Unmanned aerial vehicle control method and system

Abstract

The invention discloses a control method and system of an unmanned aerial vehicle, and a millimeter wave radar carried on the unmanned aerial vehicle is positioned, in the millimeter wave radar, a radar antenna adopts a design of four TXs and four RXs, 16 virtual arrays and FOV + / -75 degrees are formed in total, and meanwhile, corresponding signal waveforms are collected based on the radar antenna; constructing a waveform time-frequency diagram based on each signal waveform, and defining each waveform interval according to the waveform time-frequency diagram; defining a communication waveform interval, an inquiry waveform interval, an information waveform interval and a detection waveform interval based on each waveform interval; according to integration of a communication waveform interval, an inquiry waveform interval, an information waveform interval and a detection waveform interval, the millimeter wave radar is used as a radar device for detection and obstacle avoidance and can also be used as a communication device for identity recognition so as to be compatible with control of the unmanned aerial vehicle, and therefore the detection, obstacle avoidance and identity recognition functions of the unmanned aerial vehicle are enriched. And the unmanned aerial vehicle adapts to different complex environments, and the compatibility of the unmanned aerial vehicle is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a control method and system for an unmanned aerial vehicle. Background Art

[0002] With the development of science and technology, drones are gradually being used in people's lives. The application of low-altitude aircraft, especially drones, is becoming increasingly widespread, covering many fields from express delivery to aerial sightseeing and short-distance transportation. In complex and changing environments, drones often need to fly in different scenarios, such as densely built-up areas in cities, forests, mountains, etc.

[0003] In these scenarios, there may be various obstacles, such as buildings, trees, and wires, which pose a potential threat to the flight path of the drone. Traditional obstacle avoidance methods often rely on pre-planned routes or external navigation equipment, but these methods often cannot adapt to changes in the environment and cannot identify and avoid obstacles in a timely manner, which can easily lead to accidents and make it impossible to achieve obstacle avoidance and identity recognition in complex environments. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a control method and system for a drone, and locates a millimeter-wave radar carried on the drone. In the millimeter-wave radar, the radar antenna adopts a 4 TX and 4 RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna; a waveform time-frequency diagram is constructed based on each signal waveform, and each waveform interval is defined according to the waveform time-frequency diagram; a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval are defined based on each waveform interval; the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval are integrated, and the millimeter-wave radar can be used as a radar device for detection and obstacle avoidance, and can also be used as a communication device for identity recognition, so as to be compatible with the control of the drone, thereby enriching the detection and obstacle avoidance and identity recognition functions of the drone, and adapting to different complex environments, ensuring the compatibility of the drone.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a method for controlling a drone, which is applied to a drone control scenario; the method for controlling a drone includes:

[0006] Locate the millimeter-wave radar carried by the drone. In the millimeter-wave radar, the radar antenna adopts a 4-TX and 4-RX design, forming a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna;

[0007] A waveform time-frequency diagram is constructed based on each signal waveform, and each waveform interval is defined according to the waveform time-frequency diagram;

[0008] Based on each waveform interval, define a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval;

[0009] According to the communication waveform interval, inquiry waveform interval, information waveform interval and detection waveform interval, the millimeter wave radar is integrated and used as a radar device for detection and obstacle avoidance, and as a communication device for identity recognition to be compatible with the control of drones.

[0010] Optionally, the positioning is carried on a millimeter-wave radar of the UAV. In the millimeter-wave radar, the radar antenna adopts a 4 TX and 4 RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna, including:

[0011] Define the loading location according to the model of the drone;

[0012] The millimeter wave radar is mounted on the UAV based on the mounting position;

[0013] Locating the millimeter-wave radar mounted on the drone;

[0014] In the millimeter-wave radar, the radar antenna adopts a 4 TX and 4 RX design, forming a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna. At this time, the detection distance is ≥300 meters.

[0015] Optionally, constructing a waveform time-frequency diagram based on each signal waveform, and defining each waveform interval according to the waveform time-frequency diagram, includes:

[0016] Collect each signal waveform within a preset time;

[0017] Construct a waveform time-frequency diagram according to each signal waveform;

[0018] The interval division is triggered based on the waveform time-frequency diagram, and each waveform interval is defined according to the waveform time-frequency diagram.

[0019] Optionally, the step of constructing a waveform time-frequency diagram based on each signal waveform and defining each waveform interval according to the waveform time-frequency diagram further includes:

[0020] The radar waveform design takes into account the simultaneous detection and communication functions. A total of four waveforms are designed, two of which are traditional fast and slow FMCW waveforms, where wave A is a fast wave and wave B is a slow wave. Two waveforms are FMCW fast and slow waveforms that carry identity information, where wave A_I is a fast wave and wave B_I is a slow wave.

[0021] Optionally, the defining of the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval based on each waveform interval includes:

[0022] Freeze each waveform interval;

[0023] Interval identification is performed based on each waveform interval, and the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval are defined.

[0024] Optionally, the defining of the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval based on each waveform interval further includes:

[0025] In the interval recognition of the waveform interval, the interval shape of the waveform interval is frozen;

[0026] Define the shape type according to the interval shape of the waveform interval;

[0027] The interval type is defined according to the shape type and the type matching table. At this time, the interval type is the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval.

[0028] Optionally, the integration is performed according to the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and the millimeter wave radar is used as a radar device for detection and obstacle avoidance and as a communication device for identity recognition to be compatible with the control of the drone, including:

[0029] Freeze the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval;

[0030] Based on the integration of communication waveform interval, inquiry waveform interval, information waveform interval and detection waveform interval, the millimeter wave radar can be used as a radar device for detection and obstacle avoidance, and as a communication device for identity recognition to be compatible with the control of drones.

[0031] Optionally, the integration is performed according to the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and the millimeter wave radar is used as a radar device for detection and obstacle avoidance and as a communication device for identity recognition to be compatible with the control of the drone, and also includes:

[0032] Receive the waveform with the inquiry signal sent by the ground radar terminal within 300 meters of the FOV, store and identify it;

[0033] When the interrogation signal from the ground is identified, the controller responsible for configuring resource scheduling will switch the radar transmission waveform and send the A_I and B_I waveforms carrying identity information;

[0034] The radar can send request signals through A_I, B_I, and receive response signals sent from the ground terminal. It can decide whether to switch waveforms, continue to send the current waveform, or add other request or response information to the A_I, B_I waveforms based on the response content.

[0035] Optionally, the control method of the drone further includes:

[0036] When the millimeter wave radar system performs its mission as a radar device, it fuses the channel information from the communication link and the ranging information from the radar operation to improve the spatial resolution by optimizing the beam shape and direction.

[0037] Optionally, a control system of an unmanned aerial vehicle is provided, wherein the control system of the unmanned aerial vehicle is applied to the control method of the unmanned aerial vehicle, and the control system of the unmanned aerial vehicle comprises:

[0038] The radar module is used to locate the millimeter-wave radar carried by the drone. In the millimeter-wave radar, the radar antenna adopts a 4-TX and 4-RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna;

[0039] A waveform interval module is used to construct a waveform time-frequency diagram based on each signal waveform, and define each waveform interval according to the waveform time-frequency diagram;

[0040] A definition module, used to define a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval based on each waveform interval;

[0041] The control module is used to integrate the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and use the millimeter wave radar as a radar device for detection and obstacle avoidance, and as a communication device for identity recognition, so as to be compatible with the control of the drone.

[0042] In an embodiment of the present invention, a millimeter-wave radar carried on a UAV is positioned by the method in the embodiment of the present invention. In the millimeter-wave radar, the radar antenna adopts a 4 TX and 4 RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna; a waveform time-frequency diagram is constructed based on each signal waveform, and each waveform interval is defined according to the waveform time-frequency diagram; a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval are defined based on each waveform interval; the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval are integrated, and the millimeter-wave radar can be used as a radar device for detection and obstacle avoidance, and can also be used as a communication device for identity recognition to be compatible with the control of the UAV, thereby enriching the detection and obstacle avoidance and identity recognition functions of the UAV, and adapting to different complex environments, ensuring the compatibility of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 is a flow chart of a method for controlling a drone in an embodiment of the present invention;

[0045] Figure 2 is a flow chart of S11 in the method for controlling a drone in an embodiment of the present invention;

[0046] Figure 3 is a flow chart of S12 in the method for controlling a drone in an embodiment of the present invention;

[0047] Figure 4 is a flow chart of S13 in the control method of the drone in the embodiment of the present invention;

[0048] Figure 5 is a flow chart of S14 in the method for controlling a drone in an embodiment of the present invention;

[0049] Figure 6 is a waveform diagram of a control method for a drone in an embodiment of the present invention;

[0050] Figure 7 Schematic diagram of the structure of the control system of the UAV in the embodiment of the present invention;

[0051] Figure 8 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Example

[0054] See also Figures 1 to 8 , a control method for a drone, applied to a drone control scenario; the control method for a drone comprises:

[0055] Step S11: locating the millimeter-wave radar carried by the UAV. In the millimeter-wave radar, the radar antenna adopts a 4-TX and 4-RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna;

[0056] Step S12: constructing a waveform time-frequency diagram based on each signal waveform, and defining each waveform interval according to the waveform time-frequency diagram;

[0057] Step S13: defining a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval based on each waveform interval;

[0058] Step S14: Integrate according to the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and use the millimeter wave radar as a radar device for detection and obstacle avoidance while also being used as a communication device for identity recognition to be compatible with the control of the drone.

[0059] In an embodiment of the present invention, a millimeter-wave radar carried on a UAV is positioned by the method in the embodiment of the present invention. In the millimeter-wave radar, the radar antenna adopts a 4 TX and 4 RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna; a waveform time-frequency diagram is constructed based on each signal waveform, and each waveform interval is defined according to the waveform time-frequency diagram; a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval are defined based on each waveform interval; the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval are integrated, and the millimeter-wave radar can be used as a radar device for detection and obstacle avoidance, and can also be used as a communication device for identity recognition to be compatible with the control of the UAV, thereby enriching the detection and obstacle avoidance and identity recognition functions of the UAV, and adapting to different complex environments, ensuring the compatibility of the UAV.

[0060] In step S11, the millimeter-wave radar mounted on the UAV is located. In the millimeter-wave radar, the radar antenna adopts a 4 TX and 4 RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna;

[0061] In the specific implementation process of the present invention, the specific steps may be:

[0062] S111: Define the loading position according to the model of the drone;

[0063] S112: Mounting the millimeter wave radar on the UAV based on the mounting position;

[0064] S113: Positioning millimeter wave radar mounted on drones;

[0065] S114: In the millimeter wave radar, the radar antenna adopts 4 TX and 4 RX designs, forming a total of 16 virtual arrays with FOV±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna. At this time, the detection distance is ≥300 meters.

[0066] In an embodiment of the present application, the mounting position is defined according to the model of the drone; the millimeter-wave radar is mounted on the drone based on the mounting position to facilitate the interaction between the millimeter-wave radar and the drone, and the use of the drone is matched with the millimeter-wave radar, so as to be compatible with the use of various application scenarios.

[0067] At this time, the millimeter-wave radar carried by the drone is located; in the millimeter-wave radar, the radar antenna adopts 4 TX and 4 RX designs, forming a total of 16 virtual arrays, FOV±75°, and at the same time, the corresponding signal waveform is collected based on the radar antenna. At this time, the detection distance is ≥300 meters.

[0068] In step S12, a waveform time-frequency diagram is constructed based on each signal waveform, and each waveform interval is defined according to the waveform time-frequency diagram;

[0069] In the specific implementation process of the present invention, the specific steps may be:

[0070] S121: Collecting waveforms of each signal within a preset time;

[0071] S122: constructing a waveform time-frequency diagram according to each signal waveform;

[0072] Assume the signal frequency is f, the starting frequency is f0, the frequency modulation slope is γ, and the time is t, then the time-frequency relationship should satisfy

[0073] f=f0+γt,

[0074] Echo phase φ t satisfy

[0075]

[0076] This part will constitute the rising edge of the radar. In addition, the actual radar waveform also includes the falling edge and waiting time.

[0077] S123: triggering interval division based on the waveform time-frequency diagram, and defining each waveform interval according to the waveform time-frequency diagram;

[0078] S124: The radar waveform design takes into account the simultaneous detection and communication functions. A total of four waveforms are designed, two of which are traditional fast and slow FMCW waveforms, where A wave is a fast wave and B wave is a slow wave. Two waveforms are FMCW fast and slow waveforms that carry identity information, where A_I wave is a fast wave and B_I wave is a slow wave.

[0079] The chrip period of wave A is Ta , the chrip period of wave B is T b , the rising edges of waves A and B are exactly the same, only the waiting time is different, so T a <T b . So as to meet the speed resolution

[0080] λ / 2NT a >λ / 2NT b

[0081] That is, the velocity resolution of A wave is greater than that of B wave, and the velocity ambiguity range is

[0082] λ / 2T a >λ / 2T b

[0083] That is, the velocity ambiguity range of wave A is larger than that of wave B. According to the Chinese remainder theorem, the velocity can be deambiguated by alternating fast and slow waves.

[0084] At the same time, the identity information will be carried during the waiting period, and the identity information carried by waves AB is the same.

[0085] In an embodiment of the present application, each signal waveform within a preset time is collected; a waveform time-frequency diagram is constructed based on each signal waveform, thereby introducing a waveform time-frequency diagram to facilitate image processing of the waveform time-frequency diagram, thereby triggering interval division based on the waveform time-frequency diagram, and defining each waveform interval based on the waveform time-frequency diagram.

[0086] At this time, the waveform design of the radar takes into account the simultaneous realization of detection and communication functions. A total of four waveforms are designed, two of which are traditional fast and slow FMCW waveforms, where wave A is a fast wave and wave B is a slow wave, and two waveforms are FMCW fast and slow waveforms carrying identity information, where wave A_I is a fast wave and wave B_I is a slow wave; furthermore, the rise and fall times of wave A and wave B are the same, the waiting cycle time of wave A is short, and the waiting cycle time of wave B is long.

[0087] The time-frequency relationship of A_I and B_I waves is consistent with that of A and B waves, but an amplitude modulation waveform carrying key identity information is designed during the waiting period, which carries key flight information including drone brand and model, take-off point, operator location, etc., and can write new request or response information through software, so it can be used for both perception and communication with ground terminals. At the same time, the radar alternately transmits AB waves or A_I, B_I waves, usually sending AB waves, and sending A_I, B_I waves when the identity inquiry signal sent by the ground monitoring equipment is recognized.

[0088] In step S13, a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval are defined based on each waveform interval;

[0089] In the specific implementation process of the present invention, the specific steps may be:

[0090] S131: freeze each waveform interval;

[0091] S132: Perform interval identification based on each waveform interval, and define the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval; in the interval identification of the waveform interval, freeze the interval shape of the waveform interval; define the shape type according to the interval shape of the waveform interval; define the interval type according to the shape type and the type matching table, at this time, the interval type is the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval.

[0092] The following is an example of the time-frequency relationship of each waveform interval:

[0093]

[0094] Where T chirp is the chrip cycle, wave A is T a , B wave is T b , T up , T ide They are the starting time of the rising edge and the end time of the waiting period respectively.

[0095] At this time, each waveform interval is frozen; interval identification is performed based on each waveform interval, and the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval are defined, so as to introduce the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval, so as to control the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval.

[0096] In the interval identification of the waveform interval, the interval shape of the waveform interval is fixed; the shape type is defined according to the interval shape of the waveform interval; the interval type is defined according to the shape type and the type matching table. At this time, the interval type is a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval.

[0097] S14: integrating the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and using the millimeter wave radar as a radar device for detecting obstacles and as a communication device for identity recognition, so as to be compatible with the control of the drone;

[0098] In the specific implementation process of the present invention, the specific steps may be:

[0099] S141: freeze the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval;

[0100] S142: Based on the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, the millimeter wave radar is integrated and used as a radar device for detection and obstacle avoidance, and as a communication device for identity recognition, so as to be compatible with the control of the drone.

[0101] In an embodiment of the present application, the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval are fixed; integration is performed based on the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and the millimeter wave radar can be used as a radar device for detection and obstacle avoidance while being used as a communication device for identity recognition to be compatible with the control of the drone.

[0102] Therefore, the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval are integrated, and the millimeter wave radar can be used as a radar device for detection and obstacle avoidance while being used as a communication device for identity recognition to be compatible with the control of the drone, thereby enriching the drone's detection and obstacle avoidance and identity recognition functions, and adapting to different complex environments, ensuring the compatibility of the drone.

[0103] The method integrates the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and uses the millimeter wave radar as a radar device for detecting obstacles and as a communication device for identity recognition to be compatible with the control of the drone, and also includes:

[0104] Receives waveforms with inquiry signals sent by ground radar terminals within 300 meters of the FOV, and stores and identifies them; when the ground inquiry signal is identified, the controller responsible for configuring resource scheduling will switch the radar transmission waveform and send A_I, B_I waveforms carrying identity information; the radar can send request signals through A_I, B_I, and receive response signals sent from ground terminals, and decide whether to switch waveforms, continue to send the current waveform, or add other request or response information to the A_I, B_I waveforms based on the response content.

[0105] At this time, the radar signal processing module can realize signal processing processes such as ranging, speed measurement, angle measurement, and detection for the received echo, including modules such as receiving ADC data, data sampling, two-dimensional FFT, CFAR detection, and DOA angle estimation.

[0106] In addition, when the millimeter wave radar system performs tasks as a radar device, it fuses the channel information from the communication link and the ranging information from the radar operation, and optimizes the beam shape and direction to improve the spatial resolution. Optionally, the radar can receive the response information from the ground monitoring terminal through the communication function, fuse the communication information with the ranging, speed measurement, angle measurement and other information detected by the radar, and optimize the beam shape and direction to improve the spatial resolution.

[0107] In an embodiment of the present invention, a millimeter-wave radar carried on a UAV is positioned by the method in the embodiment of the present invention. In the millimeter-wave radar, the radar antenna adopts a 4 TX and 4 RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna; a waveform time-frequency diagram is constructed based on each signal waveform, and each waveform interval is defined according to the waveform time-frequency diagram; a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval are defined based on each waveform interval; the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval are integrated, and the millimeter-wave radar can be used as a radar device for detection and obstacle avoidance, and can also be used as a communication device for identity recognition to be compatible with the control of the UAV, thereby enriching the detection and obstacle avoidance and identity recognition functions of the UAV, and adapting to different complex environments, ensuring the compatibility of the UAV.

[0108] Example

[0109] See also Figure 7 , Figure 7 Schematic diagram of the structure of the control system of the UAV in the embodiment of the present invention.

[0110] like Figure 7 As shown, a control system of an unmanned aerial vehicle, the control system of the unmanned aerial vehicle comprises:

[0111] The radar module 21 is used to locate the millimeter-wave radar carried by the UAV. In the millimeter-wave radar, the radar antenna adopts a 4-TX and 4-RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna;

[0112] A waveform interval module 22, used to construct a waveform time-frequency diagram based on each signal waveform, and define each waveform interval according to the waveform time-frequency diagram;

[0113] A definition module 23, used to define a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval based on each waveform interval;

[0114] The control module 24 is used to integrate the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and use the millimeter wave radar as a radar device for detection and obstacle avoidance while also being used as a communication device for identity recognition to be compatible with the control of the drone.

[0115] Example

[0116] See also Figure 8 , refer to the following Figure 8 The electronic device 40 according to this embodiment of the present invention will be described. Figure 8The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0117] like Figure 8 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0118] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0119] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit 421 and / or a cache storage unit 422 , and may further include a read-only storage unit (ROM) 423 .

[0120] The storage unit 42 may also include a program / utility 424 having a set (at least one) of repair modules 425, such repair modules 425 including but not limited to: an operating system, one or more application programs, other repair modules, and a number of program components, each of which or some combination may include the implementation of a network environment.

[0121] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0122] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., local area networks, wide area networks, and / or public networks, such as the Internet) via a network adapter 45. Figure 8 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Figure 8Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, tape drives, and data backup planning systems, etc.

[0123] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0124] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory, a random access memory, a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0125] In addition, the control method and system of the drone provided in the embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for controlling an unmanned aerial vehicle, characterized in that: Applicable to the control scenario of a drone; the control method of the drone includes: Locate the millimeter-wave radar carried by the drone. In the millimeter-wave radar, the radar antenna adopts a 4-TX and 4-RX design, forming a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna; A waveform time-frequency diagram is constructed based on each signal waveform, and each waveform interval is defined according to the waveform time-frequency diagram; Based on each waveform interval, define a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval; According to the communication waveform interval, inquiry waveform interval, information waveform interval and detection waveform interval, the millimeter wave radar is integrated and used as a radar device for detection and obstacle avoidance, and as a communication device for identity recognition, so as to be compatible with the control of drones.

2. The method for controlling a drone according to claim 1, characterized in that: The millimeter-wave radar mounted on the UAV is positioned. In the millimeter-wave radar, the radar antenna adopts 4 TX and 4 RX designs to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna, including: Define the loading location according to the model of the drone; The millimeter wave radar is mounted on the UAV based on the mounting position; Locating the millimeter-wave radar mounted on the drone; In the millimeter-wave radar, the radar antenna adopts a 4 TX and 4 RX design, forming a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna. At this time, the detection distance is ≥300 meters.

3. The control method of the drone according to claim 2, characterized in that: The step of constructing a waveform time-frequency diagram based on each signal waveform and defining each waveform interval according to the waveform time-frequency diagram includes: Collect each signal waveform within a preset time; Construct a waveform time-frequency diagram according to each signal waveform; Trigger interval division based on waveform time-frequency diagram, and define each waveform interval according to the waveform time-frequency diagram; Assume the signal frequency is f, the starting frequency is f0, the frequency modulation slope is γ, and the time is t, then the time-frequency relationship should satisfy f=f0+γt, Echo phase φ t satisfy 4. The method for controlling a drone according to claim 3, characterized in that: The method of constructing a waveform time-frequency diagram based on each signal waveform and defining each waveform interval according to the waveform time-frequency diagram further includes: The radar waveform design takes into account the simultaneous detection and communication functions. A total of four waveforms are designed, two of which are traditional fast and slow FMCW waveforms, where wave A is a fast wave and wave B is a slow wave. Two waveforms are FMCW fast and slow waveforms that carry identity information, where wave A_I is a fast wave and wave B_I is a slow wave.

5. The method for controlling a drone according to claim 1, characterized in that: The communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval are defined based on each waveform interval, including: Freeze each waveform interval; Interval identification is performed based on each waveform interval, and the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval are defined.

6. The method for controlling a drone according to claim 5, characterized in that: The communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval are defined based on each waveform interval, and further includes: In the interval recognition of the waveform interval, the interval shape of the waveform interval is frozen; Define the shape type according to the interval shape of the waveform interval; Define the interval type according to the shape type and the type matching table. At this time, the interval type is the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval; Where T chirp is the chrip cycle, wave A is T a , B wave is T b , T up 、T ide They are the starting time of the rising edge and the end time of the waiting period respectively.

7. The method for controlling a drone according to claim 1, characterized in that: The communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval are integrated, and the millimeter wave radar is used as a radar device for detection and obstacle avoidance, and can also be used as a communication device for identity recognition to be compatible with the control of the drone, including: Freeze the communication waveform interval, inquiry waveform interval, information waveform interval, and detection waveform interval; Based on the integration of communication waveform interval, inquiry waveform interval, information waveform interval and detection waveform interval, the millimeter wave radar can be used as a radar device for detection and obstacle avoidance, and as a communication device for identity recognition to be compatible with the control of drones.

8. The method for controlling a drone according to claim 7, characterized in that: The method integrates the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and uses the millimeter wave radar as a radar device for detecting obstacles and as a communication device for identity recognition to be compatible with the control of the drone, and also includes: Receive the waveform with the inquiry signal sent by the ground radar terminal within 300 meters of the FOV, store and identify it; When the interrogation signal from the ground is identified, the controller responsible for configuring resource scheduling will switch the radar transmission waveform and send the A_I and B_I waveforms carrying identity information; The radar can send request signals through A_I, B_I, and receive response signals sent from the ground terminal. It can decide whether to switch waveforms, continue to send the current waveform, or add other request or response information to the A_I, B_I waveforms based on the response content.

9. The method for controlling a drone according to claim 1, characterized in that: The control method of the drone also includes: When the millimeter wave radar system performs its mission as a radar device, it fuses the channel information from the communication link and the ranging information from the radar operation to improve the spatial resolution by optimizing the beam shape and direction.

10. A control system for an unmanned aerial vehicle, characterized in that: The control system of the drone is applied to the control method of the drone as claimed in any one of claims 1 to 9, and the control system of the drone includes: The radar module is used to locate the millimeter-wave radar carried by the drone. In the millimeter-wave radar, the radar antenna adopts a 4-TX and 4-RX design to form a total of 16 virtual arrays with a FOV of ±75°. At the same time, the corresponding signal waveform is collected based on the radar antenna; A waveform interval module is used to construct a waveform time-frequency diagram based on each signal waveform, and define each waveform interval according to the waveform time-frequency diagram; A definition module, used to define a communication waveform interval, an inquiry waveform interval, an information waveform interval, and a detection waveform interval based on each waveform interval; The control module is used to integrate the communication waveform interval, the inquiry waveform interval, the information waveform interval, and the detection waveform interval, and use the millimeter wave radar as a radar device for detection and obstacle avoidance, and as a communication device for identity recognition, so as to be compatible with the control of the drone.

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