A monitoring time allocation method, device, equipment and medium

Abstract

The present application discloses a listening time allocation method, device, equipment and medium, the method comprising: dividing the signal to be captured into N non-periodic signals and X periodic signals, sorting the N non-periodic signals according to the frequency point size to obtain the sorting result; dividing the time slot T into N sub-time slots with a duration of d1, and monitoring the nth frequency point in the nth sub-time slot according to the sorting result, wherein n is a natural number greater than or equal to 1 and less than or equal to N; when it is necessary to capture a periodic signal, interrupting the current monitoring of the non-periodic signal to capture the periodic signal until the capture of the periodic signal is completed. The present application reduces the requirements for the communication link and improves the accuracy of drone signal capture by allocating the listening time allocation authority to the sensor.

Description

Technical Field

[0001] The present application relates to the field of signal detection, and in particular to a monitoring time allocation method, device, equipment and medium. Background Art

[0002] With the explosive development of the drone industry, more and more drones are being used in various scenarios, such as legal aerial photography, express delivery, drone performances, drone competitions, agricultural production, plant protection, disaster relief, wildlife observation, surveying and mapping, news reporting, power inspections, etc. When a drone is in operation, its location needs to be monitored in real time.

[0003] A common method for UAV positioning is TDOA (Time Difference of Arrival), which uses the time difference between the radiation source signal on the UAV reaching different sensors to locate the UAV.

[0004] The TDOA positioning system needs to measure the time difference between the signal emitted by the signal source and the arrival of each sensor. In this way, it is necessary to ensure that each sensor remains on the corresponding signal channel for capture at the same signal arrival time. If only one target is targeted, a long-term resident channel monitoring can be adopted. However, if multiple targets are to be measured, these signal sources are emitted on different channels (frequencies) and time points, and multiple sensors need to be coordinated to ensure that the signals of multiple targets can be correctly received. However, the prior art generally adopts a controller unified scheduling mode, that is, the controller continuously sends control instructions to all sensors to make each sensor operate in unison. This method has low operating efficiency, complex communication control, and certain requirements for the delay quality of the communication network. Therefore, a more flexible and efficient scheduling method is urgently needed. Summary of the invention

[0005] The purpose of this application is to overcome the shortcomings of the prior art and provide a monitoring time allocation method, device, equipment and medium, which delegates all or part of the original controller's control authority to the lower level. Instead of using only the controller to control all sensors, the sensors are allowed to autonomously schedule the monitoring time of different frequencies. The advantages of this application are that it improves the operating efficiency, reduces the requirements for communication network latency, and can still monitor drone signals when the network conditions are not good.

[0006] The specific technical solutions of this application are as follows:

[0007] In a first aspect, the present application provides a monitoring time allocation method, the method comprising: dividing the signal to be captured into N non-periodic signals and X periodic signals, sorting the N non-periodic signals according to the frequency point size to obtain a sorting result; dividing the time slot T into N sub-time slots with a duration of d1, and monitoring the nth frequency point in the nth sub-time slot according to the sorting result, where n is a natural number greater than or equal to and 1 less than or equal to N; when it is necessary to capture a periodic signal, interrupting the current monitoring of the non-periodic signal to capture the periodic signal until the capture of the periodic signal is completed.

[0008] Furthermore, it also includes: according to the last occurrence time of the periodic signal, the current time, the signal period p and the stay time d 周期信号 The starting time point of capturing the periodic signal is calculated so that the periodic signal is located in the middle of the capture window.

[0009] Furthermore, the method also includes: the capture window of the periodic signal is calculated by a sensor.

[0010] Furthermore, the method further includes: dividing the X periodic signals into a coarse precision periodic signal and an accurate periodic signal, wherein the capture window size of the coarse precision periodic signal is d 粗 , the capture window size of the accurate periodic signal is d 准 , where d 粗 Greater than d 准 .

[0011] Furthermore, it also includes: when the periodic signal appears, the sensor records and modifies the last appearance time, signal period p, and dwell time d 周期信号 .

[0012] Furthermore, it also includes: the time interval T is dynamically adjusted according to the number of the signals to be captured and the period size of the periodic signal.

[0013] Furthermore, it also includes: the time interval T is divisible by 1 second.

[0014] In a second aspect, the present application also provides a monitoring time allocation device, which includes a time allocation module and a signal capture module.

[0015] The time allocation module is used to divide the signal to be captured into N non-periodic signals and X periodic signals, and sort the N non-periodic signals according to the frequency point size to obtain the sorting result; the time allocation module is also used to divide the time interval T into N sub-intervals with a duration of d1.

[0016] The signal acquisition module is used to monitor the nth frequency point in the nth sub-interval according to the sorting result, where n is a natural number greater than or equal to 1 and less than or equal to N.

[0017] When it is necessary to capture the first periodic signal, the signal capturing module is further used to interrupt the current monitoring of the non-periodic signal to capture the first periodic signal until the capture of the first periodic signal is completed.

[0018] In a third aspect, the present application also provides a signal monitoring device, the device comprising a controller and a sensor, the sensor comprising a memory and a processor.

[0019] The memory is used to store program codes and transmit the program codes to the processor.

[0020] The processor is used to execute the drone signal detection method described in the first aspect according to the instructions in the program code.

[0021] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the listening time allocation method described in the first aspect is implemented.

[0022] The beneficial effects of this application are:

[0023] 1. The mechanism of this application is simple and reliable, and has low requirements on the communication links between sensors and between sensors and controllers.

[0024] 2. This application can effectively increase the number of targets tracked simultaneously and the amount of effective measurement data reported. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0026] Figure 1 This is the structural diagram of the TDOA positioning system;

[0027] Figure 2 A schematic diagram of monitoring time allocation provided in an embodiment of the present application;

[0028] Figure 3 A monitoring time allocation flow chart provided in an embodiment of the present application;

[0029] Figure 4 A schematic diagram of the structure of a monitoring time allocation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] The current TDOA system mainly adopts a controller-controlled unified scheduling mode, and the sensors are controlled by control instructions sent by the controller.

[0032] like Figure 1 As shown in the figure, the TDOA positioning system is usually composed of a controller, one or more sensors, and auxiliary detection equipment. Among them, the controller is the core of the system control. It continuously monitors each channel through auxiliary detection equipment to capture the signal of interest and record signal parameters such as signal type, channel frequency, appearance time, and appearance period. When it is decided to locate and track a certain signal, the controller will send the signal parameters of the signal to each sensor through a control instruction. After receiving the control instruction from the controller, the sensor starts to monitor the corresponding frequency point (generally a frequency band with a certain frequency as the intermediate frequency and a width of tens of M) according to the received signal parameters, and continuously measures and reports the arrival time (TOA) of the signal. Since all sensor nodes in the system are time synchronized (for example, GPS is used to calibrate the time), the controller can classify and aggregate the received measurement data, calculate the time difference, and further solve the location information, and restore the motion trajectory of the signal source based on multiple time-ordered location information.

[0033] In the traditional solution, the sensor can only passively obey the control of the controller without any active authority, that is, the sensor has no authority to modify the signal parameters and can only monitor the corresponding frequency point in the corresponding time period according to the information provided by the control instruction.

[0034] On the one hand, this method will miss non-periodic drone signals. On the other hand, the period of periodic drone signals may also change during operation. When the communication environment is good, the controller can monitor this change in time and notify each sensor through control instructions. However, when the communication environment is poor and the delay is high, the sensor often cannot change the signal parameters in time, thereby missing the drone signal that needs to be monitored.

[0035] To this end, the present application provides a listening time allocation method, which captures drone signals more efficiently by designing a method for a sensor to autonomously adjust the listening time allocation.

[0036] The following specifically introduces an embodiment of a monitoring time allocation method provided by the present application, referring to Figure 3, is a flow chart of a method provided in an embodiment of the present application, the method specifically includes:

[0037] S101: Divide 1 second into multiple time slots, each time slot has a length of T slot , which is equivalent to forming a unified operating schedule among multiple sensors.

[0038] In one embodiment, T slot It can be adjusted dynamically according to the number of signals to be collected and the size of the signal cycle, but no matter how it is adjusted, it must be ensured that 1 second can be slot In another embodiment, T slot The controller performs unified control to ensure that each sensor uses the same schedule and the same scheduling rules. In another embodiment, T slot Can be changed by the sensor, which has lower change authority than the controller, that is, when receiving a controller containing T slot After receiving the control command, the sensor's own changes are discarded.

[0039] S102: Group all signals to be captured. Divide the signals to be captured into two groups according to non-periodic and periodic, and sort the two groups of signals respectively. The non-periodic signals are sorted according to the frequency point size, and the periodic signals are sorted according to the period size. In one embodiment, only the non-periodic signals are sorted.

[0040] In one embodiment, the signals to be captured are uniformly determined by the controller and grouped and sorted, and the controller sends the grouping and sorting results to the sensor. In another embodiment, the signals to be captured are uniformly determined by the controller and initially grouped, and the controller sends the initial grouping results to the sensor. The sensor determines whether the signal still has periodicity during operation. If the periodicity of the signal disappears, the sensor changes the signal from periodic signal grouping to non-periodic signal grouping. In another embodiment, the grouping results are sent by the controller to the sensor, and the sensor sorts the periodic signal and the non-periodic signal to determine the sorting results.

[0041] S103: Determine a monitoring time for a non-periodic signal in the non-periodic signal group, and monitor the non-periodic signal.

[0042] Since multiple sensors need to work together, that is, multiple sensors need to monitor the same frequency at the same time point, it is necessary to uniformly determine the monitoring time of each non-periodic signal to ensure that multiple sensors monitor the same frequency point at the same time.

[0043] Usually, a background channel scanning mode is used to capture non-periodic signals. The background channel scanning mode is used because the frequency band of drones is very wide, from 400M to 6000Mhz, and the commonly used wireless signal receiver can only receive a limited bandwidth (usually tens of MHz), so the receiver needs to continuously switch the working frequency to capture wireless signals at different frequencies, which is called background channel scanning mode. Since it is impossible to predict the future appearance time of non-periodic signals, it is necessary to determine a time plan for the receiver to switch frequencies.

[0044] In one embodiment, the non-periodic signal group includes N non-periodic signals, and the N non-periodic signals are evenly divided into time slots T slot , the allocated time length d1 is called a sub-time slot, that is

[0045] d1=T slot / N.

[0046] The sensor monitors each frequency point in sequence according to the order of the non-periodic signals determined in step S102, that is, monitors the first frequency point in the first sub-time slot, monitors the second frequency point in the second sub-time slot, and so on.

[0047] In one embodiment, after the non-periodic signal is captured, the captured non-periodic signal is reported to the controller. The sensor can directly report the captured non-periodic signal to the controller, or after performing preliminary processing, such as noise reduction, the processed information is reported to the controller.

[0048] S104: Interrupt the monitoring of non-periodic signals to capture periodic signals. When no periodic signal arrives, the sensor monitors the frequency points where non-periodic signals may appear according to the method of step S103; when a periodic signal arrives, the periodic signal is captured by preemptive interruption, and after the capture is completed, the capture of the current non-periodic signal is resumed to monitor the corresponding frequency points of the non-periodic signal. In one embodiment, both non-periodic signals and periodic signals have priorities. When the priority of the non-periodic signal is lower than that of the periodic signal, the periodic signal can interrupt the monitoring of the non-periodic signal, otherwise the periodic signal cannot interrupt the monitoring of the non-periodic signal.

[0049] In step S104, when capturing a periodic signal, a capture window needs to be determined. The starting time point (t) of the capture window is determined based on the last signal occurrence time, current time, signal period (p), and dwell time (d 周期信号 ) is used to calculate the predicted signal occurrence time to be exactly in the middle of the capture window. The specific calculation formula is as follows:

[0050] t=t 上次出现 +((t 当前 -t上次出现 +t 提前量 +p–1) / p)×pt 提前量 .

[0051] where t 提前量 =d 周期信号 / 2, the division is integer division.

[0052] When the signal period is too long, the calculated starting time point (t) exceeds T slot When , the capture and collection is abandoned and postponed to the next round.

[0053] The size of the capture window can be changed according to the period accuracy of the periodic signal. In one embodiment, the periodic signal is divided into a coarse-precision periodic signal and an accurate periodic signal. The capture window size of the coarse-precision periodic signal is d 粗 , the capture window size of the accurate periodic signal is d 细 , where d 粗 Greater than d 细 In one embodiment, a periodic fluctuation threshold is set, and the sensor continuously counts the period of the periodic signal. When the periodic fluctuation is greater than the periodic fluctuation threshold, the signal is classified as a coarse precision periodic signal, and when the periodic fluctuation is less than the periodic fluctuation threshold, the signal is classified as an accurate periodic signal. In one embodiment, the periodic signal can be further subdivided into more than two types according to the periodic fluctuation, and each periodic signal has a capture window of different sizes.

[0054] In one embodiment, the calculation of the capture window is performed by the sensor.

[0055] S105: After capturing the periodic signal, record the signal parameters of the periodic signal. The signal parameters include the arrival time and the measured period value. When the periodic signal capture window needs to be calculated next time, the arrival time is used to update t 上次出现 , update the signal period (p) using the measured period value.

[0056] In one embodiment, the signal parameters are collected and recorded by the sensor, and the sensor reports the information to the controller in a timely manner after collecting and recording the signal parameters, and the signal parameters can be reported together with the captured signal. In another embodiment, the signal parameters are not reported together with the captured signal, and the sensor uniformly reports the collected signal parameters to the controller at regular intervals.

[0057] In one embodiment, when the network status is good, the controller can obtain the captured signal and signal parameter information through the sensor in a timely manner, and can issue control instructions in a timely manner. When the sensor receives the control instruction containing the signal parameters issued by the controller, the sensor updates the signal parameters recorded by itself. That is, the priority of the signal parameters issued by the controller is higher than the signal parameters measured by the sensor itself. In another embodiment, the sensor compares the signal parameters from the controller with the signal parameters measured by itself, and when the difference is greater than the threshold, the signal parameters from the controller are discarded.

[0058] In the above implementation, in addition to receiving signal parameters from the controller, the sensor can also modify the signal parameters and adjust the capture window for periodic signals according to the captured signals, thereby ensuring that the capture of the signal to be captured can be completed normally in any network environment. At the same time, the above implementation ensures the capture of multiple drone signals at the same time, and ensures the capture of periodic signals and non-periodic signals at the same time, increasing the scope of application of the TDOA positioning system.

[0059] Corresponding to the above method embodiments, the present application also provides a listening time allocation device, the device comprising:

[0060] The time allocation module is used to divide the signal to be captured into N non-periodic signals and X periodic signals, and sort the N non-periodic signals according to the frequency point size to obtain a sorting result.

[0061] The time allocation module is further used to equally divide the time interval T into N sub-intervals with a duration of d1.

[0062] In one embodiment, the time allocation module is located in the sensor, and each sensor is equipped with an independent time allocation module. In another embodiment, the time allocation module is located in the controller. In another embodiment, both the controller and the sensor are equipped with a time allocation module.

[0063] The device also includes a signal capture module, which is used to monitor the nth frequency point in the nth sub-interval according to the sorting result, where n is a natural number greater than or equal to 1 and less than or equal to N; when it is necessary to capture the first periodic signal, the signal capture module is also used to interrupt the current monitoring of the non-periodic signal to capture the first periodic signal until the capture of the first periodic signal is completed.

[0064] In one embodiment, the signal acquisition module is located in the sensor.

[0065] The present application also provides a signal monitoring device, such as a sensor. Figure 4 As shown, it may include:

[0066] Processor 401, memory 402, input device 403 and output device 404. The number of processors 401 in the drone detection device can be one or more. Figure 4 In some embodiments of the present application, the processor 401, the memory 402, the input device 403 and the output device 404 may be connected via a bus or other means, wherein: Figure 4 The example of connecting through bus is taken in the following.

[0067] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing of the signal monitoring device by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application required for a function, etc. In addition, the memory 402 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. The input device 403 can be used to receive signals, such as a receiving antenna or a wired signal receiver, etc., for receiving drone signals or receiving control instructions from a controller. The output device 404 is used to transmit information to the controller.

[0068] Specifically in this embodiment, the processor 401 will load the executable files corresponding to the processes of one or more applications into the memory 402 according to the following instructions, and the processor 401 will run the applications stored in the memory 402, thereby realizing various functions in the above-mentioned drone detection method.

[0069] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0070] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the various steps in the above-mentioned drone detection method are implemented.

[0071] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or equipment that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment.

[0072] The above is a detailed introduction to a monitoring time method, device, equipment and medium provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A listening time allocation method, characterized in that: The method is performed by a sensor, and comprises: The signal to be captured is divided into N non-periodic signals and X periodic signals, and the N non-periodic signals are sorted according to the frequency point size to obtain a sorting result; Divide 1 second into multiple time slots, each time slot has a length of T slot , the time slot T slot Divide the time slot into N sub-time slots with a duration of d1, and monitor the nth frequency point in the nth sub-time slot according to the sorting result, where n is a natural number greater than or equal to 1 and less than or equal to N; When it is necessary to capture a periodic signal, the current monitoring of the non-periodic signal is interrupted to capture the periodic signal until the capture of the periodic signal is completed.

2. The method according to claim 1, characterized in that: Also includes: According to the last occurrence time of the periodic signal, the current time, the signal period p and the dwell time d 周期信号 The starting time point of capturing the periodic signal is calculated so that the periodic signal is located in the middle of the capture window.

3. The method according to claim 1, characterized in that Also includes: The capture window of the periodic signal is calculated by the sensor.

4. The method according to claim 1, characterized in that Also includes: The X periodic signals are divided into coarse precision periodic signals and accurate periodic signals, wherein the coarse precision periodic signals are signals whose periodic fluctuation is greater than the periodic fluctuation threshold, and the accurate periodic signals are signals whose periodic fluctuation is less than the periodic fluctuation threshold. The capture window size of the coarse precision periodic signals is d 粗 , the capture window size of the accurate periodic signal is d 准 , where d is greater than d 准 .

5. The method according to claim 3, characterized in that: Also includes: When the periodic signal appears, the sensor records and modifies the last appearance time, signal period p, and dwell time d. 周期信号 .

6. The method according to claim 1, characterized in that The time slot T slot Dynamic adjustment is performed according to the number of the signals to be captured and the period size of the periodic signal.

7. A monitoring time allocation device, characterized in that: The device comprises a time allocation module and a signal acquisition module: The time allocation module is used to divide the signal to be captured into N non-periodic signals and X periodic signals, and sort the N non-periodic signals according to the frequency point size to obtain a sorting result; The time allocation module is also used to divide 1 second into multiple time intervals, each time interval has a length of T, and divide the time interval T into N sub-intervals with a duration of d1; The signal acquisition module is used to monitor the nth frequency point in the nth sub-interval according to the sorting result, where n is a natural number greater than or equal to 1 and less than or equal to N; When it is necessary to capture the first periodic signal, the signal capturing module is further used to interrupt the current monitoring of the non-periodic signal to capture the first periodic signal until the capture of the first periodic signal is completed.

8. A signal monitoring device, characterized in that: The device includes a controller and a sensor, wherein the sensor includes a memory and a processor; The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the method according to any one of claims 1 to 6 according to the instructions in the program code.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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