Atmospheric waveguide detection system, method and device based on unmanned aerial vehicle

Abstract

The invention provides an atmospheric waveguide detection system, method and device based on unmanned aerial vehicles. The system comprises a server, a benchmark test system and a first unmanned aerial vehicle swarm comprising N unmanned aerial vehicles, the server determines the vertical height of the N unmanned aerial vehicles relative to the test surface at the t moment based on the first height of the reference test system relative to the reference point and the second height relative to the test surface at the t moment and the third height of the N unmanned aerial vehicles relative to the reference point at the t moment; the server obtains corresponding measurement data of the N unmanned aerial vehicles at the t moment, and according to the N measurement data and the N vertical heights, the corrected atmospheric refractive indexes of the N heights corresponding to the N unmanned aerial vehicles at the t moment are determined; and fitting the N modified atmospheric refractive indexes to determine a target curve, and calculating atmospheric waveguide parameters at the moment t according to a derivation result of the target curve. The modified atmospheric refractive indexes at different heights are detected in an unmanned aerial vehicle swarm mode, so that the atmospheric waveguide parameters are calculated, and the detection precision can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of atmospheric waveguide detection, and in particular to an atmospheric waveguide detection system, method and device based on an unmanned aerial vehicle. Background Art

[0002] Atmospheric ducts are a phenomenon in which the refractive index of the atmosphere exceeds the curvature of the earth. According to the geometric distribution characteristics of atmospheric ducts in the vertical direction, they can be divided into surface ducts (including evaporation ducts), suspended ducts and composite ducts. Among them, evaporation ducts are a special atmospheric duct structure that is easily formed on the sea surface with a maximum height of only tens of meters, and the height of suspended ducts can reach several kilometers. Atmospheric ducts can cause radar detection blind spots, and can also enable radar to achieve over-the-horizon detection. The study of atmospheric ducts is of great significance.

[0003] At present, the remote sensing detection methods of atmospheric waveguides mainly use microwave and optical remote sensing. However, the detection accuracy and spatial resolution of the current remote sensing detection methods for atmospheric waveguides need to be further improved.

[0004] The on-site detection methods of atmospheric ducts include low-altitude detection systems, GPS (Global Positioning System) sounding instruments, balloon drag and drop, meteorological gradiometers, microwave refractometers, aircraft circling flights at different altitudes, sounding rockets, etc. However, these methods are mainly faced with the problems of expensive equipment and complex installation. The detection method of circling flights at different altitudes of aircraft can directly detect the temperature, humidity, and atmospheric pressure parameters at different altitudes, so that the atmospheric refractive index can be calculated, and then the evaporation duct height can be calculated according to the atmospheric refractive index. However, the evaporation duct height detected in this way has corresponding requirements for the aircraft flight trajectory. For example, the aircraft needs to perform vertical flight, zigzag flight and other flight modes. At the same time, different interferences will be generated due to the different types of aircraft used. For example, rotorcraft will interfere with the humidity and wind speed of the collection position during the lifting process, and fixed-wing aircraft may increase the measurement error due to attitude changes during zigzag flight. In addition, the use of aircraft for vertical flight or zigzag flight to detect atmospheric waveguides requires the aircraft to be controlled to perform measurements along a predetermined route. This method will increase the hovering time of each measurement point for low-cost sensors with long sensor response times, or may require the aircraft to perform multiple measurements of a refractive index profile, increasing the measurement time and thus limiting related applications. When the aircraft is flying in a zigzag pattern, since the atmospheric waveguide may be unevenly distributed horizontally, conversion errors may occur when different zigzag lines are converted to the vertical direction, affecting the detection accuracy of the atmospheric waveguide.

[0005] Based on the above content, it can be seen that the remote sensing detection method of atmospheric waveguide has the problem that the detection accuracy and spatial resolution do not meet the requirements; the on-site detection method of atmospheric waveguide has the problem of expensive equipment and complex installation, and the detection method of the aircraft flying in circles at different altitudes in the on-site detection method has the problem of long measurement time and easy increase of measurement errors. Summary of the invention

[0006] In view of the above problems, the embodiments of the present application provide an atmospheric waveguide detection system, method and device based on a UAV that overcome the above problems or at least partially solve the above problems.

[0007] In a first aspect, an embodiment of the present application provides an atmospheric waveguide detection system based on a drone, comprising: a server, a benchmark test system interacting with the server, and a first drone swarm, wherein the first drone swarm comprises N drones, each of which carries a measurement device, where N is an integer greater than or equal to 2;

[0008] The server determines the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system and the third heights relative to the reference point at time t provided by the N drones respectively;

[0009] The server obtains the measurement data corresponding to the N drones at time t, and determines the corrected atmospheric refractive indexes at N heights corresponding to the N drones at time t according to the N measurement data and N vertical heights, and the N drones respectively perform data measurement based on the measurement device at the corresponding hovering heights;

[0010] The server fits N corrected atmospheric refractive indices at time t, determines a target curve of the corrected atmospheric refractive index varying with altitude, and calculates the atmospheric duct parameters at time t according to the derivative result of the target curve.

[0011] In a second aspect, an embodiment of the present application provides an atmospheric waveguide detection method based on a drone, which is applied to a server, wherein the server interacts with a benchmark test system and N drones in a first drone swarm, where N is an integer greater than or equal to 2, and the drone is equipped with a measuring device, and the method includes:

[0012] Determine the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system and the third heights relative to the reference point at time t provided by the N drones respectively;

[0013] Obtaining the measurement data corresponding to the N drones at time t, and determining the corrected atmospheric refractive indexes at N heights corresponding to the N drones at time t based on the N measurement data and N vertical heights, wherein the N drones respectively perform data measurement based on the measurement device at corresponding hovering heights;

[0014] N corrected atmospheric refractive indices at time t are fitted to determine a target curve of the corrected atmospheric refractive index varying with height, and the atmospheric duct parameters at time t are calculated based on the derivative result of the target curve.

[0015] In a third aspect, an embodiment of the present application provides an atmospheric waveguide detection device based on a drone, which is applied to a server, wherein the server interacts with a benchmark test system and N drones in a first drone swarm, where N is an integer greater than or equal to 2, and the drone is equipped with a measuring device, and the device includes:

[0016] A first determination module is used to determine the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system and the third heights relative to the reference point at time t provided by the N drones respectively;

[0017] A first processing module is used to obtain the measurement data corresponding to the N drones at time t, and determine the corrected atmospheric refractive index of the N heights corresponding to the N drones at time t according to the N measurement data and N vertical heights, and the N drones respectively perform data measurement based on the measurement device at the corresponding hovering heights;

[0018] The second processing module is used to fit N corrected atmospheric refractive indices at time t, determine a target curve of the corrected atmospheric refractive index varying with altitude, and calculate the atmospheric duct parameters at time t according to the derivative result of the target curve.

[0019] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the atmospheric waveguide detection method based on a drone as described in the second aspect above are implemented.

[0020] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the atmospheric waveguide detection method based on a drone as described in the second aspect above are implemented.

[0021] The technical solution of the embodiment of the present application reasonably selects the number of drones and sets the hovering height of the drones, and performs fixed-point observation of the location of the drones to obtain measurement data at different heights; after determining the vertical height of the drone relative to the test surface based on the first height of the benchmark test system relative to the benchmark point and the second height relative to the test surface, and the third height of the drone relative to the benchmark point, the corrected atmospheric refractive index at N heights corresponding to the N drones is determined according to the measurement data and vertical heights corresponding to the N drones, and the target curve of the corrected atmospheric refractive index varying with height is determined by fitting the corrected atmospheric refractive index, and the atmospheric waveguide parameters are calculated according to the derivative result of the target curve, so that the corrected atmospheric refractive index at different heights is detected by hovering a swarm of drones, and then the atmospheric waveguide parameters are calculated, which can effectively solve the problems of long acquisition time and low acquisition efficiency caused by data measurement based on traditional aircraft, and can avoid the errors caused by the flight attitude and hovering time of traditional aircraft; and the detection method of hovering a swarm of drones can obtain the measurement conditions corresponding to more measurement points, so that the fitted corrected atmospheric refractive index curve is more accurate, and the detection accuracy is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram showing an atmospheric waveguide detection system based on a drone provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram showing a UAV equipped with a mobile station and a measuring device provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram showing a server provided in an embodiment of the present application controlling a drone to move and hover at a suitable position;

[0025] Figure 4A A schematic diagram showing a target curve corresponding to a surface waveguide without a base layer provided in an embodiment of the present application;

[0026] Figure 4B A schematic diagram showing a target curve corresponding to a surface waveguide with a base layer provided in an embodiment of the present application;

[0027] Figure 4C A schematic diagram showing a target curve corresponding to the evaporation waveguide provided in an embodiment of the present application;

[0028] Figure 4D A schematic diagram showing a target curve corresponding to a suspended waveguide provided in an embodiment of the present application;

[0029] Figure 5 A schematic diagram showing an atmospheric waveguide detection system provided in an embodiment of the present application corresponding to a plurality of drone swarms;

[0030] Figure 6A schematic diagram showing an atmospheric waveguide detection method based on a drone provided in an embodiment of the present application;

[0031] Figure 7 A schematic diagram showing an atmospheric waveguide detection device based on a drone provided in an embodiment of the present application;

[0032] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0033] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0034] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0035] 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.

[0036] The present application embodiment provides an atmospheric waveguide detection system based on a drone, such as Figure 1 As shown, it includes: a server 10, a benchmark test system 20 interacting with the server 10, and a first drone swarm 30, wherein the first drone swarm 30 includes N drones 31, and the drones 31 are equipped with measuring devices 32, where N is an integer greater than or equal to 2. Each drone 31 is equipped with a measuring device 32.

[0037] The server 10 determines the vertical heights of the N drones 31 relative to the test surface at time t based on the first height relative to the benchmark point and the second height relative to the test surface at time t provided by the benchmark test system 20 and the third heights relative to the benchmark point at time t provided by the N drones 31; the server 10 obtains the measurement data corresponding to the N drones 31 at time t, and determines the corrected atmospheric refractive indices at N heights corresponding to the N drones 31 at time t based on the N measurement data and the N vertical heights, and the N drones 31 perform data measurement based on the measuring equipment 32 at the corresponding hovering heights; the server 10 fits the N corrected atmospheric refractive indices at time t, determines the target curve of the corrected atmospheric refractive index changing with height, and calculates the atmospheric waveguide parameters at time t based on the derivative result of the target curve.

[0038] The atmospheric waveguide detection system provided in the embodiment of the present application includes a server 10, a benchmark test system 20 interacting with the server 10, and a first drone swarm 30 interacting with the server 10. The first drone swarm 30 includes at least two drones 31, and different drones 31 hover at different heights. The drones 31 measure data through the measurement equipment 32 carried by them, so that data at different heights can be collected simultaneously through the drone swarm, effectively solving the problems of long collection time and low collection efficiency caused by traditional aircraft zigzag flight and other methods.

[0039] The benchmark test system 20 is used to provide the server 10 with the first height of the benchmark test system 20 relative to the benchmark point and the second height relative to the test surface at each time. The server 10 obtains the first height relative to the benchmark point and the second height relative to the test surface provided by the benchmark test system 20 at time t based on the interaction with the benchmark test system 20. In addition to providing data collected by the measurement device 32, the drone 31 is also used to provide the server 10 with the third height of the drone 31 relative to the benchmark point at each time. The server 10 obtains the measurement data provided by N drones 31 and the third height relative to the benchmark point at time t based on the interaction with the drone 31. In this embodiment, the geocentric geodetic coordinate system is used when calculating the coordinate information, and the benchmark point is defined as the intersection of the normal line from the benchmark test system 20 to the geocentric geodetic coordinate system benchmark ellipsoid and the benchmark ellipsoid. For simplicity, the first height and the third height in this embodiment can be approximated as the altitude, that is, the first height is the height difference between the benchmark test system 20 and the sea level, the third height is the height difference between the drone 31 and the sea level, and the benchmark point can be approximated as determined based on the sea level. The test surface in this embodiment may be a water surface or a non-water surface, and the second height is the height difference between the reference test system 20 and the test surface.

[0040] After obtaining the N third heights at time t provided by the N drones 31 and the first height and second heights at time t provided by the benchmark test system 20, the server 10 calculates the vertical height of the drone 31 relative to the test surface at time t for each drone 31 based on the third height corresponding to the drone 31 and the first height and second height provided by the benchmark test system 20 to determine the N vertical heights corresponding to time t.

[0041] Among them, after obtaining the measurement data corresponding to the N drones 31 at time t, the server 10 determines the corrected atmospheric refractive index at the height corresponding to the drone 31 at time t for each of the N drones 31 based on the measurement data and vertical height corresponding to the drone 31. Since the N drones 31 are hovering at different heights, by determining the corrected atmospheric refractive index at N heights corresponding to the N drones 31 at time t, the corrected atmospheric refractive index at different heights can be obtained, and the corrected atmospheric refractive index at different heights can be detected by using the drone swarm hovering method.

[0042] After obtaining the corrected atmospheric refractive indexes at N altitudes corresponding to the N drones 31 at time t, the server 10 fits the N corrected atmospheric refractive indexes corresponding to time t to determine a target curve of the corrected atmospheric refractive index changing with altitude, wherein the ordinate of the target curve is the altitude and the abscissa is the corrected atmospheric refractive index, so as to fit a continuous curve of the associated altitude and the corrected atmospheric refractive index based on the corrected atmospheric refractive indexes corresponding to the N altitudes. When the target curve of the corrected atmospheric refractive index changing with altitude is fitted, the target curve is derived, and the atmospheric duct parameters at time t are calculated according to the derivative result, so as to obtain the atmospheric duct parameters by inverting the corrected atmospheric refractive indexes at different altitudes.

[0043] In the above implementation process of the present application, the number of drones and the hovering height of the drones are reasonably selected, and fixed-point observations are performed on the locations of the drones to obtain measurement data at different heights; after determining the vertical height of the drone relative to the test surface based on the first height of the benchmark test system relative to the benchmark point and the second height relative to the test surface, and the third height of the drone relative to the benchmark point, the corrected atmospheric refractive index at N heights corresponding to the N drones is determined according to the measurement data and vertical heights corresponding to the N drones, and the target curve of the corrected atmospheric refractive index varying with height is determined by fitting the corrected atmospheric refractive index, and the atmospheric waveguide parameters are calculated according to the derivative result of the target curve, so that the corrected atmospheric refractive index at different heights is detected by hovering a swarm of drones, and then the atmospheric waveguide parameters are calculated, which can effectively solve the problems of long acquisition time and low acquisition efficiency caused by data measurement based on traditional aircraft, and can avoid the errors caused by the flight attitude and hovering time of traditional aircraft; and the detection method of hovering a swarm of drones can obtain the measurement conditions corresponding to more measurement points, so that the fitted corrected atmospheric refractive index curve is more accurate, and the detection accuracy is improved.

[0044] The following describes a solution for the server to obtain the first height and the second height corresponding to time t provided by the benchmark test system, and obtain the third height corresponding to time t provided by the drone. Figure 1 As shown, the benchmark test system 20 includes a test platform 21, a benchmark station 22 and a first mobile station 23 arranged on the test platform 21;

[0045] The first mobile station 23 obtains the correction information provided by the base station 22, and uses the real-time differential positioning method to calculate the coordinate information collected by the first mobile station 23 at time t based on the correction information to determine the first coordinate measurement value corresponding to the first mobile station 23 at time t The first coordinate measurement value is the reference coordinate corresponding to the benchmark test system 20 at time t. is the latitude corresponding to the first mobile station 23 at time t, is the longitude corresponding to the first mobile station 23 at time t, is the height corresponding to the first mobile station 23 at time t, and the first height of the benchmark test system 20 relative to the benchmark point at time t is The first mobile station 23 transmits the first coordinate measurement value corresponding to time t to the server 10 .

[0046] In this embodiment, the benchmark test system 20 includes a test platform 21, a benchmark station 22 and a first mobile station 23 arranged on the test platform 21. The test platform 21 can be a platform such as a ship, a shore-based carrier, etc. The benchmark station 22 and the first mobile station 23 are arranged at different positions of the test platform 21. The first mobile station 23 is used for real-time coordinate acquisition, and the benchmark station 22 is used to provide correction information. The benchmark station 22 and the first mobile station 23 use a real-time differential positioning method to calculate the coordinate information collected by the first mobile station 23, determine the corresponding first coordinate measurement value, and realize the calculation of relatively accurate coordinate measurement values ​​by the benchmark station 22 and the first mobile station 23 using a differential positioning method. Among them, when the benchmark station 22 and the first mobile station 23 use a real-time differential positioning method to calculate the coordinate information collected by the first mobile station 23, the first mobile station 23 provides the real-time collected coordinate information, the benchmark station 22 provides the correction information, and the first mobile station 23 uses a real-time differential positioning method to calculate the coordinate information collected by the first mobile station 23 based on the correction information to determine the first coordinate measurement value corresponding to the first mobile station 23. The first coordinate measurement value corresponding to the first mobile station 23 is the reference coordinate corresponding to the test platform 21 , and is also the reference coordinate corresponding to the benchmark test system 20 .

[0047] The first mobile station 23 adopts a real-time differential positioning method to determine the first coordinate measurement value corresponding to the first mobile station 23 at time t Afterwards, the data is transmitted to the server 10 in a NEMA (National Marine Electronics Association) format, for example, the time and location information is transmitted to the server 10 in a GPGGA (a frame of main data for GPS positioning) format in NEMA. It is the height corresponding to the first mobile station 23 at time t, and is also the first height of the benchmark test system 20 (test platform 21) relative to the benchmark point at time t.

[0048] like Figure 1 As shown, the benchmark test system 20 also includes a height measuring device 24 arranged on the test platform 21; the height measuring device 24 is used to measure the height difference between the test platform 21 and the test surface, and determine the second height of the benchmark test system 20 relative to the test surface; the height measuring device 24 transmits the second height measured at time t to the server 10.

[0049] The height measuring device 24 is, for example, a height measuring radar, which is arranged on the test platform 21 and is used to measure the height difference between the test platform 21 and the test surface. The height measuring device 24 maintains the same height as the first mobile station 23, and measures the height of the test platform 21 from the test surface in real time to determine the second height of the reference test system 20 relative to the test surface. The measured value at time t is recorded as And the test time and test height data (the second height of the benchmark test system 20 relative to the test surface) are transmitted to the server 10 in real time.

[0050] When the test surface is a water surface, the height of the test platform 21 from the test surface will change, so the height measuring device 24 must be used for measurement; when the test surface is a non-water surface (such as land), the height of the test platform 21 relative to the test surface is fixed, and the height of the test platform 21 from the test surface can be measured based on the height measuring device 24, or other methods can be used. is a fixed value.

[0051] It should be noted that when the height measuring device 24 and the first mobile station 23 are maintained at the same height, no correction is required when subsequently calculating the vertical height of the drone 31 relative to the test surface. If the heights of the two are inconsistent, the difference between the two needs to be considered in the calculation.

[0052] like Figure 1 and Figure 2 As shown, the drone 31 carries a second mobile station 33; the second mobile station 33 obtains the correction information provided by the base station 22, and uses a real-time differential positioning method to calculate the coordinate information collected by the second mobile station 33 at time t based on the correction information to determine the second coordinate measurement value corresponding to the second mobile station 33 at time t in, is the latitude corresponding to the second mobile station 33 of the i-th UAV at time t, is the longitude corresponding to the second mobile station 33 of the i-th UAV at time t, is the height corresponding to the second mobile station 33 of the i-th UAV at time t, and the third height of the i-th UAV relative to the reference point at time t is i takes any integer from 1 to N; the second mobile station 33 transmits the second coordinate measurement value corresponding to time t to the server 10.

[0053] For each of the N drones 31, it is equipped with a second mobile station 33 while carrying a measuring device 32. The second mobile station 33 is used to collect coordinate information in real time and cooperate with the base station 22 to perform coordinate calibration. For each drone 31, the second mobile station 33 carried by it cooperates with the base station 22 to calculate the coordinate information collected by the second mobile station 33 using a real-time differential positioning method, determine the corresponding second coordinate measurement value, and achieve the calculation of relatively accurate coordinate measurement values ​​by using the base station 22 and the second mobile station 33 using a differential positioning method. Specifically, the second mobile station 33 provides coordinate information collected in real time, and the base station 22 provides correction information. The second mobile station 33 uses a real-time differential positioning method to calculate the coordinate information collected by the second mobile station 33 based on the correction information, and determines the second coordinate measurement value corresponding to the second mobile station 33, so as to achieve the real-time acquisition of the third height of the drone 31 relative to the reference point using a real-time differential positioning method.

[0054] For each drone 31, its corresponding second mobile station 33 transmits the time information and the second coordinate measurement value to the server 10 after calculating the second coordinate measurement value corresponding to time t, such as transmitting it to the server 10 in NEMA format, so that the server 10 obtains the third height of the drone 31 relative to the reference point at time t based on the time information and the second coordinate measurement value.

[0055] It should be noted that the first mobile station 23 and the reference station 22 can interact based on the first communication module set on the benchmark test system 20. When the first mobile station 23 interacts with the server 10 and the height measuring device 24 interacts with the server 10, the second communication module set on the benchmark test system 20 can be used. It can be understood that the first communication module is an internal communication module and the second communication module is an external communication module. The second mobile station 33 and the measuring device 32 on the drone 31 can interact with the server 10 based on the third communication module, and the second mobile station 33 can interact with the reference station 22 based on the third communication module. The communication module mentioned here is, for example, a Bluetooth module, a WIFI (Wireless Fidelity, wireless local area network) module, etc.

[0056] The above describes the implementation process of the server 10 obtaining the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system 20, and the third height relative to the reference point at time t provided by the N drones 31. After the server 10 obtains the first height, the second height corresponding to time t, and the third heights provided by the N drones 31, for each drone 31, the server 10 determines the vertical distance between the drone 31 and the benchmark test system 20 based on the difference between the third height corresponding to the drone 31 at time t and the first height corresponding to the benchmark test system 20 at time t, and then determines the vertical height of the drone 31 relative to the test surface at time t based on the sum of the vertical distance and the second height corresponding to the benchmark test system 20 at time t.

[0057] For the i-th UAV, its third height relative to the reference point at time t is At time t, the first height of the reference test system 20 relative to the reference point (the first height of the first mobile station 23 relative to the reference point) is At time t, the second height of the reference test system 20 relative to the test surface (the second height of the test platform 21 relative to the test surface) is When calculating the vertical height of the i-th drone relative to the test surface at time t, first calculate the third height corresponding to time t With the first height The vertical distance between the i-th UAV and the benchmark test system 20 at time t is determined. After the vertical distance between the two is determined, the vertical distance and the second height of the benchmark test system 20 relative to the test surface at time t are calculated. The sum of t and t is used to determine the vertical height of the ith UAV relative to the test surface at time t. That is, the calculation is based on the following formula:

[0058]

[0059] in, represents the vertical height of the ith UAV relative to the test surface at time t, represents the third height of the i-th UAV relative to the reference point at time t, represents the first height of the benchmark system relative to the benchmark point at time t, Represents the second height of the benchmark test system relative to the test surface at time t.

[0060] Since i takes any value from 1 to N, the vertical heights of the N drones 31 relative to the test surface at time t can be obtained by the above formula to determine N vertical heights.

[0061] During the above implementation process, the accurate coordinate position of each UAV and the accurate coordinate position of the first mobile station are obtained by differential positioning, and the real-time height of the test platform from the test surface is calculated by the altimeter radar. The vertical height of each UAV relative to the test surface can be accurately calculated, and then the corrected atmospheric refractive index can be calculated based on the vertical height and the measurement data of each height provided by the UAV, thereby obtaining the relevant parameters of the atmospheric waveguide.

[0062] In an optional embodiment of the present application, if Figure 3 As shown, the server 10 determines the maximum hovering height based on the type of atmospheric waveguide to be detected, determines N target hovering heights based on the number of drones N corresponding to the first drone swarm 30 and the maximum hovering height, and generates N control instructions carrying the target hovering heights; the server 10 determines the drones 31 that match the N control instructions respectively, and sends the N control instructions to the matching drones 31 to control the drones 31 to perform data measurement at the corresponding target hovering heights.

[0063] The server 10 can determine the maximum hovering height according to the type of atmospheric duct that needs to be detected. For example, if an evaporation duct needs to be tested, the maximum hovering height can be set to 40 meters, and the maximum hovering height is the vertical distance from the test surface. Then, based on the number N of drones corresponding to the first drone swarm 30 and the maximum hovering height, N target hovering heights are determined, and N control instructions carrying the target hovering heights are generated to control the N drones 31 to hover at corresponding positions.

[0064] Among them, when determining N target hovering heights based on the number of drones N and the maximum hovering height, the target hovering heights corresponding to the N drones 31 can be determined by a strategy that the spacings corresponding to adjacent drones 31 are equal. At this time, the height interval corresponding to the maximum hovering height can be relatively evenly divided into multiple intervals to measure data using drones 31 at corresponding positions. It is also possible to determine the target hovering heights corresponding to the N drones 31 based on detection requirements by a strategy that the spacings corresponding to adjacent drones 31 are unequal (such as increasing spacing, decreasing spacing, and spacing changing according to a preset rule).

[0065] As an example, when determining the target hovering heights corresponding to N drones 31 respectively by adopting the strategy of equal spacings corresponding to adjacent drones 31, based on the maximum hovering height of 40 meters and the number of drones N, the target hovering height corresponding to each drone 31 is determined by the following formula:

[0066]

[0067] Where i takes any value from 1 to N, h i,0 Indicates the target hovering height of the i-th UAV from the test surface.

[0068] When determining the drones 31 that match the N control instructions carrying the target hovering height, the server 10 determines the drones that match each control instruction based on the hovering heights corresponding to the N drones 31 currently obtained. The drone 31 that matches the control instruction is the drone 31 whose corresponding hovering height among the N drones 31 is the smallest distance between the target hovering height carried by the control instruction.

[0069] When the server 10 determines N control instructions based on N target hovering heights, it is also necessary to obtain the hovering heights corresponding to the N drones 31 (the hovering height here can be the height of the drone 31 relative to the test surface). After determining the hovering heights corresponding to the N drones 31, for each control instruction, based on the target hovering height it carries, determine the drone 31 among the N drones 31 whose corresponding hovering height is the smallest distance from the target hovering height carried by the control instruction, and determine that drone 31 as the drone 31 that matches the current control instruction.

[0070] After determining the drones 31 that match the N control instructions respectively, based on the matching relationship between the control instructions and the drone 31, the N control instructions are sent to the matching drone 31 to control the drone 31 to hover at the corresponding target hovering height based on the control instructions to perform data measurement and provide measurement data of the height.

[0071] By assigning matching control instructions to the drone 31 based on the principle of minimizing the distance between the hovering height corresponding to the drone 31 and the target hovering height carried by the control instruction, the drone 31 can move a shorter distance, so that it can move to a suitable position in a shorter time, thereby improving efficiency.

[0072] It should be noted that each drone 31 corresponds to a number. If the distance between N drones 31 and the test surface gradually increases based on the order of numbers from small to large, when assigning control instructions to the N drones 31, the drone 31 that matches the control instruction can be directly determined according to the number, thereby providing the matching control instruction to the drone 31.

[0073] In the above implementation process, after determining N control instructions carrying the target hovering height based on the number of drones N and the maximum hovering height corresponding to the atmospheric waveguide type, the drone is controlled to hover at the corresponding position based on the adapted control instructions, so that the drone can stay at a suitable position for data measurement, and because the position of the drone is determined based on the real-time differential positioning method, the accuracy of the drone hovering can be improved.

[0074] The following is an introduction to the process of calculating the corrected atmospheric refractive index. Figure 1 and Figure 2As shown, the measuring device 32 includes a temperature sensor 321, a humidity sensor 322 and an atmospheric pressure sensor 323, and the measured data includes temperature data, humidity data and atmospheric pressure data; the server 10 obtains the temperature data corresponding to time t provided by the i-th drone Humidity data Atmospheric pressure data

[0075] Here, i is any integer from 1 to N, and the temperature data, humidity data and atmospheric pressure data are directly transmitted to the server 10 by the measuring device 32 .

[0076] The measuring device 32 carried on the drone 31 includes a temperature sensor 321, a humidity sensor 322 and an atmospheric pressure sensor 323. After the drone 31 hovers to the height set by the server 10, it starts to collect temperature data, humidity data and atmospheric pressure data based on the measuring device 32, and transmits the collected results to the server 10 in real time. The server 10 receives the temperature data at time t provided by the temperature sensor 321 carried on the i-th drone (unit k), humidity data at time t provided by the humidity sensor 322 carried by the i-th UAV The atmospheric pressure data at time t provided by the atmospheric pressure sensor 323 carried by the i-th UAV (Unit: hPa).

[0077] The server 10 obtains the temperature data corresponding to time t provided by the i-th drone. Humidity data Atmospheric pressure data Afterwards, according to the temperature data corresponding to the i-th UAV at time t Humidity data Use the first formula to calculate the water vapor partial pressure corresponding to the i-th UAV at time t

[0078] The first formula is shown in formula (1):

[0079]

[0080] In the above formula 1, based on the temperature data Determine the index corresponding to e, and then based on the humidity data The constant (6.105 / 100) and the data related to e determine the water vapor partial pressure corresponding to the i-th UAV at time t

[0081] In determining the water vapor partial pressure corresponding to the i-th UAV at time t Afterwards, the server 10 calculates the temperature data corresponding to the i-th drone at time t. Atmospheric pressure data and water vapor pressure The second formula is used to calculate the atmospheric refractive index of the i-th UAV at the corresponding height at time t

[0082] The second formula is shown in formula (2):

[0083]

[0084] In the above formula 2, based on the water vapor partial pressure corresponding to the i-th UAV at time t The product of the constant and the temperature data corresponding to the i-th UAV at time t Get the first value based on the atmospheric pressure data corresponding to the i-th drone at time t The second value is determined by summing the first value and the other constant is the temperature data corresponding to the i-th drone at time t. The product of the third value and the second value is the atmospheric refractive index of the i-th UAV at the corresponding height at time t.

[0085] The server 10 determines the atmospheric refractive index of the corresponding height of the i-th UAV at time t Afterwards, according to the atmospheric refractive index of the i-th UAV at the corresponding height at time t Vertical height relative to the test surface at time t and the mean Earth radius r e , the third formula is used to calculate the corrected atmospheric refractive index of the i-th UAV at the corresponding height at time t

[0086] The third formula is shown in formula (3):

[0087]

[0088] In the above formula 3, based on the vertical height of the i-th UAV relative to the test surface at time t With the average Earth radius r e The fourth value is determined by multiplying the ratio of the ratio by the constant, based on the atmospheric refractive index of the i-th UAV at the corresponding height at time t. The sum of the fourth value determines the corrected atmospheric refractive index of the i-th UAV at the corresponding height at time t

[0089] After the corresponding corrected atmospheric refractive indexes are determined for each of the N drones 31, the server 10 fits a target curve according to the N corrected atmospheric refractive indexes, derivates the corrected atmospheric refractive index M in the target curve with respect to the height h, and calculates the atmospheric waveguide height h corresponding to time t based on the derivation result. duct , waveguide layer bottom height h bottom 、Waveguide bottom height h bd , waveguide layer thickness Δh layer , waveguide thickness Δh dt and at least one of the waveguide strength ΔM, so as to obtain the atmospheric waveguide parameters based on the derivation.

[0090] The atmospheric duct height h duct is the critical height of the atmospheric stratification changing from dM / dh<0 to dM / dh≥0, that is, when taking the derivative of the target curve, determine the critical point on the target curve where the derivative result changes from less than 0 to greater than or equal to 0. The height corresponding to this critical point is the atmospheric duct height h duct .like Figure 4A As Figure 4D As shown, the derivative result of the target curve is determined to change from less than 0 to a critical point greater than or equal to 0. The height corresponding to the critical point is the atmospheric duct height h duct .in, 4A to 4D The target curves representing the fitted corrected atmospheric refractive index changes with height corresponding to different atmospheric duct types. Figure 4A , which represents the target curve corresponding to the surface waveguide without the base layer; Figure 4B , which represents the target curve corresponding to the surface waveguide with the base layer; Figure 4C , which represents the target curve corresponding to the evaporation waveguide; Figure 4D , which represents the target curve corresponding to the suspended waveguide.

[0091] Waveguide bottom height h bottom is the critical height of the atmospheric stratification changing from dM / dh≥0 to dM / dh<0, that is, when taking the derivative of the target curve, determine the critical point on the target curve where the derivative result changes from greater than or equal to 0 to less than 0. The height corresponding to this critical point is the height of the duct bottom h bottom .like Figure 4B and Figure 4D As shown in the figure, the derivative result of the target curve is determined to change from greater than or equal to 0 to a critical point less than 0. The height corresponding to the critical point is the height of the bottom of the waveguide layer h bottom .

[0092] Waveguide bottom height h bdIt is the height corresponding to M in the lower part of the waveguide when there is a part with dM / dh≥0 in the lower part of the waveguide and M in the lower part of the waveguide is consistent with M corresponding to the atmospheric waveguide height. That is, when taking the derivative for the target curve, if there is an atmospheric layer with dM / dh≥0 in the lower part of the waveguide and M in the lower part of the waveguide is consistent with M corresponding to the atmospheric waveguide height, the height corresponding to this M value is the waveguide bottom height h bd .like Figure 4D As shown, in Figure 4D On the target curve shown, there is an atmospheric layer with dM / dh≥0 and located at the lower part of the waveguide. In the part with dM / dh≥0, there is an M that is consistent with the M corresponding to the atmospheric waveguide height. The height corresponding to this M is the waveguide bottom height h bd .

[0093] Waveguide layer thickness Δh layer is the atmospheric stratification thickness corresponding to dM / dh<0, such as 4A to 4D As shown, for the part where the derivative result of the target curve is less than 0, the corresponding height difference is the thickness of the waveguide layer Δh layer . Waveguide thickness Δh dt is the atmospheric duct height h duct The height of the waveguide bottom h bd The difference, such as Figure 4D As shown, the atmospheric duct height h duct The height of the waveguide bottom h bd The difference is the waveguide thickness Δh dt ,exist FIG. 4A to FIG. 4C In the default waveguide bottom height h bd is 0, at this time, the waveguide thickness Δh dt Equal to the atmospheric duct height h duct The waveguide strength ΔM is the atmospheric waveguide height h duct The height of the waveguide layer is h bottom The corresponding difference in M, such as Figure 4B and Figure 4D As shown, based on the atmospheric duct height h duct The corresponding M and waveguide layer bottom height h bottom The difference in the corresponding M determines the waveguide strength ΔM, Figure 4A as well as Figure 4C In the default case, the waveguide bottom height h bottom is 0, based on the atmospheric duct height h duct The corresponding M and waveguide layer bottom height h bottom The corresponding difference in M ​​determines the waveguide strength ΔM, where the difference is a relative difference and takes a positive number.

[0094] In the above implementation process, the atmospheric refractive index is corrected based on the measurement data and vertical height provided by multiple UAVs, and a target curve is fitted according to multiple corrected atmospheric refractive indices to ensure the accuracy of the corrected atmospheric refractive index curve. The atmospheric duct parameters are calculated based on the corrected atmospheric refractive indices corresponding to different detection heights by differentiating the target curve and determining the atmospheric duct parameters according to the derivative results.

[0095] As an optional embodiment, Figure 5 As shown, the system further includes: at least one second drone swarm 40, the second drone swarm 40 including N drones 31;

[0096] When the first drone swarm 30 needs to return, the server 10 determines a target drone swarm to replace the first drone swarm 30 in at least one second drone swarm 40, and controls N drones 31 in the target drone swarm to continue data measurement at the corresponding hovering heights according to the N hovering heights corresponding to the first drone swarm 30. Figure 5 What is illustrated is the case where the system includes a second drone swarm 40. Those skilled in the art can set up one or more spare second drone swarms 40 based on actual needs.

[0097] The atmospheric waveguide detection system in this embodiment is provided with at least two batches of drone swarms, that is, the number of batches is greater than or equal to 2, and the number of drones 31 corresponding to each batch is the same, which is N. When the drones 31 of the current batch are measuring data, the drones 31 of the next batch can be charged or other preparations can be made. When the drones 31 of the current batch need to return, for example, when returning to charge, the drones 31 of the next batch are replaced according to the hovering height of the current drones 31. For example, the N drones 31 in batch 1 are replaced by the N drones 31 in batch 2, and the N drones 31 in batch 2 hover at the hovering positions of the N drones 31 in batch 1 based on the numbers, thereby realizing long-term uninterrupted measurement based on the drone batch replacement.

[0098] The above is a relevant introduction to the atmospheric waveguide detection system provided in the embodiment of the present application. The corrected atmospheric refractive index at different heights is detected by hovering a swarm of drones, and the atmospheric waveguide parameters are calculated based on the detection situation, which can avoid the errors caused by flight attitude and hovering time in traditional aircraft detection; and this scheme can determine the number of drones according to the measurement accuracy. When the required accuracy is high, the number of drones is increased to obtain more measurement points, so that the fitted corrected atmospheric refractive index curve is more accurate, and the number of drones can be flexibly configured according to the accuracy requirements, which is of great significance for the detection of atmospheric waveguides.

[0099] The embodiment of the present application also provides an atmospheric waveguide detection method based on a drone and applied to a server, wherein the server interacts with a benchmark test system and N drones in a first drone swarm, where N is an integer greater than or equal to 2, and the drone is equipped with a measuring device, such as Figure 6 As shown, the method includes:

[0100] Step 601: Determine the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system and the third heights relative to the reference point at time t provided by the N drones.

[0101] In this embodiment, the N drones in the first drone swarm hover at different altitudes and perform data measurement through the onboard measuring equipment, thereby realizing the simultaneous collection of data at different altitudes through the drone swarm, effectively solving the problems of long collection time and low collection efficiency caused by traditional aircraft zigzag flight and other methods.

[0102] The benchmark test system is used to provide the server with the first height of the benchmark test system relative to the benchmark point and the second height relative to the test surface at each time. In addition to providing data collected by the measurement equipment, the drone is also used to provide the server with the third height of the drone relative to the benchmark point at each time. The first height and the third height can be approximated to the altitude. For the relevant introduction of the first height, the third height, the benchmark point and the test surface, please refer to the description of the system embodiment, which will not be repeated here.

[0103] After obtaining the N third heights at time t provided by N drones and the first height and second heights at time t provided by the benchmark test system, the server calculates the vertical height of the drone relative to the test surface at time t for each drone based on the third height corresponding to the drone and the first height and second height provided by the benchmark test system to obtain N vertical heights.

[0104] Step 602: Obtain the measurement data corresponding to N drones at time t, and determine the corrected atmospheric refractive index at N heights corresponding to the N drones at time t based on the N measurement data and N vertical heights.

[0105] After obtaining the measurement data and vertical heights corresponding to the N drones at time t, the server determines the corrected atmospheric refractive index of the altitude corresponding to the drone at time t for each drone based on the corresponding measurement data and vertical height. Since the N drones are hovering at different altitudes, by determining the corrected atmospheric refractive indexes of the N altitudes corresponding to the N drones at time t, the corrected atmospheric refractive indexes at different altitudes can be obtained, and the corrected atmospheric refractive indexes at different altitudes can be detected by hovering drone swarms.

[0106] Step 603: Fit the N corrected atmospheric refractive indices at time t to determine a target curve of the corrected atmospheric refractive index varying with altitude, and calculate the atmospheric duct parameters at time t based on the derivative result of the target curve.

[0107] After obtaining the corrected atmospheric refractive indexes at N altitudes corresponding to N drones at time t, the server fits the N corrected atmospheric refractive indexes corresponding to time t to determine the target curve of the corrected atmospheric refractive index changing with altitude. When the target curve of the corrected atmospheric refractive index changing with altitude is fitted, the target curve is derived, and the atmospheric duct parameters at time t are calculated based on the derivative results, so that the atmospheric duct parameters can be obtained by inverting the corrected atmospheric refractive indexes at different altitudes.

[0108] The above implementation scheme uses a swarm of drones to hover to detect the corrected atmospheric refractive index at different altitudes, and then calculates the atmospheric waveguide parameters. This can effectively solve the problems of long acquisition time and low acquisition efficiency caused by data measurement based on traditional aircraft, and at the same time avoid the errors caused by the flight attitude and hovering time of traditional aircraft. The detection method of drone swarms hovering can obtain the measurement conditions corresponding to more measurement points, making the fitted corrected atmospheric refractive index curve more accurate and improving the detection accuracy.

[0109] In an optional embodiment of the present application, the method further includes:

[0110] Receive the first coordinate measurement value corresponding to time t transmitted by the first mobile station The first coordinate measurement value is the reference coordinate corresponding to the benchmark test system at time t. is the latitude corresponding to the first mobile station at time t, is the longitude corresponding to the first mobile station at time t, is the height corresponding to the first mobile station at time t, and the first height of the benchmark test system relative to the benchmark point at time t is

[0111] receiving a second height measured at time t and transmitted by the altimeter;

[0112] Among them, the benchmark test system includes a test platform, a benchmark station, a first mobile station and a height measuring device arranged on the test platform; the first coordinate measurement value is determined by the first mobile station based on the correction information provided by the benchmark station, using a real-time differential positioning method to calculate the coordinate information collected at time t; the second height is the height of the test platform relative to the test surface measured by the height measuring device at time t.

[0113] The benchmark test system includes a test platform, a benchmark station, a first mobile station and an altimeter arranged on the test platform. The first mobile station is used for real-time coordinate acquisition, the benchmark station is used for providing correction information, and the altimeter is used for measuring the height difference between the test platform and the test surface. For other introductions to the test platform, the benchmark station, the first mobile station and the altimeter, please refer to the description of the system embodiment.

[0114] The first mobile station provides coordinate information collected in real time, and the base station provides correction information. The first mobile station uses real-time differential positioning to calculate the coordinate information collected by the first mobile station based on the correction information to determine the first coordinate measurement value corresponding to the first mobile station. The first coordinate measurement value corresponding to the first mobile station is the reference coordinate corresponding to the test platform, and is also the reference coordinate corresponding to the benchmark test system.

[0115] The first mobile station uses a real-time differential positioning method to determine the first coordinate measurement value of the first mobile station corresponding to time t After that, the time and location information are transmitted to the server. is the height corresponding to the first mobile station at time t, and is also the first height of the benchmark test system relative to the benchmark point at time t.

[0116] The height measuring device is, for example, a height measuring radar, which maintains the same height as the first mobile station and measures the height of the test platform from the test surface in real time to determine the second height of the reference test system relative to the test surface. The measured value at time t is recorded as And the test time and test height data are transmitted to the server in real time.

[0117] The test surface in this embodiment is a water surface or a non-water surface. For related content, please refer to the relevant introduction of the system embodiment, which will not be elaborated here. For the case where the height measuring device and the first mobile station are maintained at the same height, no correction is required when calculating the vertical height of the drone relative to the test surface. If the heights of the two are inconsistent, the difference between the two needs to be considered in the calculation.

[0118] Optionally, the method further comprises:

[0119] Receive the second coordinate measurement value corresponding to time t transmitted by the second mobile station of the i-th UAV is the latitude corresponding to the second mobile station of the i-th UAV at time t, is the longitude corresponding to the second mobile station of the i-th UAV at time t, is the height corresponding to the second mobile station of the i-th UAV at time t, and the third height of the i-th UAV relative to the reference point at time t is i takes any integer from 1 to N;

[0120] Among them, the UAV is equipped with a second mobile station, and the second coordinate measurement value is determined by the second mobile station based on the correction information provided by the base station, using a real-time differential positioning method to calculate the coordinate information collected at time t.

[0121] For each of the N drones, it is equipped with a second mobile station in addition to the measuring equipment. The second mobile station is used to collect coordinate information in real time and cooperate with the base station to calibrate the coordinates. The second mobile station provides real-time collected coordinate information, and the base station provides correction information. The second mobile station uses real-time differential positioning to calculate the coordinate information collected by the second mobile station based on the correction information, and determines the second coordinate measurement value corresponding to the second mobile station, so as to obtain the third height of the drone relative to the reference point in real time using real-time differential positioning. After the drone uses its corresponding second mobile station to calculate the second coordinate measurement value corresponding to time t, it transmits the time information and the second coordinate measurement value to the server, so that the server can obtain the third height of the drone relative to the reference point at time t.

[0122] For the interaction mode between the first mobile station and the base station, the interaction mode between the first mobile station and the server, the interaction mode between the height measuring device and the server, the interaction mode between the second mobile station, the measuring device and the server, and the interaction mode between the second mobile station and the base station, please refer to the relevant introduction of the system implementation example.

[0123] Optionally, when determining the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the reference test system and the third heights relative to the reference point at time t provided by the N drones respectively, the method includes:

[0124] For each drone, determine the vertical distance between the drone and the benchmark test system according to the difference between the third height corresponding to the drone at time t and the first height corresponding to the benchmark test system at time t;

[0125] Based on the sum of the vertical distance and the second height corresponding to the reference test system at time t, the vertical height of the UAV relative to the test surface at time t is determined.

[0126] For the i-th UAV, its third height relative to the reference point at time t is At time t, the first height of the benchmark test system relative to the benchmark point is At time t, the second height of the benchmark test system relative to the test surface is When calculating the vertical height of the i-th UAV relative to the test surface at time t, calculate the third height corresponding to time t With the first height The vertical distance between the i-th UAV and the benchmark test system is determined by the difference between the vertical distance and the second height of the benchmark test system relative to the test surface at time t. The sum of t and t is used to determine the vertical height of the ith UAV relative to the test surface at time t. That is, the calculation is based on the following formula:

[0127]

[0128] Among them, since i takes any value from 1 to N, the vertical heights of the N drones relative to the test surface at time t can be obtained by the above formula to determine the N vertical heights.

[0129] In an optional embodiment of the present application, the method further includes:

[0130] Determining a maximum hovering altitude based on the type of atmospheric ducting to be detected;

[0131] Determine N target hovering heights based on the number N of drones corresponding to the first drone swarm and the maximum hovering height, and generate N control instructions carrying the target hovering heights;

[0132] According to the hovering heights corresponding to the currently acquired N drones, determine the drone that matches each control instruction. The drone that matches the control instruction is the drone whose corresponding hovering height among the N drones is the smallest distance from the target hovering height carried by the control instruction.

[0133] N control instructions are sent to the matching UAV to control the UAV to perform data measurement at the corresponding target hovering height.

[0134] The server determines the maximum hovering height according to the type of atmospheric waveguide to be detected, and then determines N target hovering heights based on the number N of drones corresponding to the first drone swarm and the maximum hovering height, and generates N control instructions carrying the target hovering heights to control the N drones to hover at corresponding positions.

[0135] Among them, when determining N target hovering heights based on the number of drones N and the maximum hovering height, the target hovering heights can be determined by a strategy in which the spacings corresponding to adjacent drones are equal, or the target hovering heights can be determined by a strategy in which the spacings corresponding to adjacent drones are unequal based on detection requirements. For detailed introduction, please refer to the description of the system embodiment.

[0136] When the server determines N control instructions based on N target hovering heights, it is also necessary to obtain the hovering heights corresponding to the N drones (here, the hovering height can be the height of the drone relative to the test surface). After determining the hovering heights corresponding to the N drones, for each control instruction, based on the target hovering height it carries, the server determines the drone with the smallest distance between the corresponding hovering height and the target hovering height carried by the control instruction among the N drones, and determines the drone as the drone that matches the current control instruction. After determining the drones that match the N control instructions, the N control instructions are sent to the matching drones to control the drones to measure data at the corresponding hovering positions based on the control instructions, and provide the measurement data of the height.

[0137] By assigning matching control instructions to the drone based on the principle of minimizing the distance between the drone's corresponding hovering height and the target hovering height carried by the control instruction, the drone can move a shorter distance and move to a suitable position in a shorter time, thereby improving efficiency.

[0138] In an optional embodiment of the present application, when obtaining the measurement data corresponding to each of N drones at time t, it includes: obtaining the temperature data corresponding to time t provided by the i-th drone Humidity data Atmospheric pressure data i takes every integer from 1 to N, and the measurement data includes temperature data, humidity data and atmospheric pressure data, wherein the measuring device includes a temperature sensor, a humidity sensor and an atmospheric pressure sensor, and the temperature data, humidity data and atmospheric pressure data are directly transmitted to the server by the measuring device.

[0139] The measuring equipment on the drone includes temperature sensors, humidity sensors and atmospheric pressure sensors. After the drone hovers to the height set by the server, it starts to collect temperature data, humidity data and atmospheric pressure data based on the measuring equipment, and transmits the collected results to the server in real time. The server receives the temperature data at time t provided by the temperature sensor on the i-th drone. (unit k), humidity data at time t provided by the humidity sensor on the i-th UAV The atmospheric pressure data at time t provided by the atmospheric pressure sensor on the i-th UAV (Unit: hPa).

[0140] The server calculates the temperature data of the i-th drone at time t. Humidity data Use the first formula to calculate the water vapor partial pressure corresponding to the i-th UAV at time t

[0141] The first formula is shown in formula (1):

[0142]

[0143] In the above formula 1, based on the temperature data Determine the index corresponding to e, and then based on the humidity data The constant (6.105 / 100) and the data related to e determine the water vapor partial pressure corresponding to the i-th UAV at time t

[0144] In determining the water vapor partial pressure corresponding to the i-th UAV at time t Afterwards, the server calculates the temperature data corresponding to the i-th drone at time t. Atmospheric pressure data and water vapor pressure The second formula is used to calculate the atmospheric refractive index of the i-th UAV at the corresponding height at time t

[0145] The second formula is shown in formula (2):

[0146]

[0147] In the above formula 2, based on the water vapor partial pressure corresponding to the i-th UAV at time t The product of the constant and the temperature data corresponding to the i-th UAV at time t Get the first value based on the atmospheric pressure data corresponding to the i-th drone at time t The second value is determined by summing the first value and the other constant is the temperature data corresponding to the i-th drone at time t. The product of the third value and the second value is the atmospheric refractive index of the i-th UAV at the corresponding height at time t.

[0148] The server determines the atmospheric refractive index of the corresponding height of the i-th drone at time t Afterwards, according to the atmospheric refractive index of the i-th UAV at the corresponding height at time t Vertical height relative to the test surface at time t and the mean Earth radius r e , the third formula is used to calculate the corrected atmospheric refractive index of the i-th UAV at the corresponding height at time t

[0149] The third formula is shown in formula (3):

[0150]

[0151] In the above formula 3, based on the vertical height of the i-th UAV relative to the test surface at time t With the average Earth radius r e The fourth value is determined by multiplying the ratio of the ratio by the constant, based on the atmospheric refractive index of the i-th UAV at the corresponding height at time t. The sum of the fourth value determines the corrected atmospheric refractive index of the i-th UAV at the corresponding height at time t

[0152] After determining the corresponding corrected atmospheric refractive index for each of the N drones, the server fits a target curve based on the N corrected atmospheric refractive indexes, derives the corrected atmospheric refractive index M in the target curve with respect to the height h, and calculates the atmospheric duct height h corresponding to time t based on the derivative result. duct , waveguide layer bottom height h bottom 、Waveguide bottom height h bd , waveguide layer thickness Δh layer , waveguide thickness Δh dt and at least one of the waveguide strength ΔM, so as to obtain the atmospheric waveguide parameters based on the derivation result. For the relevant introduction of the atmospheric waveguide parameters, please refer to the description of the system embodiment, which will not be repeated here.

[0153] In another embodiment of the present application, it also includes:

[0154] In the case that the first drone swarm needs to return, a target drone swarm is determined in at least one second drone swarm to replace the first drone swarm; and according to the N hovering heights corresponding to the first drone swarm, N drones in the target drone swarm are controlled to continue data measurement at the corresponding hovering heights.

[0155] In this embodiment, at least two batches of drone swarms may be set, that is, the batch number is greater than or equal to 2, and the number of drones corresponding to each batch is the same, which is N. When the drones of the current batch are measuring data, the drones of the next batch may be charged or otherwise prepared. When the drones of the current batch need to return, such as returning for charging, the drones of the next batch are replaced according to the hovering height of the current drones. For example, the N drones in batch 1 are replaced by the N drones in batch 2, and the N drones in batch 2 hover at the positions of the N drones in batch 1 based on the numbers. Thus, long-term uninterrupted measurement can be achieved based on drone batch replacement.

[0156] The embodiment of the present application also provides an atmospheric waveguide detection device based on a drone, which is applied to a server, and the server interacts with a benchmark test system and N drones in a first drone swarm, where N is an integer greater than or equal to 2, and the drone is equipped with a measurement device, such as Figure 7 As shown, the device comprises:

[0157] A first determination module 701 is used to determine the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system and the third heights relative to the reference point at time t provided by the N drones respectively;

[0158] The first processing module 702 is used to obtain the measurement data corresponding to the N drones at time t, and determine the corrected atmospheric refractive index of the N heights corresponding to the N drones at time t according to the N measurement data and N vertical heights, and the N drones respectively perform data measurement based on the measurement device at the corresponding hovering heights;

[0159] The second processing module 703 is used to fit the N corrected atmospheric refractive indices at time t, determine a target curve of the corrected atmospheric refractive index varying with altitude, and calculate the atmospheric duct parameters at time t according to the derivative result of the target curve.

[0160] Optionally, the device further comprises:

[0161] The first receiving module is used to receive the first coordinate measurement value corresponding to time t transmitted by the first mobile station The first coordinate measurement value is the reference coordinate corresponding to the benchmark test system at time t. is the latitude corresponding to the first mobile station at time t, is the longitude corresponding to the first mobile station at time t, is the height corresponding to the first mobile station at time t, and the first height of the benchmark test system relative to the benchmark point at time t is

[0162] A second receiving module is used to receive a second height measured at time t and transmitted by the height measuring device;

[0163] Wherein, the benchmark test system includes a test platform, a benchmark station arranged on the test platform, the first mobile station and the height measuring device; the first coordinate measurement value is determined by the first mobile station based on the correction information provided by the benchmark station, using a real-time differential positioning method to calculate the coordinate information collected at time t; the second height is the height of the test platform relative to the test surface measured by the height measuring device at time t.

[0164] Optionally, the device further comprises:

[0165] The third receiving module is used to receive the second coordinate measurement value corresponding to time t transmitted by the second mobile station of the i-th UAV is the latitude corresponding to the second mobile station of the i-th UAV at time t, is the longitude corresponding to the second mobile station of the i-th UAV at time t, is the height corresponding to the second mobile station of the i-th UAV at time t, and the third height of the i-th UAV relative to the reference point at time t is i takes any integer from 1 to N;

[0166] The second mobile station is carried on the UAV, and the second coordinate measurement value is determined by the second mobile station based on the correction information provided by the base station, using a real-time differential positioning method to calculate the coordinate information collected at time t.

[0167] Optionally, the first determining module includes:

[0168] A first determination submodule is used to determine, for each drone, a vertical distance between the drone and the benchmark test system according to a difference between a third height corresponding to the drone at time t and a first height corresponding to the benchmark test system at time t;

[0169] The second determination submodule is used to determine the vertical height of the UAV relative to the test surface at time t based on the sum of the vertical distance and the second height corresponding to the benchmark test system at time t.

[0170] Optionally, the device further comprises:

[0171] A second determination module is used to determine a maximum hovering altitude based on the type of atmospheric duct to be detected;

[0172] A determination generation module, configured to determine N target hovering heights based on the number N of drones corresponding to the first drone swarm and the maximum hovering height, and generate N control instructions carrying the target hovering heights;

[0173] A third determination module is used to determine the drone that matches each control instruction according to the hovering heights corresponding to the N drones currently obtained, wherein the drone that matches the control instruction is the drone whose corresponding hovering height among the N drones is the smallest distance from the target hovering height carried by the control instruction;

[0174] The sending module is used to send the N control instructions to the matching drone to control the drone to perform data measurement at the corresponding target hovering height.

[0175] Optionally, the first processing module is further used for:

[0176] Get the temperature data corresponding to time t provided by the i-th drone Humidity data Atmospheric pressure data i is any integer from 1 to N, and the measurement data includes temperature data, humidity data and atmospheric pressure data;

[0177] The measuring device comprises a temperature sensor, a humidity sensor and an atmospheric pressure sensor, and the temperature data, the humidity data and the atmospheric pressure data are directly transmitted to the server by the measuring device.

[0178] Optionally, the first processing module includes:

[0179] The first calculation submodule is used to calculate the temperature data corresponding to the i-th UAV at time t Humidity data Use the first formula to calculate the water vapor partial pressure corresponding to the i-th UAV at time t

[0180] The first formula is shown in the following formula (1):

[0181]

[0182] The second calculation submodule is used to calculate the temperature data corresponding to the i-th UAV at time t Atmospheric pressure data and water vapor pressure The second formula is used to calculate the atmospheric refractive index of the i-th UAV at the corresponding height at time t

[0183] The second formula is shown in the following formula (2):

[0184]

[0185] The third calculation submodule is used to calculate the atmospheric refractive index of the i-th UAV at the corresponding height at time t. Vertical height relative to the test surface at time t and the mean Earth radius r e , the third formula is used to calculate the corrected atmospheric refractive index of the i-th UAV at the corresponding height at time t

[0186] The third formula is shown in the following formula (3):

[0187]

[0188] Among them, the N corrected atmospheric refractive indices corresponding to the N drones are used to determine the atmospheric waveguide parameters.

[0189] Optionally, the second processing module is further used for:

[0190] The modified atmospheric refractive index M in the target curve is derived with respect to the height h, and the atmospheric duct height h corresponding to time t is calculated based on the derivative result. duct , waveguide layer bottom height h bottom 、Waveguide bottom height h bd , waveguide layer thickness Δh layer , waveguide thickness Δh dt and at least one of the waveguide strength ΔM;

[0191] Wherein, the atmospheric duct height h duct is the critical height from dM / dh<0 to dM / dh≥0, and the bottom height of the waveguide layer h bottom is the critical height from dM / dh≥0 to dM / dh<0, the waveguide bottom height h bd When there is a portion of dM / dh≥0 in the lower part of the waveguide and the lower part M of the waveguide is consistent with the M corresponding to the atmospheric waveguide height, the waveguide layer thickness Δh layer is the atmospheric stratification thickness corresponding to dM / dh<0, and the waveguide thickness Δh dt is the atmospheric duct height h duct The waveguide bottom height h bd The difference between the waveguide strength ΔM and the atmospheric waveguide height h duct The height h of the waveguide layer bottom bottom The corresponding difference in M.

[0192] Optionally, the device further comprises:

[0193] a fourth determination module, configured to determine, in the case where the first drone swarm needs to return, a target drone swarm that replaces the first drone swarm from at least one second drone swarm;

[0194] The control module is used to control the N drones in the target drone swarm to continue data measurement at the corresponding hovering heights according to the N hovering heights corresponding to the first drone swarm.

[0195] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0196] like Figure 8As shown, an embodiment of the present application further provides an electronic device, which may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the steps of the atmospheric waveguide detection method based on a drone provided in the embodiment of the present application.

[0197] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0198] On the other hand, the embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps in the atmospheric waveguide detection method based on a drone provided in the above embodiments are implemented. And the same technical effect can be achieved, so it will not be repeated here to avoid repetition.

[0199] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integration. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0200] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including 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 device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0201] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0202] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. An atmospheric waveguide detection system based on drone, characterized in that: include: A server, a benchmark test system interacting with the server, and a first drone swarm, wherein the first drone swarm includes N drones, each of which carries a measurement device, where N is an integer greater than or equal to 2; The server determines the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system and the third heights relative to the reference point at time t provided by the N drones respectively; The server obtains the measurement data corresponding to the N drones at time t, and determines the corrected atmospheric refractive indexes at N heights corresponding to the N drones at time t according to the N measurement data and N vertical heights, and the N drones respectively perform data measurement based on the measurement device at the corresponding hovering heights; The server fits N corrected atmospheric refractive indices at time t, determines a target curve of the corrected atmospheric refractive index varying with altitude, and calculates the atmospheric duct parameters at time t according to the derivative result of the target curve.

2. The atmospheric waveguide detection system based on a drone according to claim 1, characterized in that: The benchmark test system includes a test platform, a benchmark station and a first mobile station arranged on the test platform; The first mobile station obtains the correction information provided by the base station, calculates the coordinate information collected by the first mobile station at time t based on the correction information using a real-time differential positioning method, and determines a first coordinate measurement value of the first mobile station corresponding to time t Wherein, the first coordinate measurement value is the reference coordinate corresponding to the benchmark test system at time t, is the latitude corresponding to the first mobile station at time t, is the longitude corresponding to the first mobile station at time t, is the height corresponding to the first mobile station at time t, and the first height of the benchmark test system relative to the benchmark point at time t is The first mobile station transmits a first coordinate measurement value corresponding to time t to the server.

3. The atmospheric waveguide detection system based on a drone according to claim 2, characterized in that: The benchmark test system also includes a height measuring device disposed on the test platform; The height measuring device is used to measure the height difference between the test platform and the test surface, and determine the second height of the benchmark test system relative to the test surface; The altimeter transmits the second altitude measured at time t to the server.

4. The atmospheric waveguide detection system based on a drone according to claim 2 or 3, characterized in that: The UAV is equipped with a second mobile station; The second mobile station obtains the correction information provided by the base station, and uses the real-time differential positioning method to calculate the coordinate information collected by the second mobile station at time t based on the correction information to determine the second coordinate measurement value of the second mobile station corresponding to time t in, is the latitude corresponding to the second mobile station of the i-th UAV at time t, is the longitude corresponding to the second mobile station of the i-th UAV at time t, is the height corresponding to the second mobile station of the i-th UAV at time t, and the third height of the i-th UAV relative to the reference point at time t is i takes any integer from 1 to N; The second mobile station transmits the second coordinate measurement value corresponding to time t to the server.

5. The atmospheric waveguide detection system based on a drone according to claim 4, characterized in that: The server determines the vertical distance between the UAV and the benchmark test system based on the difference between a third height corresponding to the UAV at time t and a first height corresponding to the benchmark test system at time t, and determines the vertical height of the UAV relative to the test surface at time t based on the sum of the vertical distance and the second height corresponding to the benchmark test system at time t.

6. The atmospheric waveguide detection system based on a drone according to claim 1, characterized in that: The server determines a maximum hovering height based on the type of atmospheric duct to be detected, determines N target hovering heights based on the number N of drones corresponding to the first drone swarm and the maximum hovering height, and generates N control instructions carrying the target hovering heights; The server determines drones that are matched with N control instructions respectively, and sends the N control instructions to the matched drones to control the drones to perform data measurement at corresponding target hovering heights.

7. The atmospheric waveguide detection system based on a drone according to claim 6, characterized in that: After generating N control instructions, the server determines the drone that matches each control instruction according to the currently acquired hovering heights corresponding to the N drones; The UAV matched by the control instruction is the UAV whose corresponding hovering height among the N UAVs is the smallest distance from the target hovering height carried by the control instruction.

8. The atmospheric waveguide detection system based on a drone according to claim 1, characterized in that: The measuring device includes a temperature sensor, a humidity sensor and an atmospheric pressure sensor, and the measured data includes temperature data, humidity data and atmospheric pressure data; The server obtains the temperature data corresponding to time t provided by the i-th drone Humidity data Atmospheric pressure data Wherein, i is any integer from 1 to N, and the temperature data, the humidity data and the atmospheric pressure data are directly transmitted from the measuring device to the server.

9. The atmospheric waveguide detection system based on a drone according to claim 8, characterized in that: The server calculates the temperature data corresponding to the i-th drone at time t. Humidity data Use the first formula to calculate the water vapor partial pressure corresponding to the i-th UAV at time t The first formula is shown in the following formula (1): The server calculates the temperature data corresponding to the i-th drone at time t. Atmospheric pressure data and water vapor pressure The second formula is used to calculate the atmospheric refractive index of the i-th UAV at the corresponding height at time t The second formula is shown in the following formula (2): The server calculates the atmospheric refractive index of the i-th UAV at the corresponding height at time t. Vertical height relative to the test surface at time t and the mean Earth radius r e , the third formula is used to calculate the corrected atmospheric refractive index of the i-th UAV at the corresponding height at time t The third formula is shown in the following formula (3): Among them, the N corrected atmospheric refractive indices corresponding to the N drones are used to determine the atmospheric waveguide parameters.

10. The atmospheric waveguide detection system based on a drone according to claim 1, characterized in that: After determining the target curve, the server derives the modified atmospheric refractive index M in the target curve with respect to the height h, and calculates the atmospheric duct height h corresponding to time t based on the derivation result. duct , waveguide layer bottom height h bottom 、Waveguide bottom height h bd , waveguide layer thickness Δh layer , waveguide thickness Δh dt and at least one of the waveguide strength ΔM; Wherein, the atmospheric duct height h duct is the critical height from dM / dh<0 to dM / dh≥0, and the bottom height of the waveguide layer h bottom is the critical height from dM / dh≥0 to dM / dh<0, the waveguide bottom height h bd When there is a portion of dM / dh≥0 in the lower part of the waveguide and the lower part M of the waveguide is consistent with the M corresponding to the atmospheric waveguide height, the waveguide layer thickness Δh layer is the atmospheric stratification thickness corresponding to dM / dh<0, and the waveguide thickness Δh dt is the atmospheric duct height h duct The waveguide bottom height h bd The difference between the waveguide strength ΔM and the atmospheric waveguide height h duct The height h of the waveguide layer bottom bottom The corresponding difference in M.

11. The atmospheric waveguide detection system based on a drone according to claim 1, characterized in that: Also includes: at least one second drone swarm, the second drone swarm comprising N drones; In the case that the first drone swarm needs to return, the server determines a target drone swarm to replace the first drone swarm from among the at least one second drone swarm, and controls N drones in the target drone swarm to continue data measurement at the corresponding hovering heights according to the N hovering heights corresponding to the first drone swarm.

12. An atmospheric waveguide detection method based on a drone, applied to a server, characterized in that: The server interacts with the benchmark test system and N drones in the first drone swarm, where N is an integer greater than or equal to 2, and the drones are equipped with measurement equipment. The method includes: Determine the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system and the third heights relative to the reference point at time t provided by the N drones respectively; Obtaining the measurement data corresponding to the N drones at time t, and determining the corrected atmospheric refractive indexes at N heights corresponding to the N drones at time t based on the N measurement data and N vertical heights, wherein the N drones respectively perform data measurement based on the measurement device at corresponding hovering heights; N corrected atmospheric refractive indices at time t are fitted to determine a target curve of the corrected atmospheric refractive index varying with altitude, and the atmospheric duct parameters at time t are calculated based on the derivative result of the target curve.

13. The atmospheric waveguide detection method based on a drone according to claim 12, characterized in that: The method further comprises: Receive the first coordinate measurement value corresponding to time t transmitted by the first mobile station The first coordinate measurement value is a reference coordinate corresponding to the benchmark test system at time t, is the latitude corresponding to the first mobile station at time t, is the longitude corresponding to the first mobile station at time t, is the height corresponding to the first mobile station at time t, and the first height of the benchmark test system relative to the benchmark point at time t is receiving a second height measured at time t and transmitted by the altimeter; Wherein, the benchmark test system includes a test platform, a benchmark station arranged on the test platform, the first mobile station and the height measuring device; the first coordinate measurement value is determined by the first mobile station based on the correction information provided by the benchmark station, using a real-time differential positioning method to calculate the coordinate information collected at time t; the second height is the height of the test platform relative to the test surface measured by the height measuring device at time t.

14. The atmospheric waveguide detection method based on a drone according to claim 13, characterized in that: The method further comprises: Receive the second coordinate measurement value corresponding to time t transmitted by the second mobile station of the i-th UAV is the latitude corresponding to the second mobile station of the i-th UAV at time t, is the longitude corresponding to the second mobile station of the i-th UAV at time t, is the height corresponding to the second mobile station of the i-th UAV at time t, and the third height of the i-th UAV relative to the reference point at time t is i takes any integer from 1 to N; The second mobile station is carried on the UAV, and the second coordinate measurement value is determined by the second mobile station based on the correction information provided by the base station, using a real-time differential positioning method to calculate the coordinate information collected at time t.

15. The atmospheric waveguide detection method based on a drone according to claim 14, characterized in that: The determining the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system and the third heights relative to the reference point at time t provided by the N drones respectively, comprises: For each drone, determine the vertical distance between the drone and the benchmark test system according to the difference between a third height corresponding to the drone at time t and a first height corresponding to the benchmark test system at time t; Based on the sum of the vertical distance and the second height corresponding to the benchmark test system at time t, the vertical height of the UAV relative to the test surface at time t is determined.

16. The atmospheric waveguide detection method based on a drone according to claim 12, characterized in that: Also includes: Determining a maximum hovering altitude based on the type of atmospheric ducting to be detected; Determine N target hovering heights based on the number N of drones corresponding to the first drone swarm and the maximum hovering height, and generate N control instructions carrying the target hovering heights; According to the currently acquired hovering heights corresponding to the N drones, respectively, determining the drones that match each control instruction, wherein the drone that matches the control instruction is the drone whose corresponding hovering height among the N drones is the smallest distance from the target hovering height carried by the control instruction; N control instructions are sent to the matching UAV to control the UAV to perform data measurement at the corresponding target hovering height.

17. The atmospheric waveguide detection method based on a drone according to claim 12, characterized in that: The obtaining of the measurement data corresponding to the N UAVs at time t includes: Get the temperature data corresponding to time t provided by the i-th drone Humidity data Atmospheric pressure data i is any integer from 1 to N, and the measurement data includes temperature data, humidity data and atmospheric pressure data; The measuring device comprises a temperature sensor, a humidity sensor and an atmospheric pressure sensor, and the temperature data, the humidity data and the atmospheric pressure data are directly transmitted to the server by the measuring device.

18. The atmospheric waveguide detection method based on a drone according to claim 17, characterized in that: Determining the corrected atmospheric refractive index at N heights corresponding to the N drones at time t according to the N measurement data and the N vertical heights includes: According to the temperature data corresponding to the i-th drone at time t Humidity data Use the first formula to calculate the water vapor partial pressure corresponding to the i-th UAV at time t The first formula is shown in the following formula (1): According to the temperature data corresponding to the i-th drone at time t Atmospheric pressure data and water vapor pressure The second formula is used to calculate the atmospheric refractive index of the i-th UAV at the corresponding height at time t The second formula is shown in the following formula (2): According to the atmospheric refractive index of the i-th UAV at the corresponding height at time t Vertical height relative to the test surface at time t and the mean Earth radius r e , the third formula is used to calculate the corrected atmospheric refractive index of the i-th UAV at the corresponding height at time t The third formula is shown in the following formula (3): Among them, the N corrected atmospheric refractive indices corresponding to the N drones are used to determine the atmospheric waveguide parameters.

19. The atmospheric waveguide detection method based on a drone according to claim 12, characterized in that: The step of calculating the atmospheric duct parameters at time t according to the derivative result of the target curve comprises: The modified atmospheric refractive index M in the target curve is derived with respect to the height h, and the atmospheric duct height h corresponding to time t is calculated based on the derivative result. duct , waveguide layer bottom height h bottom 、Waveguide bottom height h bd , waveguide layer thickness Δh layer , waveguide thickness Δh dt and at least one of the waveguide strength ΔM; Wherein, the atmospheric duct height h duct is the critical height from dM / dh<0 to dM / dh≥0, and the bottom height of the waveguide layer h bottom is the critical height from dM / dh≥0 to dM / dh<0, the waveguide bottom height h bd When there is a portion of dM / dh≥0 in the lower part of the waveguide and the lower part M of the waveguide is consistent with the M corresponding to the atmospheric waveguide height, the waveguide layer thickness Δh layer is the atmospheric stratification thickness corresponding to dM / dh<0, and the waveguide thickness Δh dt is the atmospheric duct height h duct The waveguide bottom height h bd The difference between the waveguide strength ΔM and the atmospheric waveguide height h duct The height h of the waveguide layer bottom bottom The corresponding difference in M.

20. The atmospheric waveguide detection method based on a drone according to claim 12, characterized in that: Also includes: In the case where the first drone swarm needs to return, determining a target drone swarm to replace the first drone swarm from at least one second drone swarm; According to the N hovering heights corresponding to the first drone swarm, the N drones in the target drone swarm are controlled to continue to measure data at the corresponding hovering heights.

21. An atmospheric waveguide detection device based on a drone, applied to a server, characterized in that: The server interacts with the benchmark test system and N drones in the first drone swarm, where N is an integer greater than or equal to 2, and the drones are equipped with measurement equipment, and the apparatus includes: A first determination module is used to determine the vertical heights of the N drones relative to the test surface at time t based on the first height relative to the reference point and the second height relative to the test surface at time t provided by the benchmark test system and the third heights relative to the reference point at time t provided by the N drones respectively; A first processing module is used to obtain the measurement data corresponding to the N drones at time t, and determine the corrected atmospheric refractive index of the N heights corresponding to the N drones at time t according to the N measurement data and N vertical heights, and the N drones respectively perform data measurement based on the measurement device at the corresponding hovering heights; The second processing module is used to fit N corrected atmospheric refractive indices at time t, determine a target curve of the corrected atmospheric refractive index varying with altitude, and calculate the atmospheric duct parameters at time t according to the derivative result of the target curve.

22. An electronic device, characterized in that: The electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement the steps in the above-mentioned atmospheric waveguide detection method based on unmanned aerial vehicle when executing the program stored in the memory.

23. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps in the above-mentioned atmospheric waveguide detection method based on the drone are implemented.

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