A non-periodic signal monitoring method, device, equipment and medium

Abstract

The present application discloses a non-periodic signal monitoring method, device, equipment and medium, the method comprising: counting the number of non-periodic signals as N, dividing a time slot with a length of T into N sub-time slots, the length of the nth sub-time slot is T n The non-periodic signal is sorted according to the frequency point size and a sorting result is obtained, and the non-periodic signal S is monitored in the n sub-time slot according to the sorting result. n , S n The expected number of captures in a time slot is C n,期望 According to S n In the previous time slot T last The time T allocated in n,last And the number of times it was captured C n,last Calculate S n In the next time slot T next The time T allocated in n,next This application adjusts T n Reduced the likelihood of losing signal when listening for non-periodic drone signals.

Description

Technical Field

[0001] The present application relates to the field of signal detection, and in particular to a method, device, equipment and medium for monitoring a non-periodic signal. 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, it is necessary to monitor the location of the drone in real time and draw its trajectory.

[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, long-term resident channel monitoring can be adopted. If multiple periodic signal targets are targeted, a schedule can be planned to monitor the corresponding frequency point and capture the signal when each periodic signal is about to appear. However, if multiple non-periodic signal targets are targeted, a background channel scanning mode is required to capture the non-periodic signal. The background channel scanning mode is adopted because the frequency band of the drone is very wide, from 400M to 6000Mhz, and the commonly used wireless signal receiver can only receive a limited bandwidth (generally tens of MHz), so the receiver needs to continuously switch the working frequency point to capture wireless signals at different frequencies, which is called background channel scanning mode.

[0005] For the system or user, the desired effect of monitoring non-periodic signals is to have a certain number of measurement values ​​for each signal within a certain period of time, so as to be able to depict its trajectory or control other systems to follow. However, in the prior art, a time slot is generally evenly distributed to all non-periodic signals. Under the condition of even distribution, it is easy to cause some active signals to obtain a large number of measurement values, but it is difficult to detect a sufficient number of measurement values ​​for inactive signals, so that their trajectory cannot be depicted, resulting in signal loss. Therefore, there is an urgent need for a non-periodic signal monitoring method that can avoid signal loss. Summary of the invention

[0006] The purpose of the present application is to overcome the deficiencies of the prior art and to provide a non-periodic signal monitoring method, apparatus, equipment and medium. By adjusting the monitoring time of the corresponding frequency point of each non-periodic signal, the monitoring time of the non-periodic signal with a high capture rate is reduced while the monitoring time of the non-periodic signal with a low capture rate is increased, so as to achieve the effect that all non-periodic signals meet the expected average capture rate, reduce the possibility of signal loss, and improve the accuracy of signal monitoring.

[0007] The specific technical solutions of this application are as follows:

[0008] In a first aspect, the present application provides a non-periodic signal monitoring method, the method comprising: counting the number of non-periodic signals as N, dividing a time slot of length T into N sub-time slots, the length of the nth sub-time slot being T n The non-periodic signal is sorted according to the frequency point size and a sorting result is obtained, and the non-periodic signal S is monitored in the n sub-time slot according to the sorting result. n , the non-periodic signal S n The expected number of captures in a time slot is C n,期望 ;

[0009] According to S n In the previous time slot T last The time T allocated in n,last And the number of times it was captured C n,last Calculate S n In the next time slot T next The time T allocated in n,next , calculated as follows:

[0010] Initially, T n,next =T / N; when not initial, all the non-periodic signals satisfy C n,last ≥C n,期望 , or when all the non-periodic signals satisfy C n,last ≤C n , when expected, T n,next =T n,last , when the above conditions are not met, if C n,last >C n,期望 , related S n Composed of optimal sets, T n,next <T n,last , if C n,last <C n,期望 , related S n The difference set, T n,next >T n,last , if C n,last =C n,期望 , T n,next =T n,last, where n is a natural number greater than or equal to 1 and less than or equal to N.

[0011] Furthermore, if C n，last >C n,期望 , the relevant Sn forms an optimal set, T n,next <T n,last Includes: T n,next =T n,last ×C n,期望 / C n,last , (n∈optimal set).

[0012] Furthermore, it also includes: calculating the time sum T of the optimal set signal reduction 减总 , where T 减总 =∑ i∈优集 (T i,next -T i,last ).

[0013] Furthermore, if C n,last <C n,期望 , related S n The difference set, T n,next >T n,last Includes: T 减总 Average distribution of the signals in all difference sets, that is, T n,next =T 减总 / N 差集 +T n,last , (n∈difference set), where N 差集 is the number of signals in the difference set.

[0014] Furthermore, if C n,last <C n,期望 , related S n The difference set, T n,next >T n,last Including: allocating T according to the difference between each difference signal and the corresponding expected capture number 减总 , for the signal S n , its distribution ratio k n and T n,next The calculation is as follows: k n =(C n,期望 -C n,last ) / ∑ i∈差集 (C i,期望 -C i,last ), (n∈difference set);

[0015] T n,next =k n ×T 减总 +T n,last , (n∈difference set).

[0016] Furthermore, it also includes: setting a priority for each of the non-periodic signals, and for a high priority signal S n , if C n，last >C n,期望 , T n,next =T n,last .

[0017] Furthermore, it also includes: setting a priority for each of the non-periodic signals, and for a high priority signal S n , if C n，last <C n,期望 , T n,next =T 减总 +T n,last .

[0018] In a second aspect, the present application also provides a non-periodic signal monitoring device, which includes a calculation module and a time allocation module.

[0019] The calculation module is used to count the number of non-periodic signals as N;

[0020] The time allocation module is used to divide a time slot of length T into N sub-time slots, and the length of the nth sub-time slot is T n The non-periodic signal is sorted according to the frequency point size and a sorting result is obtained, and the non-periodic signal S is monitored in the n sub-time slot according to the sorting result. n ;

[0021] The calculation module is also used to count the non-periodic signal S n In the previous time slot T last The number of times it is captured is C n，last , and C n，last and C n,期望 Compare and output the comparison result, where C n,期望 For S n The expected number of captures in a time slot;

[0022] The time allocation module is further used to determine the duration of each of the sub-time slots according to the comparison result, and the determination method is as follows:

[0023] Initially, T n,next =T / N; when not initial, all the non-periodic signals satisfy C n,last ≥C n,期望 , or when all the non-periodic signals satisfy C n,last ≤C n , when expected, T n,next =T n,last , when the above conditions are not met, if C n,last >C n,期望 , related S n Composed of optimal sets, Tn,next <T n,last , if C n,last <C n,期望 , related S n The difference set, T n,next >T n,last , if C n,last =C n,期望 , T n,next =T n,last , where n is a natural number greater than or equal to 1 and less than or equal to N.

[0024] 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.

[0025] The memory is used to store program codes and transmit the program codes to the processor.

[0026] The processor is used to execute the non-periodic signal monitoring method described in the first aspect according to the instructions in the program code.

[0027] 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 non-periodic signal monitoring method described in the first aspect is implemented.

[0028] The beneficial effects of this application are:

[0029] The present application improves the accuracy and reliability of monitoring when multiple non-periodic signals are monitored simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] Figure 1 This is the structural diagram of the TDOA positioning system;

[0032] Figure 2 A flow chart of a non-periodic signal monitoring method provided in an embodiment of the present application;

[0033] Figure 3 A schematic diagram of the structure of a non-periodic signal monitoring device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] In traditional schemes, when multiple non-periodic signals are monitored simultaneously, a time slot is evenly distributed to multiple non-periodic signals, and the activity level, i.e., the frequency of occurrence, of the non-periodic signals is not distinguished. As a result, some non-periodic signals are easily difficult to capture, thereby losing the track of the corresponding non-periodic signals.

[0037] To this end, the present application provides a non-periodic signal monitoring method, which improves the monitoring efficiency of non-periodic signals with low occurrence frequency by designing a non-periodic signal monitoring time that varies according to the frequency of occurrence of the non-periodic signal.

[0038] The following specifically introduces an embodiment of a monitoring time allocation method provided by the present application, referring to Figure 2 , is a flow chart of a method provided in an embodiment of the present application, the method specifically includes:

[0039] S101: Setting the length of each time slot to T is equivalent to forming a unified operating schedule among multiple sensors.

[0040] In one embodiment, T can be dynamically adjusted according to the number of signals to be collected and the size of the signal cycle. In one embodiment, T can be 1 second or 1 second can be divided by T; in another embodiment, T can be several seconds. In one embodiment, T is uniformly controlled by the controller to ensure that each sensor uses the same schedule and runs with the same scheduling rules; in another embodiment, T can be changed by the sensor, and the sensor has lower modification authority than the controller, that is, when receiving a control instruction from the controller containing T, the sensor's own changes are abandoned.

[0041] S102: Set the initial sub-time slot duration. When the number of non-periodic signals is N, divide the time slot with a duration of T into N sub-time slots. The non-periodic signals are sorted according to the frequency point size. According to the sorting result, the non-periodic signal S is monitored in the nth sub-time slot. n , n is a natural number greater than or equal to 1 and less than or equal to N. In one implementation, in the initial time slot, the duration of each sub-time slot is T / N. In one implementation, the initial sub-time slots of different signals have different durations.

[0042] S103: Count the last time slot T last The number of captures of each non-periodic signal in the time slot T is adjusted next In one embodiment, the previous time slot T last and the next time slot T next In another embodiment, T last It's not about T next The previous time slot immediately preceding the T next A time slot of several time slots, namely T last and T next There can be a gap between them, in which case the system can get more time for calculation. n In T next Subslot T in n,next The expected number of captures C needs to be set. n,期望 , that is, it is expected to capture signal S in each time slot n The number of times, for example, C n,期望 =2 times / T.

[0043] Statistics last The number of times each signal is captured, such as signal S n The number of times captured is C n，last , C n，last and C n,期望 The sub-time slot T of the next time slot (also called the current time slot, which refers to the time slot in which the sub-time slot length adjustment takes effect) is adjusted according to the comparison result. n,next Length.

[0044] When all non-periodic signals are at T last The number of times captured is greater than or equal to C n,期望 When, or are less than or equal to C n,期望 When each sub-time slot does not make any adjustments, and T last If the previous time slot has never been adjusted, the duration of each sub-time slot is the duration specified in the initial time slot. If the previous time slot has been adjusted, the adjustment is retained. In this case, the number of captures of different signals is allowed to be different. This is because if both are greater than or equal to C n,期望 , each signal can meet the measurement standard, the system or user can accurately obtain the trajectory of the signal without further adjustment; if they are all less than or equal to C n,期望 , each signal fails to meet the measurement criteria and there is no value in adjustment.

[0045] When the number of times that some non-periodic signals are captured in the previous time slot is greater than C n,期望 , the number of times that some non-periodic signals are captured in the previous time slot is less than C n,期望 When the sub-time slot is adjusted, the adjustment principle is as follows:

[0046] If C n,last >C n,期望 , the relevant Sn forms an optimal set, T n,next <T n,last ;

[0047] If C n,last <C n,期望 , the related Sn forms a difference set, T n,next >T n,last ;

[0048] If C n,last =C n,期望 , T n,next =T n,last .

[0049] Among them, the sum of the time T of the optimal signal reduction 减总 =∑ i∈优集 (T i,next -T i,last ). 减总 Equal to the time sum of the addition of the difference signal.

[0050] In one embodiment, if S n Belongs to the optimal set signal, then in T next The duration of the allocated sub-time slot is: T n,next =T n,last ×C n,期望 / C n,last , (n∈optimal set).

[0051] Among them, T n,last is the previous time slot T last The length of the nth sub-time slot in .

[0052] According to the above formula, the number of times each is captured in the previous time slot is greater than C n,期望 The non-periodic signal will give up a part of the listening time, and the total listening time given up is T 减总 It will be used to allocate to the difference signal whose current capture times are less than expected, so as to increase the number of times the difference signal is captured in the next time slot.

[0053] In extreme cases, a signal may be captured too many times, causing C n,last Too big and T n If the sub-time slot length is too small, the corresponding signal cannot be monitored after adjusting the sub-time slot length. Usually this situation only occurs in the initial few time slots. If you want to avoid this situation, you can set the minimum monitoring time T min , when the calculated T n，next Less than T min When T n =T min .

[0054] In one embodiment, T 减总 The distribution method is equal, calculated in T last The number of times captured is less than C n,期望 The number of non-periodic signals N 差集 , signal S n The duration of the sub-time slot allocated in the current time slot is: T n,next =T 减总 / N 差集 +T n,last , (n∈difference set).

[0055] In one embodiment, the duration is allocated by considering the poverty of different signals in the difference signal (the difference from the expected capture times). n , its distribution ratio k n =(C n,期望 -C n,last ) / ∑ i∈差集 (C i,期望 -C i,last ), (n∈difference set);

[0056] According to the distribution ratio k n Calculate the sub-time slot length of the next time slot, the calculation method is: T n,next =k n ×T 减总 +T n,last , (n∈difference set).

[0057] Using this method to allocate can ensure that the final sum of all sub-time slots remains T, and will not be greater than T or less than T, which will not waste listening time or cause conflicts between different time slots. At the same time, it enables the system or user to stably capture the desired non-periodic signal, obtain a good trajectory, and reduce the possibility of signal loss.

[0058] Optionally, a priority can be set for each non-periodic signal, and the priority of the signal is considered when adjusting the sub-time slot length. For high-priority signals, even in T last The number of captures is greater than C n,期望 , and its capture duration will not be reduced in the next time slot, that is, the capture duration is always equal to the initial duration. The initial duration can be T / N; or the initial duration varies according to the signal priority, and the initial duration of the high priority signal is greater than the initial duration of the low priority signal. If the number of captures of the high priority signal in the previous time slot is less than C n,期望 , then the high priority signal will occupy all T in the next time slot 减总 , both T n,next =T 减总 +T n,last Among them, there is only one high priority signal. In this case, it can be ensured that the reception of a specific signal specified by the user is always in a good state.

[0059] Optionally, in one embodiment, the above steps are completed by a sensor. In another embodiment, the above steps are completed by a controller. In another embodiment, the above steps are partially completed by a sensor and partially completed by a controller, and the controller has higher authority than the sensor.

[0060] Optionally, in one embodiment, the sensor reports the captured signal to the controller in real time. In another embodiment, the sensor reports the captured signal once per time slot.

[0061] Corresponding to the above method embodiments, the present application also provides a listening time allocation device, the device comprising:

[0062] The calculation module is used to count the number of non-periodic signals as N;

[0063] The time allocation module is used to divide a time slot of length T into N sub-time slots, and the length of the nth sub-time slot is T n The non-periodic signal is sorted according to the frequency point size and a sorting result is obtained, and the non-periodic signal S is monitored in the n sub-time slot according to the sorting result. n ;

[0064] The time allocation module is also used to determine the duration of each sub-time slot according to the comparison result, and the determination method is as follows: initially, T n,next =T / N; when not initial, all the non-periodic signals satisfy C n,last ≥C n,期望 , or when all the non-periodic signals satisfy C n,last ≤C n , when expected, T n,next =T n,last , when the above conditions are not met, if C n,last >C n,期望 , related S n Composed of optimal sets, T n,next <T n,last , if C n,last <C n,期望 , related S n The difference set, T n,next >T n,last , if C n,last =C n,期望 , T n,next =T n,last , where n is a natural number greater than or equal to 1 and less than or equal to N.

[0065] The embodiment of the present application also provides a non-periodic signal monitoring device, the device includes a controller and a sensor, the sensor includes a memory and a processor. Figure 3 As shown, it may include:

[0066] Processor 301, memory 302, input device 303 and output device 304. The number of processors 301 in the drone detection device can be one or more. Figure 3 In some embodiments of the present application, the processor 301, the memory 302, the input device 303 and the output device 304 may be connected via a bus or other means, wherein: Figure 3 The example of connecting through bus is taken in the following.

[0067] The memory 302 can be used to store software programs and modules. The processor 301 executes various functional applications and data processing of the signal monitoring device by running the software programs and modules stored in the memory 302. The memory 302 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 302 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 303 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 304 is used to transmit information to the controller.

[0068] Specifically in this embodiment, the processor 301 will load the executable files corresponding to the processes of one or more applications into the memory 302 according to the following instructions, and the processor 301 will run the applications stored in the memory 302, thereby realizing various functions in the above-mentioned non-periodic signal monitoring 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 apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[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 non-periodic signal monitoring method, characterized in that: The method comprises: The number of non-periodic signals is counted as N, and the time slot of length T is divided into N sub-time slots. The length of the nth sub-time slot is T n The non-periodic signal is sorted according to the frequency point size and a sorting result is obtained, and the non-periodic signal S is monitored in the n sub-time slot according to the sorting result. n , the non-periodic signal S n The expected number of captures in a time slot is C n,期望 ; According to S n In the previous time slot T last The time T allocated in n,last And the number of times it was captured C n,last Calculate S n In the next time slot T next The time T allocated in n,next , calculated as follows: Initially, T n,next =T / N; When all the non-periodic signals satisfy C n,last ≥C n,期望 , or when all the non-periodic signals satisfy C n,last ≤C n,期望 When T n,next =T n,last ; When the above conditions are not met, If C n,last >C n,期望 , related S n Composed of optimal sets, T n,next <T n,last , If C n,last <C n,期望 , related S n The difference set, T n,next >T n,last , If C n,last =C n,期望 , T n,next =T n,last , Here, n is a natural number greater than or equal to 1 and less than or equal to N.

2. The method according to claim 1, characterized in that If C n，last >C n,期望 , the relevant Sn forms an optimal set, T n,next <T n,last include: T n,next =T n,last ×C n,期望 / C n,last , (n∈optimal set).

3. The method according to claim 1, characterized in that: Also includes: Calculate the time sum T of the optimal set signal reduction 减总 , Among them, T 减总 =∑ i∈优集 (T i,next -T i,last ).

4. The method according to claim 3, characterized in that If C n,last <C n,期望 , related S n The difference set, T n,next >T n,last include: T 减总 The signal in all difference sets is evenly distributed, that is, T n,next =T 减总 / N 差集 +T n,last , (n∈difference set), Among them, N 差集 is the number of signals in the difference set.

5. The method according to claim 3, characterized in that: If C n,last <C n,期望 , related S n The difference set, T n,next >T n,last include: T is allocated according to the difference between each difference signal and the corresponding expected capture number. 减总 , for the signal S n , its distribution ratio k n and T n,next The calculation is as follows: k n =(C n,期望 -C n,last ) / ∑ i∈差集 (C i,期望 -C i,last ), (n∈difference set); T n,next =k n ×T 减总 +T n,last , (n∈difference set).

6. The method according to claim 1, characterized in that Also includes: Set a priority for each of the non-periodic signals. n , if C n，last >C n,期望 , T n,next =T n,last .

7. The method according to claim 3, characterized in that Also includes: Set a priority for each of the non-periodic signals. n , if C n，last <C n,期望 , T n,next =T 减总 +T n,last .

8. A non-periodic signal monitoring device, characterized in that: The device comprises a calculation module and a time allocation module: The calculation module is used to count the number of non-periodic signals as N; The time allocation module is used to divide a time slot of length T into N sub-time slots, and the length of the nth sub-time slot is T n The non-periodic signal is sorted according to the frequency point size and a sorting result is obtained, and the non-periodic signal S is monitored in the n sub-time slot according to the sorting result. n ; The calculation module is also used to count the non-periodic signal S n In the previous time slot T last The number of times it is captured is C n，last , and C n，last and C n,期望 Compare and output the comparison result, where C n,期望 For S n The expected number of captures in a time slot; The time allocation module is further used to determine the duration of each of the sub-time slots according to the comparison result, and the determination method is as follows: Initially, T n,next =T / N; When all the non-periodic signals satisfy C n,las ≥C n,期望 , or when all the non-periodic signals satisfy C n,last ≤C n , when expected, T n,next =T n,last , When the above conditions are not met, If C n,last >C n,期望 , related S n Composed of optimal sets, T n,next <T n,last , If C n,last <C n,期望 , related S n The difference set, T n,next >T n,last , If C n,last =C n,期望 , T n,next =T n,last , Here, n is a natural number greater than or equal to 1 and less than or equal to N.

9. A non-periodic 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 7 according to the instructions in the program code.

10. 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 7 are implemented.

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