.

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