A method and system for communication and positioning of unmanned aerial vehicles

Abstract

The application provides a UAV communication and positioning method and system, the method comprising: a system configuring communication radar integration parameters; a surface monitoring station sending a communication radar integration signal; the surface monitoring station receiving a target UAV echo signal; a cooperative UAV detecting the integration signal and sending a response message; the ground monitoring station receiving the cooperative UAV response message; the surface monitoring station detecting the previously received echo signal by using the cooperative UAV response message; and the ground monitoring station obtaining target UAV position information and cooperative target data information. The application solves the technical problems of high equipment cost and spectrum interference caused by spectrum overlap.

Description

Technical Field

[0001] This invention relates to the field of communication data and radar data processing for airspace management, and specifically to a method and system for communication and positioning of unmanned aerial vehicles (UAVs). Background Technology

[0002] Currently, drones primarily employ mid- to long-range communication technologies such as WiFi, Bluetooth, and cellular networks to remotely control and transmit data to cooperative drones, and can also locate targets based on communication methods. For non-cooperative drones, such as small, slow, and unmanned aerial vehicles (UAVs), radar and other methods are used for monitoring. To avoid wireless signal interference, technologies such as the coexistence and sharing of communication and sensing spectrum are gradually being applied.

[0003] The existing invention patent application document CN114740889A, entitled "A Method for Predicting the Trajectory Distribution of Non-cooperative UAVs Based on Flight State Division," constructs a rasterized airspace within the selected monitoring airspace; divides the UAV flight state; filters similar trajectory datasets; constructs a trajectory prediction model based on data migration; generates a trajectory reachability space; indexes the trajectory coverage raster coordinates; and generates a trajectory probability distribution. This invention's method, by subdividing the UAV's flight state and combining it with a trajectory prediction method based on data migration, considers the uncertainty of the UAV operator's intentions and models the motion as Brownian motion, employing a truncated Brownian bridge method to model the position distribution of non-cooperative UAVs. From the specific implementation of this prior art, it can be seen that this prior art only generates a trajectory distribution space through the initial flight state division of the UAV. This solution can only qualitatively analyze whether a warning is needed based on the UAV's motion state and cannot accurately identify the UAV's identity.

[0004] The existing invention patent application document CN110968941A, entitled "UAV Management Platform and Management Method Based on Airspace Security Assessment," describes a management platform comprising an airspace modeling and assessment module, a data acquisition module, a target identification module, and an early warning and handling module. This platform establishes an airspace model for a given region, sets airspace security data for that region, and builds a security assessment model for the airspace model. This provides a unified set of criteria and a scientific security assessment method for the flight behavior of UAVs in that region. Different handling methods are adopted for UAVs targeting cooperative targets, UAVs targeting non-cooperative targets, or UAVs exhibiting abnormal intrusions targeting cooperative targets. The specific implementation of this existing solution shows that it compares data such as registration information and flight plans from ground radar and the UAV management system. In complex airspace management, as mentioned above, cooperative and non-cooperative targets often coexist, requiring both communication and radar equipment. This not only increases the equipment cost of airspace management but also increases the complexity of spectrum management. With the increasing demand for communication and radar spectrum, their spectrum trends overlap, such as the 24-26GHz and 71-81GHz millimeter-wave bands. Therefore, the existing spectrum coexistence and sharing need to be upgraded to shared use; otherwise, it will cause spectrum interference to communication and positioning data processing.

[0005] In summary, existing technologies suffer from technical problems such as high equipment costs and spectrum interference caused by spectrum overlap. Summary of the Invention

[0006] The technical problem to be solved by this invention is how to solve the technical problems of high equipment cost and spectrum interference caused by spectrum overlap.

[0007] The present invention solves the above-mentioned technical problems by adopting the following technical solution: A method for communication and positioning of unmanned aerial vehicles (UAVs) includes:

[0008] S1. Configure integrated sensing and communication equipment;

[0009] S2. Configure system parameters, including setting a protection interval at the end of the R time slot;

[0010] S3. Using the integrated sensing and communication equipment, a monitoring task is initiated according to system parameters, and an integrated communication radar signal is sent. The cooperating UAV detects the integrated communication radar signal and sends a cooperating UAV response information accordingly, and generates a target UAV echo signal. The number of cooperating UAVs and the number of non-cooperating UAVs are obtained based on the target UAV echo signal. The different cooperating target UAVs use orthogonal frequency division multiplexing access.

[0011] S4. Receive and process the echo signal from the target UAV and the response information from the cooperating UAVs. Detect the echo signal from the target UAV based on the response information from the cooperating UAVs. Step S4 includes:

[0012] S41. Using the iterative minimum mean square error estimation algorithm, detect the echo signal of the target UAV to obtain the signal estimate;

[0013] S42. Based on the signal estimation value, from the echo signal Y received on the R subframe... R (t) Remove the cooperative target echo signal and process the echo signal Y received on the R subframe using the radar echo detection algorithm. R (t), to detect the position and velocity of non-cooperative targets;

[0014] S5. Based on the number of cooperative drones and the number of non-cooperative drones, the ratio of the number of cooperative drones to the number of non-cooperative drones is obtained. Based on this ratio, the time slot ratio of communication signals and radar signals in a single subframe is adjusted. Based on the time slot ratio, the time and frequency resources for transmitting and receiving radar signals and communication signals are allocated.

[0015] S6. Utilize the time and frequency resources for transmitting and receiving to acquire and output the identity information, status information, and location information of the target UAV and the non-cooperative target UAV in the current stage.

[0016] This invention, based on integrated radar and communication technology, utilizes a single wireless device to achieve both communication and radar positioning functions on the same spectrum. It monitors the identity, location, and other status of both cooperative and non-cooperative UAVs while reducing equipment costs, minimizing spectrum interference, and improving UAV management efficiency. This invention incorporates a guard interval at the tail end of the R-slot to prevent interference between R-slot echoes and U and S signals. By employing integrated radar and communication equipment at a ground monitoring station, this invention reduces equipment costs and avoids spectrum interference caused by spectrum overlap.

[0017] In a more specific technical solution, step S1 includes:

[0018] S21. Configure integrated signal time and frequency resource location;

[0019] S22. Configure communication signal waveform modulation parameters, channel coding method, and power;

[0020] S23. Configure the cooperative target communication modulation parameters, positioning reference signal parameters, and power.

[0021] In a more specific technical solution, step S3 includes:

[0022] S31. Using the ground monitoring station, OFDM communication signals are sent on the D subframe according to the system parameters;

[0023] S32. Transmit radar signals on the R subframe;

[0024] S33. After reflection from M1+M2 targets, the ground monitoring station receives the echo signal of the target UAV on the R subframe. The echo signal of the target UAV includes: echo signal of cooperative targets and echo signal of non-cooperative targets.

[0025] S34. Using a ground monitoring station, receive the sensing reference signal and communication signal of the cooperative UAV m on different subcarriers in the S and U time slots, respectively.

[0026] This invention utilizes integrated communication and radar technology to conduct hybrid monitoring of targets, including cooperative and non-cooperative drones. The monitoring station receives the echo signals from the radar signals within the integrated signal, targeting both cooperative and non-cooperative targets. This invention reduces equipment costs for airspace management while also decreasing the complexity of spectrum management.

[0027] In a more specific technical solution, step S31 uses the following logic to determine the OFDM communication signal:

[0028]

[0029] In the formula, N is the number of subcarriers, and d n,k f is the k-th frequency domain communication modulation symbol modulated on the n-th subcarrier. n The carrier frequency of the nth subcarrier, Δf is the subcarrier modulation interval, and rect is the rectangular window function.

[0030] In a more specific technical solution, step S32 uses the following logic to determine the radar signal transmitted on the R subframe:

[0031]

[0032] In the formula, r n,k This is the radar reference symbol for the k-th subcarrier.

[0033] In a more specific technical solution, in step S33, the echo signal received on the R subframe is determined using the following logic:

[0034]

[0035] In the formula, n(t) represents clutter and interference noise, and y 1,m (t) and y 2,m (t) represent the echo signals of the cooperative target m and the non-cooperative target m, respectively.

[0036] In a more specific technical solution, step S34 uses the following logic to determine the reference signal and the communication signal:

[0037]

[0038]

[0039] In the formula, h 1,m S is the wireless channel attenuation coefficient. 1,m,k R is the perceptual reference symbol sent to the monitoring station for the cooperative target m. 1,m and v 1,m To estimate parameters for the monitoring station, u 1,m,k Communication symbols sent from the cooperation target m to the monitoring station.

[0040] In a more specific technical solution, in step S5, the number N of radar signal time slot R subframes is set using the following logic. R :

[0041]

[0042] in, The number of non-cooperative target drones estimated in the previous frame.

[0043] In a more specific technical solution, the following logic is used to obtain the echo signal Y received on the R subframe. R In (t), delete the echo signal of the cooperative target:

[0044]

[0045] This invention utilizes the uplink communication signal of the cooperating target to accurately locate and identify the cooperating target. Then, based on the location measurement results of the cooperating target, the echo estimation signal of the cooperating target is deleted from the echo signal, thereby improving the signal quality of non-cooperating targets and enhancing their detection accuracy.

[0046] In a more specific technical solution, a drone communication and positioning system includes:

[0047] An integrated device configuration module is used to configure the integrated sensing and communication device;

[0048] The system parameter configuration module is used to configure system parameters, including setting a protection interval at the end of the R time slot;

[0049] An integrated signal generation and transmission module is used to utilize the integrated sensing and communication equipment to initiate monitoring tasks according to system parameters, send integrated communication radar signals, detect the integrated communication radar signals, send cooperative drone response information accordingly, and generate target drone echo signals. The number of cooperative drones and non-cooperative drones is obtained based on the target drone echo signals. Different cooperative target drones use orthogonal frequency division multiplexing access. The integrated signal generation and transmission module is connected to the integrated equipment configuration module and the system parameter configuration module.

[0050] The communication signal and echo receiving module is used to receive and process the echo signal of the target UAV and the response information of the cooperating UAV. It detects the echo signal of the target UAV based on the response information of the cooperating UAV. Step S4 includes:

[0051] The echo signal detection module is used to detect the echo signal of the target UAV using an iterative minimum mean square error estimation algorithm to obtain the signal estimate.

[0052] The non-cooperative target detection module is used to detect the echo signal Y received on the R subframe based on the signal estimation value. R (t) Remove the cooperative target echo signal and process the echo signal Y received on the R subframe using the radar echo detection algorithm. R (t), detects the position and velocity of non-cooperative targets, and the non-cooperative target detection module is connected to the echo signal detection module;

[0053] The time slot ratio adjustment module is used to process the ratio of the number of cooperative drones to the number of non-cooperative drones based on the number of cooperative drones, and adjust the time slot ratio of communication signals and radar signals in a single subframe accordingly. Based on the time slot ratio, the time and frequency resources for transmitting and receiving radar signals and communication signals are allocated. The time slot ratio adjustment module is connected to the non-cooperative target detection module.

[0054] The joint signal and data processing module is used to acquire and output the identity information, status information, and location information of the target UAV and non-cooperative target UAV in the current stage by utilizing the time and frequency resources of transmission and reception.

[0055] Compared with existing technologies, this invention has the following advantages: Based on integrated radar and communication technology, this invention utilizes a single wireless device to achieve communication and radar positioning functions on the same spectrum. While monitoring the identity, location, and other status of both cooperative and non-cooperative UAVs, it also reduces equipment costs, minimizes spectrum interference, and improves UAV management efficiency. This invention sets a guard interval at the tail end of the R-time slot to avoid conflicts between R-time slot echoes and U and S signals. By employing integrated radar and communication equipment at a ground monitoring station, this invention reduces equipment costs and avoids spectrum interference caused by spectrum overlap.

[0056] This invention utilizes integrated communication and radar technology to conduct hybrid monitoring of targets, including cooperative and non-cooperative drones. The monitoring station receives the echo signals from the radar signals within the integrated signal, targeting both cooperative and non-cooperative targets. This invention reduces equipment costs for airspace management while also decreasing the complexity of spectrum management.

[0057] This invention utilizes the uplink communication signals of cooperative targets for precise location and identification. Then, based on the location measurement results of the cooperative targets, the estimated echo signals of the cooperative targets are removed from the echo signals, thereby improving the signal quality of non-cooperative targets and enhancing their detection accuracy. This invention solves the technical problems of high equipment cost and spectral interference caused by spectrum overlap in existing technologies. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the basic process of a UAV communication and positioning method according to Embodiment 1 of the present invention;

[0059] Figure 2 This is a schematic diagram of the basic steps of a UAV communication and positioning method according to Embodiment 1 of the present invention;

[0060] Figure 3 This is a schematic diagram of the basic module connection of the integrated sensing and communication device according to Embodiment 1 of the present invention;

[0061] Figure 4 This is a schematic diagram illustrating the specific steps of configuring system parameters in Embodiment 1 of the present invention;

[0062] Figure 5 This is a schematic diagram of the integrated communication and radar signal time and frequency resource configuration method according to Embodiment 1 of the present invention;

[0063] Figure 6 This is a schematic diagram illustrating the specific steps of data processing at the monitoring station in Embodiment 1 of the present invention. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] Example 1

[0066] like Figure 1 and Figure 2 As shown, the present invention provides a method for communication and positioning of unmanned aerial vehicles (UAVs), which includes the following basic steps:

[0067] S1. System configuration parameters for integrated communication and radar;

[0068] S2, Ground monitoring station sends integrated communication and radar signals;

[0069] S3. The ground monitoring station receives the echo signal from the target UAV.

[0070] S4. The cooperative drone detects integrated signals and sends response information;

[0071] S5. The ground monitoring station receives response information from the cooperating drones.

[0072] S6. The ground monitoring station uses the response information from the cooperating UAV to detect the previously received echo signal;

[0073] S7: The ground monitoring station obtains the target drone's location information, as well as cooperative target data information.

[0074] In this embodiment, the UAV communication and positioning method provided by the present invention further includes the following specific steps:

[0075] Step S1': Configure the ground monitoring station with integrated sensing and communication equipment;

[0076] like Figure 3 As shown in this embodiment, the UAV communication and positioning system provided by the present invention includes a ground monitoring station and a target UAV. The monitoring station monitors the identity and location of the target UAV and communicates with the cooperating target UAV.

[0077] In this embodiment, the integrated sensing and communication device includes: an integrated signal generation and transmission module 1, a transceiver antenna 2, a receiving antenna 3, an echo receiving module 4, a communication signal receiving module 5, and a joint signal and information processing module 6. In this embodiment, the integrated signal generation and transmission module 1 includes: an integrated baseband signal generator 11 and a radio frequency link 12. In this embodiment, the output of the integrated signal generation and transmission module 1 is connected to the transceiver antenna 2. In this embodiment, the integrated signal is a signal formed by multiplexing communication signals and radar signals on the same spectrum resources. The communication signal is used for communication and identification of the cooperative target UAV, and the radar signal is used to sense the status of the target UAV. The multiplexing method can be time-division multiplexing, frequency-division multiplexing, space-division multiplexing, etc.

[0078] In this embodiment, the echo receiving module 4 receives the echo of the integrated signal. In this embodiment, the echo includes, but is not limited to, radar echoes, used to measure the position and speed of the target UAV and other status information. The receiving antenna 3 and the transmitting antenna 2 are physically isolated.

[0079] In this embodiment, the communication signal receiving module 5 receives communication signals transmitted by the cooperative target UAV. These communication signals include, but are not limited to, communication signals used to transmit response information and reference signals used for measurement and positioning by the ground monitoring station. The receiving antenna 3 can be a time-division multiplexed or frequency-division multiplexed transceiver antenna 2.

[0080] In this embodiment, the joint signal and information processing module 6 performs joint detection and data processing on the received radar signals and communication signals. First, it obtains the wireless channel parameters, identity, location information and communication content of the cooperative target. Then, based on this information, it detects the echo signal to obtain the position and other status information of the non-cooperative target UAV.

[0081] In this embodiment, the cooperative target UAV is equipped with a communication transceiver device to receive communication signals and radar signals from the integrated signal, and to send communication signals carrying data and positioning reference signals to the ground monitoring station.

[0082] Step S2': Configure system parameters on the ground monitoring station;

[0083] like Figure 4 As shown, in this embodiment, step S2' further includes the following specific steps:

[0084] like Figure 5 As shown, in this embodiment, step S21: Configure the location of integrated signal time-frequency resources. Figure 2 An example of integrated signal resource configuration for OFDM modulation is given, using time slots as the unit. Time slots 0, 3, 5, and 8 are used for communication signals transmitted by the monitoring station, denoted as D. Time slots 1 and 6 are used for radar signals transmitted by the monitoring station, denoted as R. Time slots 4 and 9 are used for cooperative UAVs to transmit communication signals to the monitoring station, denoted as U. Time slots 2 and 7 are used on different subcarriers for cooperative UAVs to transmit communication signals and measurement reference signals, denoted as U and S. The signal in S is used to assist the monitoring station in further measuring the position information of the cooperative target UAV. To avoid interference between the echo of time slot R and the U and S signals, a guard interval with a length of T = L can be set at the end of time slot R. w / c, where L w denoted as c, where c is the effective working distance of the monitoring station equipment.

[0085] Step S22: Configure the communication signal waveform modulation parameters, channel coding method and power, for example, the waveform uses OFDM modulation and the channel coding uses LDPC code or polar code; configure the radar signal sequence generation parameters, waveform modulation parameters and power, and input them into the integrated signal generation module.

[0086] Step S23: Configure the cooperative target communication modulation parameters, positioning reference signal parameters, and power.

[0087] After the system parameters are configured, the monitoring station broadcasts the system parameter configuration information through the broadcast channel, and all cooperating target UAVs receive the parameter configuration information.

[0088] Step S3': The monitoring console starts the monitoring task.

[0089] The monitoring station sends OFDM communication signals on the D subframe according to the system parameter configuration;

[0090]

[0091] Where N is the number of subcarriers, d n,k f is the k-th frequency domain communication modulation symbol modulated on the n-th subcarrier. n The carrier frequency of the nth subcarrier, Δf is the subcarrier modulation interval, and rect is the rectangular window function. The communication signal is received and detected by the cooperative target UAV, which will not be discussed in detail in this scheme.

[0092] The monitoring station transmits radar signals on the R subframe:

[0093]

[0094] Where r n,k This is the radar reference symbol for the k-th subcarrier.

[0095] After reflection from M1+M2 targets, the echo signal received by the monitoring station on the R subframe is:

[0096]

[0097] Where n(t) represents clutter and interference noise, y 1,m (t) and y 2,m (t) represent the echo signals of the cooperative target m and the non-cooperative target m, respectively:

[0098]

[0099]

[0100] M1 and M2 are the numbers of cooperative and non-cooperative objectives, respectively, and R... 1,m and R 2,m Let f be the distance between the cooperative objective m and the non-cooperative objective m, respectively. d,1,m =2v 1,m f c / c and f d,2,m =2v 2,m f c / c represents the Doppler frequency shift of cooperative target m and non-cooperative target m, respectively, v 1,m and v 2,m Let be the radial velocities of the cooperative target m and the non-cooperative target m, respectively. and ρ1 and ρ2 are the echo delays caused by the shift in the current symbol period for the cooperative target m and the non-cooperative target m, respectively. ρ1 and ρ2 are the scattering coefficients of the cooperative target m and the non-cooperative target m, respectively.

[0101] The monitoring station further receives the sensing reference signal and communication signal of the cooperative UAV m on different subcarriers in the S and U time slots, respectively. Different cooperative target UAVs use orthogonal frequency division multiplexing access, so the received signal is:

[0102]

[0103]

[0104] Where h 1,m S is the wireless channel attenuation coefficient. 1,m,k The sensing reference symbol sent by the cooperative target m to the monitoring station is modulated onto the subcarrier set allocated to the cooperative target m. In the middle, the parameter R is used to estimate the monitoring station. 1,m and v 1,m u 1,m,k The communication symbols sent by the cooperative target m to the monitoring station are modulated onto the subcarrier set allocated to the cooperative target m. In this context, it can be used to send R signals obtained from the previous frame's R signal, which are the cooperative target's information. 1,m and v 1,m And other information. Here,

[0105] Step S4': The monitoring station processes the received signals and performs data processing.

[0106] like Figure 6 As shown, step S4' further includes the following specific steps:

[0107] Step S41: The monitoring station performs signal detection on the received y1(t); in this embodiment, the iterative minimum mean square error estimation algorithm is used on the subcarrier set. China Testing

[0108]

[0109] Iteration initial value The value is determined by the demodulation and decoding of the communication symbols in the U-slot. Substitute into (8) to calculate Then calculate Substitute (8) to update until Convergence, or the number of iterations reaching the maximum value L. max For example, 20.

[0110] Step S42: The monitoring station uses the estimated value and Y R (t) Further detect the position and velocity of non-cooperative targets. In this embodiment, first from Y... R(t) From the echo signal of the deleted cooperative target, i.e.

[0111]

[0112] Then for Y R (t) Execute the radar echo detection algorithm to obtain the location information of non-cooperative targets.

[0113] Step S5': The system adjusts the time slot ratio of communication signals and radar signals in a subframe based on the ratio of cooperative to non-cooperative drones among the target drones. When all drones are non-cooperative, all resources are used to transmit radar signals; when all drones are cooperative, all resources are used to transmit communication signals, including U and D signals. Specifically, when a frame has N... 总 Composed of several subframes, the number of radar signal time slots R and N can be set. R for:

[0114]

[0115] in, This represents the estimated number of non-cooperative target drones from the previous frame. Typically, N... 总 =10.

[0116] Step S6': The monitoring station outputs the current status information of the target drone, such as its identity and location, as well as the location information of non-cooperative target drones, and then proceeds to the next step or ends the monitoring.

[0117] In this embodiment, the target drone does not need to be equipped with communication equipment. Instead, it can be fitted with an electromagnetic material that can modulate the echo. This material can achieve echo beamforming, enhance echo energy, and improve echo positioning accuracy. It can also carry certain identification information in the echo to assist the monitoring station in identifying the target drone.

[0118] In summary, this invention, based on integrated radar and communication technology, utilizes a single wireless device to achieve both communication and radar positioning functions on the same spectrum. This allows for the monitoring of the identity, location, and other status of both cooperative and non-cooperative UAVs, while simultaneously reducing equipment costs, minimizing spectrum interference, and improving UAV management efficiency. The invention incorporates a guard interval at the tail end of the R-slot to prevent interference between R-slot echoes and U and S signals. Furthermore, by employing integrated radar and communication equipment at a ground monitoring station, this invention reduces equipment costs and avoids spectrum interference caused by spectrum overlap.

[0119] This invention utilizes integrated communication and radar technology to conduct hybrid monitoring of targets, including cooperative and non-cooperative drones. The monitoring station receives the echo signals from the radar signals within the integrated signal, targeting both cooperative and non-cooperative targets. This invention reduces equipment costs for airspace management while also decreasing the complexity of spectrum management.

[0120] This invention utilizes the uplink communication signals of cooperative targets for precise location and identification. Then, based on the location measurement results of the cooperative targets, the estimated echo signals of the cooperative targets are removed from the echo signals, thereby improving the signal quality of non-cooperative targets and enhancing their detection accuracy. This invention solves the technical problems of high equipment cost and spectral interference caused by spectrum overlap in existing technologies.

[0121] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for communication and positioning of unmanned aerial vehicles (UAVs), characterized in that, The method includes: S1. Configure integrated sensing and communication equipment; S2. Configure system parameters, including setting a protection interval at the end of the R time slot; S3. Using the integrated sensing and communication device, a monitoring task is initiated according to the system parameters, and an integrated communication radar signal is sent. The cooperating UAV detects the integrated communication radar signal and sends a cooperating UAV response information accordingly, and generates a target UAV echo signal. The number of cooperating UAVs and the number of non-cooperating UAVs are obtained based on the target UAV echo signal. Different cooperating target UAVs use orthogonal frequency division multiplexing access. S4. Receiving and processing the echo signal of the target UAV and the response information of the cooperating UAV, and detecting the echo signal of the target UAV based on the response information of the cooperating UAV, step S4 includes: S41. Using the iterative minimum mean square error estimation algorithm, detect the echo signal of the target UAV to obtain the signal estimate; S42. Based on the signal estimation value, from the echo signal received on the R subframe... In the process, the echo signal of the cooperative target is deleted, and the echo signal received on the R subframe is processed using a radar echo detection algorithm. Detect the position and velocity of non-cooperative targets; S5. Based on the number of cooperative drones and the number of non-cooperative drones, the ratio of the number of cooperative and non-cooperative drones is obtained, and the time slot ratio of communication signals and radar signals in a single subframe is adjusted accordingly. Based on the time slot ratio, the time and frequency resources for transmitting and receiving radar signals and communication signals are allocated. S6. Using the aforementioned transmit and receive time-frequency resources, acquire and output the identity information, status information, and location information of the target UAV in the current stage.

2. The UAV communication and positioning method according to claim 1, characterized in that, Step S2 includes: S21. Configure integrated signal time and frequency resource location; S22. Configure communication signal waveform modulation parameters, channel coding method, and power; S23. Configure the cooperative target communication modulation parameters, positioning reference signal parameters, and power.

3. The UAV communication and positioning method according to claim 1, characterized in that, Step S3 includes: S31. Using a ground monitoring station, OFDM communication signals are transmitted on the D subframe according to the system parameters. S32. Transmit radar signals on the R subframe; S33, after The ground monitoring station receives the echo signal of the target UAV on the R subframe, wherein the echo signal of the target UAV includes: echo signal of cooperative target and echo signal of non-cooperative target; S34. Using the ground monitoring station, receive signals from the cooperating UAV on different subcarriers in the S and U time slots respectively. m The sensing reference signal and communication signal.

4. The UAV communication and positioning method according to claim 3, characterized in that, In step S31, the OFDM communication signal is determined using the following logic: In the formula, N is the number of subcarriers. This refers to the k-th frequency domain communication modulation symbol modulated on the n-th subcarrier. The carrier frequency of the nth subcarrier, For subcarrier modulation interval, This is a rectangular window function.

5. The UAV communication and positioning method according to claim 3, characterized in that, In step S32, the radar signal transmitted on the R subframe is determined using the following logic: In the formula, For the first n On the subcarrier k One radar reference symbol, The carrier frequency of the nth subcarrier, denoted as the subcarrier modulation interval, and N as the number of subcarriers.

6. The UAV communication and positioning method according to claim 3, characterized in that, In step S33, the echo signal received on the R subframe is determined using the following logic: In the formula, For clutter and interference noise, and These are the cooperation goals m Non-cooperative goals m The echo signal.

7. The UAV communication and positioning method according to claim 3, characterized in that, In step S34, the reference signal and the communication signal are determined using the following logic: In the formula, This is the wireless channel attenuation coefficient. For the goal of cooperation m Perception reference symbols sent to the monitoring station and Estimate parameters for the monitoring station. For the goal of cooperation m Communication symbols sent to the monitoring station c At the speed of light, This represents the set of subcarriers assigned to the cooperative target. This represents the set of subcarriers assigned to non-cooperative targets.

8. The UAV communication and positioning method according to claim 1, characterized in that, In step S5, the number of radar signal time slot R subframes is set using the following logic. N R : in, The number of non-cooperative target drones estimated in the previous frame.

9. The UAV communication and positioning method according to claim 1, characterized in that, In step S42, the following logic is used to obtain the echo signal received on the R subframe. Y R (t) In the middle, delete the echo signal of the cooperative target: ， In the formula, m Indicate the goals of cooperation. This is the wireless channel attenuation coefficient. c At the speed of light, For the goal of cooperation m The scattering coefficient.

10. A UAV communication and positioning system, characterized in that, The system includes: An integrated device configuration module is used to configure the integrated sensing and communication device; The system parameter configuration module is used to configure system parameters, including setting a protection interval at the end of the R time slot; An integrated signal generation and transmission module is used to utilize the integrated sensing and communication device to initiate a monitoring task according to the system parameters, send an integrated communication radar signal, and have a cooperating UAV detect the integrated communication radar signal to send a cooperating UAV response information and generate a target UAV echo signal. The number of cooperating UAVs and the number of non-cooperating UAVs are obtained based on the target UAV echo signal. Different cooperating target UAVs use orthogonal frequency division multiplexing access. The integrated signal generation and transmission module is connected to the integrated device configuration module and the system parameter configuration module. A communication signal and echo receiving module is used to receive and process the echo signal of the target UAV and the response information of the cooperating UAV, and to detect the echo signal of the target UAV based on the response information of the cooperating UAV. The communication signal and echo receiving module includes: The echo signal detection module is used to detect the echo signal of the target UAV using an iterative minimum mean square error estimation algorithm to obtain a signal estimate. A non-cooperative target detection module is used to detect the echo signal received on the R subframe based on the signal estimate. The echo signal of the cooperative target is deleted, and the echo signal received on the R subframe is processed using a radar echo detection algorithm. The non-cooperative target detection module is connected to the echo signal detection module to detect the position and velocity of non-cooperative targets. The time slot ratio adjustment module is used to process the ratio of the number of cooperative drones to the number of non-cooperative drones based on the number of cooperative drones and the number of non-cooperative drones, and adjust the time slot ratio of communication signals and radar signals in a single subframe accordingly. Based on the time slot ratio, the module allocates the time and frequency resources for transmitting and receiving radar signals and communication signals. The time slot ratio adjustment module is connected to the non-cooperative target detection module. The joint signal and data processing module is used to acquire and output the identity information, status information, and location information of the target UAV and non-cooperative target UAV in the current stage by utilizing the time and frequency resources of transmission and reception.

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