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

Abstract

The application provides an atmospheric waveguide detection system, method and device based on unmanned aerial vehicles, which 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 a test surface at time t based on the first height relative to a benchmark point and the second height relative to the test surface of the benchmark test system at time t, and the third height relative to the benchmark point of the N unmanned aerial vehicles at time t. The server obtains the measurement data corresponding to the N unmanned aerial vehicles at time t, determines the corrected atmospheric refractive index of the N heights corresponding to the N unmanned aerial vehicles at time t based on the N measurement data and the N vertical heights, fits the N corrected atmospheric refractive indexes to determine a target curve, and calculates the atmospheric waveguide parameter at time t based on the derivative result of the target curve. The application adopts the unmanned aerial vehicle swarm mode to detect the corrected atmospheric refractive index at different heights, so as to calculate the atmospheric waveguide parameter, and the detection precision can be improved.

Description

Technical Field

[0001] This application relates to the field of atmospheric waveguide detection technology, and in particular to an atmospheric waveguide detection system, method and device based on unmanned aerial vehicles. Background Technology

[0002] Atmospheric waveguides are phenomena where the refractive index of the atmosphere exceeds the curvature of the Earth. Based on their vertical geometric distribution, atmospheric waveguides can be classified into surface waveguides (including evaporation waveguides), suspended waveguides, and composite waveguides. Evaporation waveguides are a special type of atmospheric waveguide structure that easily forms on the sea surface, with a maximum height of only tens of meters. Suspended waveguides can reach heights of several kilometers. Atmospheric waveguides can cause detection blind spots for radar, or they can enable radar to achieve beyond-line-of-sight detection; therefore, research on atmospheric waveguides is of great significance.

[0003] Currently, remote sensing methods for atmospheric waveguides mainly utilize microwave and optical remote sensing. However, the detection accuracy and spatial resolution of current remote sensing methods for atmospheric waveguides need further improvement.

[0004] In-situ detection methods for atmospheric waveguides include low-altitude sounding systems, GPS (Global Positioning System) radiosondes, balloon-launched systems, meteorological gradiometers, microwave refractometers, aircraft circling at different altitudes, and sounding rockets. However, these methods mainly face problems such as expensive equipment and complex installation. Aircraft circling at different altitudes can directly detect temperature, humidity, and atmospheric pressure parameters at different altitudes, thereby calculating the atmospheric refractive index and subsequently the evaporation waveguide altitude. However, this method requires specific aircraft flight paths, such as vertical or zigzag flight. Furthermore, different aircraft types can introduce different interferences. For example, rotorcraft can interfere with humidity and wind speed at the sampling location during ascent and descent, while fixed-wing aircraft may experience increased measurement errors due to attitude changes during zigzag flight. Furthermore, using aircraft for vertical or zigzag flight to detect atmospheric waveguides requires controlling the aircraft to follow a predetermined flight path. For low-cost sensors with long response times, this increases hovering time at each measurement point, or may require the aircraft to perform multiple measurements on a single refractive index profile, further increasing measurement time and limiting its application. During zigzag flight, the potential for uneven horizontal distribution within the atmospheric waveguide can cause conversion errors when switching from different zigzag lines to the vertical direction, affecting the accuracy of atmospheric waveguide detection.

[0005] Based on the above, it can be seen that the remote sensing method of atmospheric waveguide has problems with insufficient detection accuracy and spatial resolution; the in-situ detection method of atmospheric waveguide has problems with expensive equipment and complex installation, and the detection method of aircraft flying in circles at different altitudes in the in-situ detection method has problems with long measurement time and easy to increase measurement error. Summary of the Invention

[0006] In view of the above problems, embodiments of this application provide an unmanned aerial vehicle-based atmospheric waveguide detection system, method, and apparatus that overcomes or at least partially solves the above problems.

[0007] In a first aspect, embodiments of this application provide an atmospheric waveguide detection system based on unmanned aerial vehicles (UAVs), comprising: a server, a benchmark testing system interacting with the server, and a first UAV swarm, the first UAV swarm comprising N UAVs, each UAV carrying a measuring device, where N is an integer greater than or equal to 2;

[0008] The server determines the vertical height of the N UAVs 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 provided by the benchmark system at time t, and the third height relative to the reference point provided by the N UAVs at time t respectively.

[0009] The server acquires the measurement data corresponding to the N UAVs at time t, and determines the corrected atmospheric refractive index of the N UAVs at time t based on the N measurement data and N vertical heights. The N UAVs perform data measurements based on the measurement device at their respective hovering heights.

[0010] The server fits N corrected atmospheric refractive indices at time t to determine a target curve of the corrected atmospheric refractive index changing with altitude, and calculates the atmospheric waveguide parameters at time t based on the derivative of the target curve.

[0011] Secondly, embodiments of this application provide an atmospheric waveguide detection method based on unmanned aerial vehicles (UAVs), applied to a server. The server interacts with a benchmark testing system and N UAVs in a first UAV swarm, where N is an integer greater than or equal to 2. The UAVs are equipped with measuring devices. The method includes:

[0012] 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 testing system, and the third height relative to the reference point at time t provided by the N UAVs respectively, the vertical height of the N UAVs relative to the test surface at time t is determined.

[0013] The measurement data corresponding to the N UAVs at time t are obtained, and the corrected atmospheric refractive index of the N UAVs at time t is determined based on the N measurement data and N vertical heights. The N UAVs perform data measurement based on the measurement device at their respective hovering heights.

[0014] The N corrected atmospheric refractive indices at time t are fitted to determine the target curve of the corrected atmospheric refractive index as a function of altitude. The atmospheric waveguide parameters at time t are calculated based on the derivative of the target curve.

[0015] Thirdly, embodiments of this application provide an atmospheric waveguide detection device based on a drone, applied to a server. The server interacts with a benchmark testing system and N drones in a first drone swarm, where N is an integer greater than or equal to 2. The drones are equipped with measuring devices. The device includes:

[0016] The first determining module is used to determine the vertical height of the N UAVs relative to the test surface at time t based on the first height and the second height relative to the test surface at time t provided by the benchmark testing system, and the third height relative to the benchmark point at time t provided by the N UAVs respectively.

[0017] The first processing module is used to acquire the measurement data corresponding to the N UAVs at time t, and determine the corrected atmospheric refractive index of the N UAVs at time t based on the N measurement data and N vertical heights. The N UAVs perform data measurement based on the measurement device at their respective hovering heights.

[0018] The second processing module is used to fit the N corrected atmospheric refractive indices at time t, determine the target curve of the corrected atmospheric refractive index changing with altitude, and calculate the atmospheric waveguide parameters at time t based on the derivative of the target curve.

[0019] Fourthly, embodiments of this application provide an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of the UAV-based atmospheric waveguide detection method described in the second aspect above.

[0020] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the UAV-based atmospheric waveguide detection method described in the second aspect above.

[0021] The technical solution of this application embodiment reasonably selects the number of drones and sets their hovering altitude to perform fixed-point observation of the drones' locations to obtain measurement data at different altitudes. After determining the vertical altitude of the drones relative to the test surface based on the first altitude of the benchmark test system relative to the benchmark point, the second altitude relative to the test surface, and the third altitude of the drones relative to the benchmark point, the corrected atmospheric refractive index is determined for N drones at N altitudes based on the measurement data and vertical altitudes. The target curve of the corrected atmospheric refractive index changing with altitude is determined by fitting the corrected atmospheric refractive index. Atmospheric waveguide parameters are calculated based on the derivative of the target curve. This achieves the detection of the corrected atmospheric refractive index at different altitudes using a drone swarm hovering method, and then calculates the atmospheric waveguide parameters. This effectively solves the problems of long acquisition time and low acquisition efficiency caused by data measurement based on traditional aircraft, and avoids the errors caused by flight attitude and hovering time of traditional aircraft. Moreover, the drone swarm hovering detection method can obtain the measurement data corresponding to more measurement points, making the fitted corrected atmospheric refractive index curve more accurate and improving the detection accuracy. Attached Figure Description

[0022] Figure 1 This diagram illustrates an UAV-based atmospheric waveguide detection system provided in an embodiment of this application.

[0023] Figure 2 This diagram illustrates the UAV equipped with a rover and measurement equipment according to an embodiment of this application.

[0024] Figure 3 This is a schematic diagram illustrating how a server controls a drone to move and hover in a suitable position, as provided in an embodiment of this application.

[0025] Figure 4A This is a schematic diagram showing the target curve corresponding to the surface waveguide without a base layer provided in the embodiments of this application;

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

[0027] Figure 4C A schematic diagram showing the target curve corresponding to the evaporation waveguide provided in the embodiments of this application;

[0028] Figure 4D A schematic diagram showing the target curve corresponding to the suspended waveguide provided in the embodiments of this application;

[0029] Figure 5 This diagram illustrates the atmospheric waveguide detection system provided in this application, corresponding to multiple drone swarms.

[0030] Figure 6This diagram illustrates the atmospheric waveguide detection method based on an unmanned aerial vehicle (UAV) provided in an embodiment of this application.

[0031] Figure 7 This is a schematic diagram of an unmanned aerial vehicle (UAV)-based atmospheric waveguide detection device provided in an embodiment of this application.

[0032] Figure 8 This is a schematic diagram of the electronic device structure provided in the embodiments of this application. Detailed Implementation

[0033] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

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

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0036] This application provides an atmospheric waveguide detection system based on an unmanned aerial vehicle (UAV), such as... Figure 1 As shown, the system includes: a server 10, a benchmark testing system 20 that interacts with the server 10, and a first drone swarm 30. The first drone swarm 30 includes N drones 31, each drone 31 carrying a measuring device 32, where N is an integer greater than or equal to 2. Each drone 31 carries a measuring device 32.

[0037] Server 10 determines the vertical height of each of the N UAVs 31 relative to the test surface at time t, based on the first height and second height relative to the test surface provided by the benchmark system 20 at time t, and the third height relative to the benchmark provided by each of the N UAVs 31 at time t. Server 10 acquires the measurement data corresponding to each of the N UAVs 31 at time t, and determines the corrected atmospheric refractive index of each of the N UAVs 31 at time t based on the N measurement data and the N vertical heights. Each of the N UAVs 31 performs data measurement based on the measurement device 32 at its corresponding hovering height. Server 10 fits the N corrected atmospheric refractive indices at time t to determine the target curve of the corrected atmospheric refractive index changing with altitude, and calculates the atmospheric waveguide parameters at time t based on the derivative of the target curve.

[0038] The atmospheric waveguide detection system provided in this application includes a server 10, a benchmark testing system 20 that interacts with the server 10, and a first drone swarm 30 that interacts with the server 10. The first drone swarm 30 includes at least two drones 31, which hover at different altitudes. The drones 31 perform data measurements using onboard measuring devices 32, enabling simultaneous data collection at different altitudes by the drone swarm. This effectively solves the problems of long collection time and low collection efficiency caused by traditional methods such as zigzag flight of aircraft.

[0039] The benchmark testing system 20 provides the server 10 with a first altitude relative to a reference point and a second altitude relative to a test surface at various times. Based on the interaction with the benchmark testing system 20, the server 10 obtains the first altitude relative to the reference point and the second altitude relative to the test surface at time t provided by the benchmark testing system 20. The drone 31, in addition to providing data collected by the measuring device 32, also provides the server 10 with a third altitude relative to the reference point at various times. Based on the interaction with the drone 31, the server 10 obtains measurement data provided by N drones 31 and their third altitudes relative to the reference point at time t. In this embodiment, a geocentric coordinate system is used when calculating coordinate information. The reference point is defined as the intersection of the normal line from the benchmark testing system 20 to the reference ellipsoid of the geocentric coordinate system and the reference ellipsoid. For simplicity, the first altitude and the third altitude in this embodiment can be approximated as altitude, i.e., the first altitude is the height difference between the benchmark testing system 20 and the sea level, and the third altitude is the height difference between the drone 31 and the sea level. The reference point can be approximately determined based on the sea level. In this embodiment, the test surface can 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 altitudes at time t provided by N drones 31 and the first and second altitudes at time t provided by the benchmark system 20, the server 10 calculates the vertical altitude of each drone 31 relative to the test surface at time t based on the third altitude of the drone 31 and the first and second altitudes provided by the benchmark system 20, so as to determine the N vertical altitudes corresponding to time t.

[0041] In this process, after acquiring the measurement data corresponding to N drones 31 at time t, server 10 determines the corrected atmospheric refractive index at the corresponding altitude of each of the N drones 31 at time t, based on the measurement data and vertical altitude of the drone 31. Since the N drones 31 hover at different altitudes, by determining the corrected atmospheric refractive indices at N different altitudes corresponding to the N drones 31 at time t, the corrected atmospheric refractive indices at different altitudes can be obtained, enabling the detection of corrected atmospheric refractive indices at different altitudes using a drone swarm hovering method.

[0042] After obtaining the corrected atmospheric refractive indices at N altitudes corresponding to N UAVs 31 at time t, server 10 fits these N corrected atmospheric refractive indices at time t to determine a target curve showing the change of corrected atmospheric refractive index with altitude. The vertical axis of the target curve represents altitude, and the horizontal axis represents the corrected atmospheric refractive index, thus achieving the fitting of a continuous curve relating altitude and corrected atmospheric refractive index based on the corrected atmospheric refractive indices at N altitudes. After fitting the target curve showing the change of corrected atmospheric refractive index with altitude, the server differentiates the target curve and calculates the atmospheric waveguide parameters at time t based on the differentiation result, thereby obtaining the atmospheric waveguide parameters by inverting the corrected atmospheric refractive indices at different altitudes.

[0043] The above-described implementation process of this application involves rationally selecting the number of drones and setting their hovering altitudes to conduct fixed-point observations of their locations, thereby obtaining measurement data at different altitudes. After determining the vertical altitude of the drones relative to the test surface based on the first altitude of the benchmark system relative to the benchmark point, the second altitude relative to the test surface, and the third altitude of the drones relative to the benchmark point, the corrected atmospheric refractive index is determined for N drones at N altitudes based on the measurement data and vertical altitudes. The target curve of the corrected atmospheric refractive index as a function of altitude is determined by fitting the corrected atmospheric refractive index. Atmospheric waveguide parameters are calculated based on the derivative of the target curve. This method utilizes drone swarm hovering to detect the corrected atmospheric refractive index at different altitudes, thereby calculating atmospheric waveguide parameters. This effectively solves the problems of long acquisition time and low acquisition efficiency caused by traditional aircraft-based data measurement, while avoiding errors caused by flight attitude and hovering time in traditional aircraft. Furthermore, the drone swarm hovering detection method allows for the acquisition of measurement data from more measurement points, resulting in a more accurate fitted corrected atmospheric refractive index curve and improved detection precision.

[0044] The following describes the scheme for obtaining the first and second altitudes at time t provided by the benchmark system, and the third altitude at time t provided by the UAV. For example... Figure 1 As shown, the benchmark testing system 20 includes a test platform 21, a base station 22 and a first rover station 23 set on the test platform 21;

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

[0046] In this embodiment, the benchmark testing system 20 includes a test platform 21, a base station 22, and a first rover station 23 set on the test platform 21. The test platform 21 can be a ship, a shore-based carrier, or other platform. The base station 22 and the first rover station 23 are set at different positions on the test platform 21. The first rover station 23 is used for real-time coordinate acquisition, and the base station 22 is used to provide correction information. The base station 22 and the first rover station 23 use a real-time differential positioning method to calculate the coordinate information acquired by the first rover station 23, and determine the corresponding first coordinate measurement value, thereby achieving a relatively accurate coordinate measurement value calculated by the base station 22 and the first rover station 23 using differential positioning. Specifically, when the base station 22 and the first rover station 23 use a real-time differential positioning method to calculate the coordinate information acquired by the first rover station 23, the first rover station 23 provides the real-time acquired coordinate information, and the base station 22 provides correction information. The first rover station 23 uses a real-time differential positioning method and the correction information to calculate the coordinate information acquired by the first rover station 23, and determines the first coordinate measurement value corresponding to the first rover station 23. The first coordinate measurement value corresponding to the first rover station 23 is the reference coordinate corresponding to the test platform 21, and also the reference coordinate corresponding to the benchmark test system 20.

[0047] The first rover 23 uses real-time differential positioning to determine the first coordinate measurement value of the first rover 23 at time t. Then, the data is transmitted to server 10 in NEMA (National Marine Electronics Association) format, for example, using the GPGGA (one frame of GPS positioning main data) format in NEMA to transmit time and location information to server 10. The height of the first rover 23 at time t is the 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 testing system 20 also includes a height measuring device 24 installed 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 to determine the second height of the benchmark testing 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, such as a height measuring radar, is mounted 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 rover 23 and measures the height of the test platform 21 above the test surface in real time to determine the second height of the reference test system 20 relative to the test surface. The measurement value at time t is recorded as... 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 water, the height of the test platform 21 relative to the test surface will change, therefore a height measuring device 24 must be used for measurement. When the test surface is not water (such as land), the height of the test platform 21 relative to the test surface is fixed. The height of the test platform 21 relative to the test surface can be measured using the height measuring device 24, or other methods can be used. It is a fixed value.

[0051] It should be noted that when the height measuring device 24 and the first rover 23 are at the same height, no further correction is needed when calculating the vertical height of the UAV 31 relative to the test surface. If the two heights are inconsistent, the difference between them needs to be considered in the calculation.

[0052] like Figure 1 and Figure 2 As shown, the UAV 31 is equipped with a second rover 33; the second rover 33 acquires correction information provided by the base station 22, and uses real-time differential positioning to calculate the coordinate information collected by the second rover 33 at time t based on the correction information, thereby determining the second coordinate measurement value corresponding to the second rover 33 at time t. in, Let be the latitude of the second rover 33 of the i-th UAV at time t. Let be the longitude of the second rover 33 of the i-th UAV at time t. Let be the altitude of the second rover 33 of the i-th UAV at time t, and let be the third altitude of the i-th UAV relative to the reference point at time t. i takes any integer from 1 to N; the second rover 33 transmits the second coordinate measurement value corresponding to time t to the server 10.

[0053] For each of the N drones 31, in addition to carrying the measuring device 32, it also carries a second rover 33. The second rover 33 is used to collect coordinate information in real time and cooperate with the base station 22 for coordinate calibration. For each drone 31, the second rover 33 and the base station 22 work together to calculate the coordinate information collected by the second rover 33 using a real-time differential positioning method to determine the corresponding second coordinate measurement value. This achieves the calculation of a relatively accurate coordinate measurement value using the differential positioning method of the base station 22 and the second rover 33. Specifically, the second rover 33 provides the real-time collected coordinate information, and the base station 22 provides correction information. The second rover 33 uses a real-time differential positioning method and calculates the coordinate information collected by the second rover 33 based on the correction information to determine the second coordinate measurement value corresponding to the second rover 33. This achieves the real-time acquisition of the third altitude of the drone 31 relative to the reference point using a real-time differential positioning method.

[0054] For each UAV 31, after calculating the second coordinate measurement value at time t, its corresponding second rover 33 transmits the time information and the second coordinate measurement value to the server 10, such as in NEMA format, so that the server 10 can obtain the third altitude of the UAV 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 rover 23 and the base station 22 can interact based on the first communication module set on the benchmark testing system 20. When the first rover 23 interacts with the server 10, and the altimeter 24 interacts with the server 10, the second communication module set on the benchmark testing system 20 can be used. The first communication module can be understood as an internal communication module, and the second communication module as an external communication module. The second rover 33 and the measuring device 32 on the UAV 31 can interact with the server 10 based on the third communication module, and the second rover 33 can interact with the base station 22 based on the third communication module. The communication modules mentioned here include, for example, Bluetooth modules and WIFI (Wireless Fidelity) modules.

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

[0057] For the i-th UAV, its third altitude relative to the reference point at time t is: At time t, the first height of the benchmark test system 20 relative to the benchmark point (the first height of the first rover 23 relative to the benchmark point) is: At time t, the second height of the benchmark 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, the third height corresponding to time t is calculated first. With the first height The difference is used to determine the vertical distance between the i-th UAV and the benchmark system 20 at time t. After determining the vertical distance, the vertical distance and the second height of the benchmark system 20 relative to the test surface at time t are calculated. The sum of these values ​​is used to determine the vertical height of the i-th UAV relative to the test surface at time t. That is, it is calculated based on the following formula:

[0058]

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

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

[0061] In the above implementation process, the accurate coordinate position of each UAV and the accurate coordinate position of the first rover are obtained through differential positioning. The real-time height of the test platform relative to the test surface is calculated by the altimeter radar. The vertical height of each UAV relative to the test surface can be accurately calculated. Then, the atmospheric refractive index can be corrected 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 this application, such as Figure 3 As shown, 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 N drones corresponding to the first drone swarm 30 and the maximum hovering height, and generates N control commands carrying the target hovering heights; server 10 determines the drones 31 that are matched with the N control commands respectively, and sends the N control commands to the matched drones 31 to control the drones 31 to perform data measurement at the corresponding target hovering heights.

[0063] Server 10 can determine the maximum hovering height based on the type of atmospheric waveguide to be detected. For example, if it is necessary to test an evaporation waveguide, 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 UAVs corresponding to the first UAV swarm 30 and the maximum hovering height, N target hovering heights are determined, and N control commands carrying the target hovering heights are generated to control N UAVs 31 to hover at the corresponding positions.

[0064] When determining the hovering heights of N targets based on the number of UAVs N and their maximum hovering height, the hovering heights of the N targets corresponding to each UAV 31 can be determined using a strategy where the spacing between adjacent UAVs 31 is equal. In this case, the height range corresponding to the maximum hovering height can be relatively evenly divided into multiple intervals for data measurement using UAVs 31 at the corresponding locations. Alternatively, based on detection requirements, the hovering heights of the N targets corresponding to each UAV 31 can be determined using a strategy where the spacing between adjacent UAVs 31 is unequal (e.g., increasing spacing, decreasing spacing, or spacing changing according to a preset rule).

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

[0066]

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

[0068] When determining which of the N control commands carrying target hovering heights are matched with the drones 31, the server 10 determines the drone matched with each control command based on the hovering heights of the N drones 31 currently acquired. The drone 31 matched with the control command is 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 command.

[0069] In addition to determining N control commands based on N target hovering heights, server 10 also needs to obtain the current hovering heights of N drones 31 (here, the hovering height can be the height of drone 31 relative to the test surface). After determining the current hovering heights of the N drones 31, for each control command, based on the target hovering height it carries, server 10 determines the drone 31 among the N drones 31 whose hovering height is the smallest distance from the target hovering height carried by the control command, and identifies this drone 31 as the drone 31 that matches the current control command.

[0070] After determining the drone 31 to which each of the N control commands is matched, the N control commands are sent to the matched drone 31 based on the matching relationship between the control commands and the drone 31, so as to control the drone 31 to hover at the corresponding target hovering height according to the control commands to perform data measurement and provide the measurement data at that height.

[0071] By assigning matching control commands to UAV 31 based on the principle of minimizing the distance between the hovering height of UAV 31 and the target hovering height carried by the control commands, the distance that UAV 31 moves can be reduced, allowing it to move to the appropriate position in a shorter time and improving efficiency.

[0072] It should be noted that each UAV 31 corresponds to a number. If N UAVs 31 are arranged in ascending order of their numbers and the distance between them and the test surface gradually increases, when assigning control commands to the N UAVs 31, the UAV 31 that matches the control command can be determined directly according to its number, thereby providing the matching control command to the UAV 31.

[0073] In the above implementation process, after determining N control commands carrying target hovering heights based on the number of UAVs N and the maximum hovering height corresponding to the atmospheric waveguide type, the control of the UAVs to hover at the corresponding positions based on the adapted control commands can enable the UAVs to stay in the appropriate positions for data measurement. Furthermore, since the position of the UAVs is determined based on real-time differential positioning, the hovering accuracy of the UAVs can be improved.

[0074] The process of calculating the corrected atmospheric refractive index is described below. For example... 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. The measured data includes temperature data, humidity data, and atmospheric pressure data. The server 10 obtains the temperature data at time t provided by the i-th UAV. Humidity data Atmospheric pressure data

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

[0076] The measuring device 32 mounted on the drone 31 includes a temperature sensor 321, a humidity sensor 322, and an atmospheric pressure sensor 323. After hovering at the altitude set by the server 10, the drone 31 begins to collect temperature, humidity, 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 mounted on the i-th drone. (Unit k) Humidity data at time t provided by humidity sensor 322 on the i-th UAV. Atmospheric pressure data at time t provided by atmospheric pressure sensor 323 on the i-th UAV. (Unit: hPa)

[0077] Server 10 obtains the temperature data at time t provided by the i-th drone. Humidity data Atmospheric pressure data Then, based on the temperature data of the i-th drone at time t... Humidity data The partial pressure of water vapor at time t is calculated using the first formula.

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

[0079]

[0080] In Equation 1 above, based on temperature data Determine the index corresponding to 'e', ​​and then based on humidity data. The constant (6.105 / 100) and data related to e determine the partial pressure of water vapor for the i-th UAV at time t.

[0081] Determine the partial pressure of water vapor for the i-th drone at time t. Then, server 10 uses the temperature data of the i-th drone at time t. Atmospheric pressure data and water vapor partial pressure The atmospheric refractive index of the i-th UAV at the corresponding altitude at time t is calculated using the second formula.

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

[0083]

[0084] In Equation 2 above, the water vapor partial pressure of the i-th UAV at time t is used. The product of the product with a constant and divided by the temperature data of the i-th UAV at time t The first value is obtained based on the atmospheric pressure data of the i-th UAV at time t. The sum of the first value and the second value determines the third value; another constant is the temperature data of the i-th drone at time t. The ratio determines the third value, and the product of the third value and the second value is the atmospheric refractive index of the i-th UAV at the corresponding altitude at time t.

[0085] Server 10 determines the atmospheric refractive index of the i-th drone at its altitude at time t. Then, based on the atmospheric refractive index of the i-th UAV at the corresponding altitude at time t... Vertical height relative to the test surface at time t and average Earth radius r e The corrected atmospheric refractive index of the i-th UAV at its altitude at time t is calculated using the third formula.

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

[0087]

[0088] In Equation 3 above, the vertical height of the i-th UAV relative to the test surface at time t is used as the basis. With average Earth radius r e The fourth value is determined by multiplying the ratio by a constant, based on the atmospheric refractive index of the i-th UAV at its altitude at time t. The sum of the first and fourth values ​​determines the corrected atmospheric refractive index of the i-th UAV at its corresponding altitude at time t.

[0089] After determining the corresponding corrected atmospheric refractive index for each of the N UAVs 31, the server 10 fits the target curve based on the N corrected atmospheric refractive indices, differentiates the corrected atmospheric refractive index M in the target curve with respect to the height h, and calculates the atmospheric waveguide height h at time t based on the differentiation result. duct Waveguide 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 intensity ΔM, to obtain atmospheric waveguide parameters based on differentiation.

[0090] Among them, the atmospheric waveguide height h duct The atmospheric stratification height h is the critical height at which the atmospheric stratification changes from dM / dh < 0 to dM / dh ≥ 0. In other words, when differentiating the target curve, the critical point on the target curve where the derivative changes from less than 0 to greater than or equal to 0 is determined. duct .like Figure 4A As for Figure 4D As shown, the critical point at which the derivative of the target curve changes from less than 0 to greater than or equal to 0 is determined, and the height corresponding to this critical point is the atmospheric waveguide height h. duct .in, Figures 4A to 4D This represents the target curves showing the fitted, corrected atmospheric refractive index as a function of altitude for different atmospheric waveguide types. For Figure 4A This represents the target curve corresponding to a surface waveguide without a base layer; for Figure 4B This represents the target curve corresponding to the surface waveguide with a base layer; for Figure 4C This represents the target curve corresponding to the evaporation waveguide; for Figure 4D , which represents the target curve corresponding to the suspended waveguide.

[0091] waveguide bottom height h bottom The critical height at which the atmospheric stratification changes from dM / dh≥0 to dM / dh<0 is defined as the height h of the waveguide bottom. Specifically, when differentiating the target curve, the critical point on the target curve where the derivative changes from greater than or equal to 0 to less than 0 is determined. bottom .like Figure 4B and Figure 4D As shown, the critical point at which the derivative of the target curve changes from greater than or equal to 0 to less than 0 is determined. The height corresponding to this critical point is the bottom height h of the waveguide layer. bottom .

[0092] waveguide bottom height h bdThe height of the lower part of the waveguide (m) is defined as the height h of the waveguide bottom when there is a portion of the lower part of the waveguide with dM / dh≥0 and the lower part of the waveguide (m) is the same as the M corresponding to the atmospheric waveguide height. In other words, when differentiating the target curve, if there is an atmospheric layer with dM / dh≥0 at the bottom of the waveguide and the lower part of the waveguide (m) is the same as the M corresponding to the atmospheric waveguide height, the height h of this M value is the waveguide bottom height. bd .like Figure 4D As shown, in Figure 4D On the target curve shown, there exists an atmospheric layer with dM / dh≥0 located below the waveguide. In the portion where dM / dh≥0, there exists an M that corresponds to the atmospheric waveguide height, and the height corresponding to this M is the waveguide bottom height h. bd .

[0093] waveguide layer thickness Δh layer The atmospheric stratification thickness corresponding to dM / dh < 0, such as Figures 4A to 4D As shown, for the portion of the target curve where the derivative is less than 0, the corresponding height difference is the waveguide layer thickness Δh. layer Waveguide thickness Δh dt Atmospheric waveguide height h duct With waveguide bottom height h bd The difference, such as Figure 4D As shown, the atmospheric waveguide height h duct With waveguide bottom height h bd The difference is the waveguide thickness Δh dt ,exist Figures 4A to 4C In the middle, the default waveguide bottom height h bd When the value is 0, the waveguide thickness Δh is zero. dt Equal to atmospheric waveguide height h duct The waveguide intensity ΔM is the atmospheric waveguide height h. duct With waveguide bottom height h bottom The corresponding difference in M, such as Figure 4B and Figure 4D As shown, based on the atmospheric waveguide height h duct The corresponding M and waveguide bottom height h bottom The difference between the corresponding values ​​of M determines the waveguide intensity ΔM. Figure 4A as well as Figure 4C In the default waveguide layer bottom height h bottom The value is 0, based on the atmospheric waveguide height h. duct The corresponding M and waveguide bottom height h bottom The difference in M ​​determines the waveguide intensity ΔM. Here, the difference is a relative difference and is taken as a positive number.

[0094] The above implementation process is based on measurement data provided by multiple UAVs and the calculation of corrected atmospheric refractive index based on vertical altitude. The target curve is then fitted based on the multiple corrected atmospheric refractive indices to ensure the accuracy of the corrected atmospheric refractive index curve. By differentiating the target curve and determining the atmospheric waveguide parameters based on the derivative, the atmospheric waveguide parameters can be calculated based on the corrected atmospheric refractive index corresponding to different detection altitudes.

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

[0096] If the first drone swarm 30 needs to return, the server 10 determines a target drone swarm to replace the first drone swarm 30 from 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 The illustration shows a system that includes a second drone swarm 40. Those skilled in the art can set up one or more backup second drone swarms 40 based on actual needs.

[0097] In this embodiment, the atmospheric waveguide detection system is configured with at least two batches of drone swarms, meaning the number of batches is greater than or equal to two. Each batch corresponds to the same number of drones 31, namely N. While the current batch of drones 31 is performing data measurements, the next batch of drones 31 can perform charging or other preparatory work. When the current batch of drones 31 needs to return, for example, to recharge, the next batch of drones 31 will replace them based on the current drone 31's hovering altitude. For example, N drones 31 in batch 1 will be replaced by N drones 31 in batch 2. The N drones 31 in batch 2 will hover based on the hovering positions of the N drones 31 in batch 1. Thus, long-term uninterrupted measurement can be achieved based on drone batch replacement.

[0098] The above is a description of the atmospheric waveguide detection system provided in this application embodiment. It uses a swarm of drones hovering to detect the corrected atmospheric refractive index at different altitudes. Based on the detection data, atmospheric waveguide parameters are calculated, avoiding errors caused by flight attitude and hovering time in traditional aircraft detection. Furthermore, this solution allows for determining the number of drones based on measurement accuracy. When high accuracy is required, increasing the number of drones yields more measurement points, resulting in a more accurate fitted corrected atmospheric refractive index curve. This enables flexible configuration of the number of drones according to accuracy requirements, which is of great significance for atmospheric waveguide detection.

[0099] This application also provides a UAV-based atmospheric waveguide detection method applied to a server. The server interacts with a benchmark testing system and N UAVs in a first UAV swarm, where N is an integer greater than or equal to 2. The UAVs are equipped with measuring devices, such as... Figure 6 As shown, the method includes:

[0100] Step 601: 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 height relative to the reference point at time t provided by each of the N UAVs, determine the vertical height of each of the N UAVs relative to the test surface at time t.

[0101] In this embodiment, N drones in the first drone swarm hover at different heights and perform data measurements using onboard measuring equipment. This enables the drone swarm to simultaneously collect data at different heights, effectively solving the problems of long collection time and low collection efficiency caused by traditional methods such as zigzag flight of aircraft.

[0102] The benchmark system provides the server with a first altitude relative to a reference point and a second altitude relative to a test surface at various times. In addition to providing data collected by the measurement equipment, the UAV also provides the server with a third altitude relative to the reference point at various times. The first and third altitudes can be approximated as altitudes. For details regarding the first and third altitudes, the reference point, and the test surface, please refer to the system implementation description; further elaboration is omitted here.

[0103] After obtaining N third altitudes at time t provided by N drones and the first and second altitudes at time t provided by the benchmark system, the server calculates the vertical altitude of each drone relative to the test surface at time t based on the drone's corresponding third altitude and the first and second altitudes provided by the benchmark system, thus obtaining N vertical altitudes.

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

[0105] After acquiring the measurement data and vertical altitude of N drones at time t, the server determines the corrected atmospheric refractive index at the corresponding altitude of each drone at time t, based on the corresponding measurement data and vertical altitude. Since the N drones hover at different altitudes, by determining the corrected atmospheric refractive indices at the N altitudes corresponding to the N drones at time t, the corrected atmospheric refractive indices at different altitudes can be obtained, enabling the detection of corrected atmospheric refractive indices at different altitudes using a drone swarm hovering method.

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

[0107] After obtaining the corrected atmospheric refractive indices at N altitudes corresponding to N UAVs at time t, the server fits these N corrected atmospheric refractive indices at time t to determine the target curve of the corrected atmospheric refractive index changing with altitude. Having fitted the target curve of the corrected atmospheric refractive index changing with altitude, the server differentiates the target curve and calculates the atmospheric waveguide parameters at time t based on the differentiation result. This allows the atmospheric waveguide parameters to be obtained by inverting the corrected atmospheric refractive indices at different altitudes.

[0108] The above implementation scheme uses a swarm of drones hovering to detect the corrected atmospheric refractive index at different altitudes, and then calculates atmospheric waveguide parameters. This can effectively solve the problems of long acquisition time and low acquisition efficiency caused by traditional aircraft-based data measurement, and can also avoid the errors caused by the flight attitude and hovering time of traditional aircraft. The detection method using a swarm of drones hovering can obtain the measurement data 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 this application, the method further includes:

[0110] Receive the first coordinate measurement value at time t transmitted by the first rover. The first coordinate measurement value is the reference coordinate of the benchmark system at time t. Let t be the latitude of the first rover station. Let t be the longitude of the first rover station. Let be the height of the first rover at time t. The first height of the benchmark system relative to the reference point at time t is...

[0111] The second altitude measured at time t is received from the altimeter.

[0112] The benchmark testing system includes a test platform, a base station, a first rover station, and an altimeter set on the test platform; the first coordinate measurement value is calculated and determined by the first rover station based on the correction information provided by the base station and using a real-time differential positioning method to measure 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 altimeter at time t.

[0113] The benchmark testing system includes a test platform, a base station, a first rover station, and an altimeter set on the test platform. The first rover station is used for real-time coordinate acquisition, the base station is used to provide correction information, and the altimeter station is used to measure the height difference between the test platform and the test surface. For further details about the test platform, base station, first rover station, and altimeter, please refer to the description of the system embodiment.

[0114] The first rover station provides real-time acquired coordinate information, while the base station provides correction information. The first rover station uses real-time differential positioning and calculates the acquired coordinate information based on the correction information to determine the first coordinate measurement value corresponding to the first rover station. This first coordinate measurement value corresponds to the reference coordinates of the test platform and also serves as the reference coordinates for the benchmark test system.

[0115] The first rover station uses real-time differential positioning to determine the first coordinate measurement value of the first rover station at time t. Then, the time and location information are transmitted to the server. Let t be the height of the first rover at time t, and t be the first height of the benchmark system relative to the reference point at time t.

[0116] The height measurement device, such as a height-measuring radar, maintains the same height as the first rover station and measures the height of the test platform above the test surface in real time to determine the second height of the reference test system relative to the test surface. The measurement value at time t is recorded as... The test time and test height data are transmitted to the server in real time.

[0117] The test surface in this embodiment can be a water surface or a non-water surface. For relevant details, please refer to the relevant descriptions in the system embodiment, which will not be elaborated here. If the height measuring device and the first rover are at the same height, no further correction is needed when calculating the vertical height of the UAV relative to the test surface. If the two heights are inconsistent, the difference between them needs to be considered in the calculation.

[0118] Optionally, the method further includes:

[0119] The second coordinate measurement value at time t is received from the second rover station of the i-th UAV. Let be the latitude of the second rover station of the i-th UAV at time t. Let t be the longitude of the second rover station of the i-th UAV. Let be the altitude of the second rover station of the i-th UAV at time t, and let be the altitude of the third UAV relative to the reference point at time t. i can be any integer from 1 to N;

[0120] The UAV is equipped with a second rover station. The second coordinate measurement value is determined by the second rover 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, in addition to carrying measurement equipment, it also carries a second rover. The second rover is used to collect coordinate information in real time and to perform coordinate calibration in conjunction with the base station. The second rover provides the real-time collected coordinate information, and the base station provides correction information. The second rover uses real-time differential positioning and calculates the coordinate information collected by the second rover based on the correction information to determine the corresponding second coordinate measurement value, thereby achieving real-time acquisition of the drone's third altitude relative to the base point using real-time differential positioning. After the drone uses its corresponding second rover to calculate the second coordinate measurement value at time t, it transmits the time information and the second coordinate measurement value to the server, enabling the server to obtain the drone's third altitude relative to the base point at time t.

[0122] The interaction methods between the first rover and the base station, the interaction methods between the first rover and the server, the interaction methods between the altimeter and the server, the interaction methods between the second rover, the measurement equipment and the server, and the interaction methods between the second rover and the base station can be found in the relevant descriptions of the system embodiments.

[0123] Optionally, when determining the vertical height of each of the N UAVs 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 provided by the benchmark system at time t, and the third height relative to the reference point provided by each of the N UAVs, the process includes:

[0124] For each UAV, the vertical distance between the UAV and the benchmark system is determined based on the difference between the third altitude of the UAV at time t and the first altitude of the benchmark system at time t.

[0125] The vertical height of the UAV relative to the test surface at time t is determined by the sum of the vertical distance and the second height of the benchmark test system at time t.

[0126] For the i-th UAV, its third altitude relative to the reference point at time t is: At time t, the first height of the benchmark system relative to the benchmark point is... At time t, the second height of the benchmark system relative to the test surface is... When calculating the vertical height of the i-th drone relative to the test surface at time t, calculate the third height corresponding to time t. With the first height The difference is used to determine the vertical distance between the i-th UAV and the benchmark system. Then, the vertical distance and the second height of the benchmark system relative to the test surface at time t are calculated. The sum of these values ​​is used to determine the vertical height of the i-th UAV relative to the test surface at time t. That is, it is calculated based on the following formula:

[0127]

[0128] Since i takes any value from 1 to N, the vertical height of N UAVs relative to the test surface at time t can be obtained through the above formula, thus determining the N vertical heights.

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

[0130] The maximum hovering altitude is determined based on the type of atmospheric waveguide to be detected;

[0131] Based on the number N drones corresponding to the first drone swarm and the maximum hovering height, determine N target hovering heights and generate N control commands carrying the target hovering heights;

[0132] Based on the hovering heights of the N drones currently acquired, determine the drone that is matched for each control command. The drone matched for the control command is the one whose hovering height is the smallest distance between the hovering height of the N drones and the hovering height of the target carried by the control command.

[0133] N control commands are sent to the matched drone to control the drone to perform data measurement at the corresponding target hovering height.

[0134] The server determines the maximum hovering altitude based on the type of atmospheric waveguide to be detected. Then, based on the number of drones N corresponding to the first drone swarm and the maximum hovering altitude, it determines N target hovering altitudes and generates N control commands carrying the target hovering altitudes to control the N drones to hover at the corresponding positions.

[0135] When determining the hovering height of N targets based on the number of UAVs N and the maximum hovering height, the target hovering height can be determined by a strategy where the spacing between adjacent UAVs is equal, or by a strategy where the spacing between adjacent UAVs is unequal based on detection requirements. For details, please refer to the description in the system embodiment.

[0136] Given N control commands determined based on N target hovering heights, the server also needs to acquire the current hovering heights of N drones (here, hovering height can be the drone's height relative to the test surface). After determining the current hovering heights of the N drones, for each control command, based on its target hovering height, the server identifies the drone among the N drones whose hovering height is closest to the target hovering height carried by the control command. This drone is then designated as the matching drone for the current control command. After identifying the matching drones for each of the N control commands, the server sends the N control commands to the matching drones to control them to perform data measurements at the corresponding hovering positions based on the control commands, providing the measurement data for that height.

[0137] By assigning matching control commands to the drone based on the principle of minimizing the distance between the drone's hovering altitude and the target hovering altitude carried by the control commands, the drone can move a shorter distance and reach the appropriate position in a shorter time, thus improving efficiency.

[0138] In an optional embodiment of this application, when acquiring measurement data corresponding to N drones at time t, the method includes: acquiring the temperature data at time t provided by the i-th drone. Humidity data Atmospheric pressure data i takes any integer from 1 to N. The measurement data includes temperature data, humidity data, and atmospheric pressure data. The measurement equipment includes a temperature sensor, a humidity sensor, and an atmospheric pressure sensor. The temperature data, humidity data, and atmospheric pressure data are directly transmitted from the measurement equipment to the server.

[0139] The measurement equipment mounted on the drone includes a temperature sensor, a humidity sensor, and an atmospheric pressure sensor. After hovering at the altitude set by the server, the drone begins collecting temperature, humidity, and atmospheric pressure data based on the measurement equipment and transmits the results to the server in real time. The server receives the temperature data at time t from the temperature sensor mounted on the i-th drone. (Unit: k) Humidity data at time t provided by the humidity sensor on the i-th UAV. Atmospheric pressure data at time t provided by the atmospheric pressure sensor on the i-th drone. (Unit: hPa)

[0140] The server uses the temperature data of the i-th drone at time t. Humidity data The partial pressure of water vapor at time t is calculated using the first formula.

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

[0142]

[0143] In Equation 1 above, based on temperature data Determine the index corresponding to 'e', ​​and then based on humidity data. The constant (6.105 / 100) and data related to e determine the partial pressure of water vapor for the i-th UAV at time t.

[0144] Determine the partial pressure of water vapor for the i-th drone at time t. Then, the server uses the temperature data of the i-th drone at time t. Atmospheric pressure data and water vapor partial pressure The atmospheric refractive index of the i-th UAV at the corresponding altitude at time t is calculated using the second formula.

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

[0146]

[0147] In Equation 2 above, the water vapor partial pressure of the i-th UAV at time t is used. The product of the product with a constant and divided by the temperature data of the i-th UAV at time t The first value is obtained based on the atmospheric pressure data of the i-th UAV at time t. The sum of the first value and the second value determines the third value; another constant is the temperature data of the i-th drone at time t. The ratio determines the third value, and the product of the third value and the second value is the atmospheric refractive index of the i-th UAV at the corresponding altitude at time t.

[0148] The server determines the atmospheric refractive index of the i-th drone at its altitude at time t. Then, based on the atmospheric refractive index of the i-th UAV at the corresponding altitude at time t... Vertical height relative to the test surface at time t and average Earth radius r e The corrected atmospheric refractive index of the i-th UAV at its altitude at time t is calculated using the third formula.

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

[0150]

[0151] In Equation 3 above, the vertical height of the i-th UAV relative to the test surface at time t is used as the basis. With average Earth radius r e The fourth value is determined by multiplying the ratio by a constant, based on the atmospheric refractive index of the i-th UAV at its altitude at time t. The sum of the first and fourth values ​​determines the corrected atmospheric refractive index of the i-th UAV at its corresponding altitude at time t.

[0152] After determining the corresponding corrected atmospheric refractive index for each of the N UAVs, the server fits the target curve based on the N corrected atmospheric refractive indices. The server then differentiates the corrected atmospheric refractive index M in the target curve with respect to altitude h, and calculates the atmospheric waveguide altitude h at time t based on the differentiation result. duct Waveguide 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 intensity ΔM, to obtain atmospheric waveguide parameters based on the derivative results. For details regarding atmospheric waveguide parameters, please refer to the description of the system embodiment; further details will not be provided here.

[0153] In another embodiment of this application, it further includes:

[0154] If the first drone swarm needs to return, a target drone swarm is identified from at least one second drone swarm to replace the first drone swarm; based on the N hovering altitudes corresponding to the first drone swarm, N drones in the target drone swarm are controlled to continue data measurement at the corresponding hovering altitudes.

[0155] In this embodiment, at least two batches of drone swarms can be set up, i.e., the number of batches is greater than or equal to 2, and the number of drones in each batch is the same, N. While the drones in the current batch are performing data measurement, the drones in the next batch can perform charging or other preparation work. When the drones in the current batch need to return, for example, to charge, the drones in the next batch will replace them according to the current drone hovering height. For example, N drones in batch 1 are replaced by N drones in batch 2. The N drones in batch 2 hover at the position of the N drones in batch 1 based on their numbers. Thus, long-term uninterrupted measurement can be achieved based on drone batch replacement.

[0156] This application also provides an atmospheric waveguide detection device based on a drone, applied to a server. The server interacts with a benchmark testing system and N drones in a first drone swarm, where N is an integer greater than or equal to 2. The drones are equipped with measuring devices, such as... Figure 7 As shown, the device includes:

[0157] The first determining module 701 is used to determine the vertical height of the N UAVs relative to the test surface at time t based on the first height and the second height relative to the test surface at time t provided by the benchmark test system, and the third height relative to the benchmark point at time t provided by the N UAVs respectively.

[0158] The first processing module 702 is used to acquire the measurement data corresponding to the N UAVs at time t, and determine the corrected atmospheric refractive index of the N UAVs at time t based on the N measurement data and N vertical heights. The N UAVs perform data measurement based on the measuring device at their respective hovering heights.

[0159] The second processing module 703 is used to fit N corrected atmospheric refractive indices at time t, determine the target curve of the change of corrected atmospheric refractive index with altitude, and calculate the atmospheric waveguide parameters at time t based on the derivative of the target curve.

[0160] Optionally, the device further includes:

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

[0162] The second receiving module is used to receive the second height measured at time t transmitted by the altimeter.

[0163] The benchmark testing system includes a test platform, a base station, a first rover station, and an altimeter device set on the test platform; the first coordinate measurement value is calculated and determined by the first rover 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; the second height is the height of the test platform relative to the test surface measured by the altimeter device at time t.

[0164] Optionally, the device further includes:

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

[0166] The UAV is equipped with the second rover station, and the second coordinate measurement value is determined by the second rover 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] The first determining submodule is used to determine the vertical distance between the UAV and the benchmark test system for each UAV based on the difference between the third altitude of the UAV at time t and the first altitude of the benchmark test system at time t.

[0169] The second determining 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 includes:

[0171] The second determining module is used to determine the maximum hovering altitude based on the type of atmospheric waveguide to be detected;

[0172] The generation module is used to determine N target hovering heights based on the number N drones corresponding to the first drone swarm and the maximum hovering height, and generate N control commands carrying the target hovering heights.

[0173] The third determining module is used to determine the drone that matches each control command based on the hovering heights of the N drones currently acquired. The drone matched by the control command is the drone among the N drones whose hovering height is the smallest distance from the target hovering height carried by the control command.

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

[0175] Optionally, the first processing module is further configured to:

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

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

[0178] Optionally, the first processing module includes:

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

[0180] The first formula is shown in equation (1) below:

[0181]

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

[0183] The second formula is shown in equation (2) below:

[0184]

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

[0186] The third formula is shown in equation (3) below:

[0187]

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

[0189] Optionally, the second processing module is further configured to:

[0190] Differentiate the corrected atmospheric refractive index M in the target curve with respect to height h, and calculate the atmospheric waveguide height h at time t based on the derivative result. duct Waveguide 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 intensity ΔM;

[0191] Wherein, the atmospheric waveguide height h duct The waveguide layer bottom height h is the critical height at which the waveguide layer changes from dM / dh<0 to dM / dh≥0. bottom The waveguide bottom height h is the critical height at which the waveguide changes from dM / dh≥0 to dM / dh<0. bd The waveguide layer thickness Δh is defined as the height corresponding to the lower M of the waveguide when there is a portion of dM / dh≥0 in the lower part of the waveguide and the lower M of the waveguide is consistent with the M corresponding to the atmospheric waveguide height. layer The atmospheric stratification thickness corresponding to dM / dh < 0, and the waveguide thickness Δh dt The atmospheric waveguide height h duct With the waveguide bottom height h bd The difference, wherein the waveguide intensity ΔM is the atmospheric waveguide height h duct With the waveguide layer bottom height h bottom The corresponding difference in M.

[0192] Optionally, the device further includes:

[0193] The fourth determining module is used to determine, in the case that the first drone swarm needs to return, a target drone swarm to replace the first drone swarm from at least one second drone swarm.

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

[0195] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0196] like Figure 8As shown, embodiments of this application also provide 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 can call logical instructions in the memory 830 to execute the steps of the UAV-based atmospheric waveguide detection method provided in embodiments of this application.

[0197] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0198] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon. When executed by a processor, this computer program implements the steps in the UAV-based atmospheric waveguide detection method provided in the above embodiments. And it can achieve the same technical effects; to avoid repetition, it will not be described again here.

[0199] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially 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, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0200] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0201] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0202] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. An atmospheric waveguide detection system based on an unmanned aerial vehicle (UAV), characterized in that, include: A server, a benchmark testing system that interacts with the server, and a first drone swarm, the first drone swarm comprising N drones, each drone carrying a measuring device, where N is an integer greater than or equal to 2; The server determines the vertical height of the N UAVs 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 provided by the benchmark system at time t, and the third height relative to the reference point provided by the N UAVs at time t respectively. The server acquires the measurement data corresponding to the N UAVs at time t, and determines the corrected atmospheric refractive index of the N UAVs at time t based on the N measurement data and N vertical heights. The N UAVs perform data measurements based on the measurement device at their respective hovering heights. The server fits N corrected atmospheric refractive indices at time t to determine a target curve of the corrected atmospheric refractive index changing with altitude, and calculates the atmospheric waveguide parameters at time t based on the derivative of the target curve.

2. The UAV-based atmospheric waveguide detection system according to claim 1, characterized in that, The benchmark testing system includes a test platform, a base station and a first rover station set on the test platform; The first rover station acquires the correction information provided by the base station, and uses real-time differential positioning to calculate the coordinate information collected by the first rover station at time t based on the correction information, thereby determining the first coordinate measurement value corresponding to the first rover station at time t. , , ), wherein the first coordinate measurement value is the reference coordinate of the benchmark system at time t, Let t be the latitude of the first rover station. Let t be the longitude of the first rover station. Let be the height of the first rover at time t, and let be the first height of the benchmark system relative to the reference point at time t. ; The first rover transmits the first coordinate measurement value corresponding to time t to the server.

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

4. The UAV-based atmospheric waveguide detection system according to claim 2 or 3, characterized in that, The drone is equipped with a second mobile station; The second rover station acquires the correction information provided by the base station, and uses real-time differential positioning to calculate the coordinate information collected by the second rover station at time t based on the correction information, thereby determining the second coordinate measurement value of the second rover station at time t. , , ),in, For time t, the first The latitude corresponding to the second rover station of each drone For time t, the first The longitude corresponding to the second rover station of the drone For time t, the first The altitude corresponding to the second rover station of the drone, the first The third altitude of the drone relative to the reference point at time t is: , Take each integer from 1 to N; The second rover transmits the second coordinate measurement value corresponding to time t to the server.

5. The UAV-based atmospheric waveguide detection system according to claim 4, characterized in that, The server determines the vertical distance between the UAV and the benchmark system based on the difference between the third altitude of the UAV at time t and the first altitude of the benchmark 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 altitude of the benchmark system at time t.

6. The UAV-based atmospheric waveguide detection system according to claim 1, characterized in that, The server determines the maximum hovering height based on the type of atmospheric waveguide to be detected, determines N target hovering heights based on the number N drones corresponding to the first drone swarm and the maximum hovering height, and generates N control commands carrying the target hovering heights. The server determines the drones that match the N control commands, and sends the N control commands to the matched drones to control the drones to perform data measurements at the corresponding target hovering height.

7. The UAV-based atmospheric waveguide detection system according to claim 6, characterized in that, After generating N control commands, the server determines the drone that matches each control command based on the hovering heights of the N drones currently acquired. The drone matched with the control command is the drone among the N drones whose hovering height is the smallest distance from the target hovering height carried by the control command.

8. The atmospheric waveguide detection system based on an unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The measuring device includes a temperature sensor, a humidity sensor, and an atmospheric pressure sensor, and the measuring data includes temperature data, humidity data, and atmospheric pressure data. The server obtains the first Temperature data at time t provided by the drone Humidity data Atmospheric pressure data ; in, Take any integer from 1 to N, and the temperature data, humidity data, and atmospheric pressure data are directly transmitted from the measuring device to the server.

9. The atmospheric waveguide detection system based on an unmanned aerial vehicle (UAV) according to claim 8, characterized in that, The server according to the first Temperature data of a drone at time t Humidity data The first formula is used to calculate the first... The water vapor partial pressure of a drone at time t ; The first formula is shown in equation (1) below: （1） The server according to the first Temperature data of a drone at time t Atmospheric pressure data and water vapor partial pressure The second formula is used to calculate the first... Atmospheric refractive index of a UAV at altitude corresponding to time t ; The second formula is shown in equation (2) below: （2） The server according to the first Atmospheric refractive index of a UAV at altitude corresponding to time t Vertical height relative to the test surface at time t and average Earth radius The third formula is used to calculate the first... The corrected atmospheric refractive index of a UAV at its altitude at time t ; The third formula is shown in equation (3) below: （3） Among them, the N corrected atmospheric refractive indices corresponding to the N UAVs are used to determine the atmospheric waveguide parameters.

10. The UAV-based atmospheric waveguide detection system according to claim 1, characterized in that, After determining the target curve, the server differentiates the corrected atmospheric refractive index M in the target curve with respect to height h, and calculates the atmospheric waveguide height at time t based on the differentiation result. Waveguide bottom layer height Waveguide bottom height Waveguide layer thickness Waveguide thickness and waveguide strength At least one of them; Wherein, the atmospheric waveguide height For the reason Change to The critical height, the bottom height of the waveguide layer For the reason Change to The critical height, the waveguide bottom height For the lower part of the waveguide When the lower part M of the waveguide coincides with the M corresponding to the atmospheric waveguide height, the height corresponding to the lower part M of the waveguide, the thickness of the waveguide layer... for The corresponding atmospheric stratification thickness, the waveguide thickness The atmospheric waveguide height With the waveguide bottom height The difference, the waveguide strength The atmospheric waveguide height With the waveguide layer bottom height The corresponding difference in M.

11. The atmospheric waveguide detection system based on an unmanned aerial vehicle (UAV) according to claim 1, characterized in that, Also includes: At least one second drone swarm, the second drone swarm comprising N drones; If 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 unmanned aerial vehicles (UAVs), applied to a server, characterized in that, The server interacts with the benchmark system and N drones in the first drone swarm, where N is an integer greater than or equal to 2. The drones are equipped with measuring devices. The method includes: 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 testing system, and the third height relative to the reference point at time t provided by the N UAVs respectively, the vertical height of the N UAVs relative to the test surface at time t is determined. The measurement data corresponding to the N UAVs at time t are obtained, and the corrected atmospheric refractive index of the N UAVs at time t is determined based on the N measurement data and N vertical heights. The N UAVs perform data measurement based on the measurement device at their respective hovering heights. The N corrected atmospheric refractive indices at time t are fitted to determine the target curve of the corrected atmospheric refractive index as a function of altitude. The atmospheric waveguide parameters at time t are calculated based on the derivative of the target curve.

13. The atmospheric waveguide detection method based on unmanned aerial vehicles according to claim 12, characterized in that, The method further includes: Receive the first coordinate measurement value at time t transmitted by the first rover station ( , , The first coordinate measurement value is the reference coordinate of the benchmark system at time t. Let t be the latitude of the first rover station. Let t be the longitude of the first rover station. Let be the height of the first rover at time t, and let be the first height of the benchmark system relative to the reference point at time t. ; The second altitude measured at time t is received from the altimeter. The benchmark testing system includes a test platform, a base station, a first rover station, and an altimeter device set on the test platform; the first coordinate measurement value is calculated and determined by the first rover 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; the second height is the height of the test platform relative to the test surface measured by the altimeter device at time t.

14. The atmospheric waveguide detection method based on unmanned aerial vehicles according to claim 13, characterized in that, The method further includes: Receive the The second coordinate measurement value at time t transmitted by the second rover station of the UAV ( , , ), For time t, the first The latitude corresponding to the second rover station of each drone For time t, the first The longitude corresponding to the second rover station of the drone For time t, the first The altitude corresponding to the second rover station of the drone, the first The third altitude of the drone relative to the reference point at time t is: , Take each integer from 1 to N; The UAV is equipped with the second rover station, and the second coordinate measurement value is determined by the second rover 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 unmanned aerial vehicles according to claim 14, characterized in that, The determination of the vertical height of each of the N UAVs 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 provided by the benchmark testing system at time t, and the third height relative to the reference point provided by each of the N UAVs at time t, includes: For each UAV, the vertical distance between the UAV and the benchmark system is determined based on the difference between the third altitude of the UAV at time t and the first altitude of the benchmark system at time t. The vertical height of the UAV relative to the test surface at time t is determined based on the sum of the vertical distance and the second height of the benchmark test system at time t.

16. The atmospheric waveguide detection method based on unmanned aerial vehicles according to claim 12, characterized in that, Also includes: The maximum hovering altitude is determined based on the type of atmospheric waveguide to be detected; Based on the number N of drones corresponding to the first drone swarm and the maximum hovering height, N target hovering heights are determined, and N control commands carrying the target hovering heights are generated. Based on the hovering heights of the N drones currently acquired, the drone matched for each control command is determined. The drone matched for each control command is the drone among the N drones whose hovering height is the smallest distance from the target hovering height carried by the control command. N control commands are sent to the matched drone to control the drone to perform data measurement at the corresponding target hovering height.

17. The atmospheric waveguide detection method based on unmanned aerial vehicles according to claim 12, characterized in that, The acquisition of measurement data for the N UAVs at time t includes: Get the Temperature data at time t provided by the drone Humidity data Atmospheric pressure data , Take any integer from 1 to N, and the measurement data includes temperature data, humidity data, and atmospheric pressure data; The measuring device includes a temperature sensor, a humidity sensor, and an atmospheric pressure sensor. The temperature data, humidity data, and atmospheric pressure data are directly transmitted from the measuring device to the server.

18. The atmospheric waveguide detection method based on unmanned aerial vehicles according to claim 17, characterized in that, The step of determining the corrected atmospheric refractive index at time t for the N drones at the corresponding N altitudes based on N measurement data and N vertical altitudes includes: According to the Temperature data of a drone at time t Humidity data The first formula is used to calculate the first... The water vapor partial pressure of a drone at time t ; The first formula is shown in equation (1) below: （1） According to the Temperature data of a drone at time t Atmospheric pressure data and water vapor partial pressure The second formula is used to calculate the first... Atmospheric refractive index of a UAV at altitude corresponding to time t ; The second formula is shown in equation (2) below: （2） According to the Atmospheric refractive index of a UAV at altitude corresponding to time t Vertical height relative to the test surface at time t and average Earth radius The third formula is used to calculate the first... The corrected atmospheric refractive index of a UAV at its altitude at time t ; The third formula is shown in equation (3) below: （3） Among them, the N corrected atmospheric refractive indices corresponding to the N UAVs are used to determine the atmospheric waveguide parameters.

19. The atmospheric waveguide detection method based on unmanned aerial vehicles according to claim 12, characterized in that, The calculation of the atmospheric waveguide parameters at time t based on the derivative of the target curve includes: Differentiate the corrected atmospheric refractive index M in the target curve with respect to height h, and calculate the atmospheric waveguide height at time t based on the derivative result. Waveguide bottom layer height Waveguide bottom height Waveguide layer thickness Waveguide thickness and waveguide strength At least one of them; Wherein, the atmospheric waveguide height For the reason Change to The critical height, the bottom height of the waveguide layer For the reason Change to The critical height, the waveguide bottom height For the lower part of the waveguide When the lower part M of the waveguide coincides with the M corresponding to the atmospheric waveguide height, the height corresponding to the lower part M of the waveguide, the thickness of the waveguide layer... for The corresponding atmospheric stratification thickness, the waveguide thickness The atmospheric waveguide height With the waveguide bottom height The difference, the waveguide strength The atmospheric waveguide height With the waveguide layer bottom height The corresponding difference in M.

20. The atmospheric waveguide detection method based on unmanned aerial vehicles according to claim 12, characterized in that, Also includes: If the first drone swarm needs to return, a target drone swarm to replace the first drone swarm is identified from at least one second drone swarm. Based on the N hovering heights corresponding to the first drone swarm, control the N drones in the target drone swarm to continue data measurement at the corresponding hovering heights.

21. An atmospheric waveguide detection device based on an unmanned aerial vehicle (UAV), applied to a server, characterized in that, The server interacts with the benchmark system and N drones in the first drone swarm, where N is an integer greater than or equal to 2. Each drone carries a measuring device, which includes: The first determining module is used to determine the vertical height of the N UAVs relative to the test surface at time t based on the first height and the second height relative to the test surface at time t provided by the benchmark testing system, and the third height relative to the benchmark point at time t provided by the N UAVs respectively. The first processing module is used to acquire the measurement data corresponding to the N UAVs at time t, and determine the corrected atmospheric refractive index of the N UAVs at time t based on the N measurement data and N vertical heights. The N UAVs perform data measurement based on the measurement device at their respective hovering heights. The second processing module is used to fit the N corrected atmospheric refractive indices at time t, determine the target curve of the change of the corrected atmospheric refractive index with altitude, and calculate the atmospheric waveguide parameters at time t based on the derivative of the target curve.

22. An electronic device, characterized in that, The electronic device includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor, when executing a program stored in memory, implements the steps in the UAV-based atmospheric waveguide detection method as described in any one of claims 12 to 20.

23. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the UAV-based atmospheric waveguide detection method as described in any one of claims 12 to 20.

Images