Unmanned aerial vehicle control signal processing method and device based on blind communication

Abstract

The invention provides an unmanned aerial vehicle control signal processing method and device based on blind communication, and the method comprises the steps: constructing a control signal processing system, enabling the control signal processing system to carry out blind communication with remote control equipment and an unmanned aerial vehicle, and enabling the remote control equipment and the unmanned aerial vehicle to be in communication connection, the method comprises the following steps: receiving an original control signal sent by remote control equipment for the unmanned aerial vehicle, converting the original control signal into an original digital baseband signal, determining fixed data information and variable data information in the original digital baseband signal according to the original digital baseband signal, and modifying data information for controlling actions of the unmanned aerial vehicle in the variable data information, and determining a target digital baseband signal according to the modified variable data information and fixed data information, converting the target digital baseband signal into a target control signal, and sending the target control signal to the unmanned aerial vehicle. The unmanned aerial vehicle can be accurately controlled to act, the unmanned aerial vehicle is prevented from being out of control, the control signal is sent for the unmanned aerial vehicle, the power requirement is low, and other equipment is not affected.

Description

Technical Field

[0001] The present application relates to the field of signal processing, and in particular to a method and device for processing unmanned aerial vehicle control signals based on blind communication. Background Art

[0002] Small civilian drones are low-cost, easy to obtain, easy to carry, and simple to operate. They have been widely used in news reporting, search and rescue, geographic surveying and mapping, film and television shooting, and other fields, greatly improving work efficiency and quality in these fields. However, with the further opening of low-altitude airspace, the use of small civilian drones has increased, and the security threats they bring have become increasingly prominent. Small civilian drones have the characteristics of low take-off requirements, difficult prevention and control, and difficult detection and capture, resulting in frequent illegal flights, which has become a key and difficult problem in urban air defense. Especially in the location of important targets or in large urban areas with busy traffic, illegal reconnaissance and threats to airspace safety by civilian drones pose a serious threat to public safety.

[0003] In order to deal with the illegal reconnaissance and threats to airspace security by civil drones, existing technologies mostly use suppressive jamming to deal with the illegal flying of civil drones. However, there are some significant problems with suppressive jamming. First, suppressive jamming has a large power demand and requires a large amount of energy to cover a wide area, which not only increases the cost and complexity of the equipment, but may also lead to excessive energy consumption. Secondly, suppressive jamming can easily affect the operation of other co-channel devices and may interfere with legal wireless communication equipment such as mobile communications, radio and television, causing unnecessary interference and losses. In addition, suppressive jamming achieves the purpose of interference by cutting off the communication link of civil drones. When civil drones lose control, other hazards may be caused. Summary of the invention

[0004] In view of the above problems, the present application proposes a method and device for processing UAV control signals based on blind communication.

[0005] In a first aspect of the implementation of the present application, a method for processing a UAV control signal based on blind communication is first provided, wherein the method comprises:

[0006] Constructing a control signal processing system, wherein the control signal processing system performs blind communication with a remote control device and the drone, respectively, and a communication connection is established between the remote control device and the drone;

[0007] Receiving an original control signal sent by the remote control device to the drone;

[0008] Converting the original control signal into an original digital baseband signal;

[0009] Determine fixed data information and variable data information in the original digital baseband signal according to the original digital baseband signal;

[0010] Modifying the data information controlling the action of the drone in the variable data information, and determining the target digital baseband signal according to the modified variable data information and the fixed data information;

[0011] Converting the target digital baseband signal into a target control signal;

[0012] The target control signal is sent to the UAV.

[0013] Optionally, converting the original control signal into an original digital baseband signal comprises:

[0014] Adjusting the first frequency information, the first phase information, and the first amplitude information corresponding to the original control signal to obtain an original intermediate frequency analog signal;

[0015] Adjust the second frequency information, the second phase information, the second amplitude information, and the first time information corresponding to the original intermediate frequency analog signal to obtain an original intermediate frequency digital signal;

[0016] The third frequency information, the third phase information, and the third amplitude information corresponding to the original intermediate frequency digital signal are adjusted to obtain the original digital baseband signal.

[0017] Optionally, converting the target digital baseband signal into a target control signal includes:

[0018] Adjusting the fourth frequency information, the fourth phase information, and the fourth amplitude information corresponding to the target digital baseband signal to obtain a target intermediate frequency digital signal;

[0019] Adjust the fifth frequency information, the fifth phase information, the fifth amplitude information, and the second time information corresponding to the target intermediate frequency digital signal to obtain a target intermediate frequency analog signal;

[0020] The sixth frequency information, the sixth phase information, and the sixth amplitude information corresponding to the target intermediate frequency analog signal are adjusted to obtain the target control signal.

[0021] Optionally, determining the fixed data information and the variable data information in the original digital baseband signal according to the original digital baseband signal includes:

[0022] Filtering the original digital baseband signal based on a preset frequency range to obtain a single-frequency digital baseband signal;

[0023] Acquire an effective digital baseband signal according to the single-frequency digital baseband signal;

[0024] Acquire time positioning information according to the effective digital baseband signal;

[0025] Determining a modulation mode of the effective digital baseband signal according to the time positioning information;

[0026] Determine carrier frequency information of the effective digital baseband signal according to the effective digital baseband signal and the modulation mode of the effective digital baseband signal;

[0027] Determining a symbol rate of the effective digital baseband signal according to the effective digital baseband signal;

[0028] Determine carrier phase information of the effective digital baseband signal according to the effective digital baseband signal;

[0029] Determine a target clock signal of the valid digital baseband signal according to the valid digital baseband signal;

[0030] Based on one or more of the modulation mode, the carrier frequency information, the symbol rate, the carrier phase information, and the target clock signal, obtaining original data information according to the effective digital baseband signal;

[0031] The fixed data information and the variable data information are determined according to the original data information.

[0032] Optionally, the original data information is composed of a plurality of data frames, and determining the fixed data information and the variable data information according to the original data information includes:

[0033] Compare the data in any data frame with the data in other data frames;

[0034] Using the unchanged data in the data frame as fixed data information;

[0035] The changed data in the data frame is used as variable data information.

[0036] Optionally, the step of modifying the data information for controlling the action of the drone in the variable data information, and determining the target digital baseband signal according to the modified variable data information and the fixed data information, includes:

[0037] Determine data information in the variable data information for controlling the action of the drone according to the drone action and the variable data information;

[0038] Modify the data information controlling the action of the drone in the variable data information, and determine the target data information according to the modified variable data information and the fixed data information;

[0039] Acquire clock information of the original digital baseband signal according to the original digital baseband signal;

[0040] Acquire a frequency hopping frequency of the original digital baseband signal according to the original digital baseband signal;

[0041] The target digital baseband signal is determined according to the clock information, the frequency hopping frequency and the target data information.

[0042] Optionally, acquiring the frequency hopping frequency of the original digital baseband signal according to the original digital baseband signal includes:

[0043] Acquire frequency information of the original digital baseband signal and frequency information of the preset local oscillator signal according to the original digital baseband signal and the preset local oscillator signal;

[0044] Determine a correlation value between the original digital baseband signal and the preset local oscillator signal according to the frequency information of the original digital baseband signal and the frequency information of the preset local oscillator signal;

[0045] When the correlation value is greater than a preset threshold, the preset local oscillator signal is used as the frequency hopping frequency.

[0046] In a second aspect of the implementation of the present application, a UAV control signal processing device based on blind communication is also provided, characterized in that the device includes:

[0047] A control signal processing system building module, used to build a control signal processing system, wherein the control signal processing system performs blind communication with the remote control device and the drone, respectively, and there is a communication connection between the remote control device and the drone;

[0048] An original signal receiving module, used to receive an original control signal sent by the remote control device to the drone;

[0049] An original signal conversion module, used for converting the original control signal into an original digital baseband signal;

[0050] An original signal demodulation module, used to determine fixed data information and variable data information in the original digital baseband signal according to the original digital baseband signal;

[0051] A target signal acquisition module, used to modify the data information controlling the action of the drone in the variable data information, and determine the target digital baseband signal according to the modified variable data information and the fixed data information;

[0052] A target signal conversion module, used for converting the target digital baseband signal into a target control signal;

[0053] A target signal sending module is used to send the target control signal to the UAV.

[0054] In the third aspect of the implementation of the present application, an electronic device is also provided, characterized in that it includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, it implements the drone control signal processing method based on blind communication as described above.

[0055] In the fourth aspect of the implementation of the present application, a computer-readable storage medium is also provided, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for processing drone control signals based on blind communication as described above is implemented.

[0056] The embodiments of the present application have the following advantages:

[0057] In an embodiment of the present application, an original control signal sent by a remote control device to a drone is received, the original control signal is converted into an original digital baseband signal, fixed data information and variable data information in the original digital baseband signal are determined according to the original digital baseband signal, data information for controlling the drone action in the variable data information is modified, a target digital baseband signal is determined according to the modified variable data information and fixed data information, the target digital baseband signal is converted into a target control signal, and the target control signal is sent to the drone. The present application can accurately control the drone action without causing the drone to lose control, and the present application only needs to control the drone, with a small power requirement, and only controls the drone, without affecting devices other than the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0059] Figure 1 It is a schematic diagram of a process of suppressive interference provided by an embodiment of the present application;

[0060] Figure 2 It is a flowchart of a method for processing a UAV control signal based on blind communication provided in one embodiment of the present application;

[0061] Figure 3 It is a schematic diagram of a flow chart of interconnecting and transmitting signals between a hardware platform and a software platform provided in an embodiment of the present application;

[0062] Figure 4 is a structural diagram of a demodulator provided by an embodiment of the present application;

[0063] Figure 5is a structural diagram of a signal parameter estimation module provided by an embodiment of the present application;

[0064] Figure 6 It is a structural diagram of a synchronization module provided by an embodiment of the present application;

[0065] Figure 7 It is a structural schematic diagram of an in-phase orthogonal ring structure provided by an embodiment of the present application;

[0066] Figure 8 It is a structural diagram of a bit synchronization algorithm provided by an embodiment of the present application;

[0067] Fig. 9 It is a schematic diagram of a flow chart of a software platform processing a signal provided by an embodiment of the present application;

[0068] Fig.10 It is a structural schematic diagram of a drone control signal processing device based on blind communication provided in one embodiment of the present application. DETAILED DESCRIPTION

[0069] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in each embodiment of the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not constitute any limitation, and the various embodiments can be combined with each other and referenced to each other without contradiction.

[0070] "Low, slow and small" targets are a general term for low-altitude, slow and small aircraft, mainly including some military aircraft, aviation models, some manned aircraft and floating balloons. The "low, slow and small" unmanned aerial vehicles usually refer to small and micro civilian drones. Civilian small drones are low-cost, easy to obtain, easy to carry and simple to operate. They have been widely used in news reporting, search and rescue, geographic surveying and mapping, film and television shooting and other fields, greatly improving the work efficiency and quality in these fields. But at the same time, due to the characteristics of low take-off requirements, difficult prevention and control, and difficult detection and capture of civilian small drones, a series of new security threats have been triggered. The illegal flight of civilian small drones has become a key and difficult problem in urban air defense. Especially in the location of important targets or in large urban areas with busy traffic. In recent years, my country's low-altitude airspace has been further opened up, and the security situation has become increasingly severe. In order to deal with illegal reconnaissance and threats to airspace security by civilian drones, it is urgent to carry out the control of civilian small drones.

[0071] In the embodiment of the present application, the drone may be one or more of a military aircraft, an aviation model, a floating balloon, or a civilian small drone or micro drone.

[0072] It should be noted that illegal flying refers to drone flight activities that are not authorized or not conducted in accordance with prescribed procedures.

[0073] In the prior art, suppressive interference is usually used to control the illegal flying of drones. In the embodiments of the present application, suppressive interference can be achieved in the following manner.

[0074] It should be noted that suppression jamming can be a jamming method that covers or drowns out the target signal by emitting a strong jamming signal. In the embodiment of the present application, suppression jamming is a jamming method that cuts off the communication link of the drone by emitting a strong jamming signal to achieve the purpose of jamming.

[0075] Reference Figure 1 , shows a schematic diagram of a process of suppressive interference provided by an embodiment of the present application, which may specifically include the following steps:

[0076] The low, slow and small target signal receiving module is responsible for receiving the uplink and downlink signals of the low, slow and small target, and sending the uplink and downlink signals of the low, slow and small target to the interference signal generating module. The control module controls the interference signal generating module to generate multiple RF interference signals and send the signals to the frequency conversion module. The frequency conversion module receives the multiple RF interference signals from the interference signal generating module, filters them, adjusts the power flatness, generates multiple RF interference signals with consistent power flatness, and sends the RF interference signals with consistent flatness to the power amplifier. The power amplifier receives the multiple RF interference signals with consistent flatness from the frequency conversion module, performs power amplification processing on them, generates multiple power-amplified RF interference signals, and sends the power-amplified multiple RF interference signals to the antenna assembly. The antenna assembly receives the multiple power-amplified RF interference signals from the power amplifier and transmits them, that is, sends interference signals. The voltage module supplies power to the low, slow and small target signal receiving module, the interference signal generating module, the frequency conversion module, the power amplifier and other modules.

[0077] It should be noted that upstream and downstream signals refer to signals transmitted in different directions in a communication link. An uplink signal may be a signal sent from a user device (such as a mobile phone, a drone, an IoT device, etc.) to a base station or a central node, while a downlink signal may be a signal sent from a base station or a central node to a user device. In an embodiment of the present application, an uplink signal may be a control signal sent from a remote control device to a drone.

[0078] Multi-path RF interference signals can refer to interference signals generated through multiple independent RF signal channels in a suppression jamming system. These signals usually cover the entire frequency band of the target signal to ensure that the target signal is completely drowned out.

[0079] Power flatness refers to the degree to which the power level of a signal remains consistent or nearly consistent within a certain frequency range. In a suppression jamming system, ensuring the power flatness of each jamming signal is consistent can more effectively cover the frequency band of the target signal and improve the jamming effect.

[0080] Power amplification refers to the process of amplifying the input signal through a power amplifier in a radio frequency system to increase the power level of the signal so that it can cover a longer distance or interfere with the target signal more effectively.

[0081] However, suppression interference requires a lot of power and can easily affect the operation of other devices on the same channel.

[0082] Moreover, suppressive jamming achieves its jamming purpose by cutting off the communication link of a low, slow, and small target. When a low, slow, and small target loses control, it may cause other hazards.

[0083] Therefore, in order to prevent interference with other devices or loss of control of low-speed small targets, this application uses deceptive interference with low power requirements and targeted interference for control. By non-cooperative reception of the uplink remote control signal of the low-speed small target, the signal communication protocol of the low-speed small target is cracked, and the remote control is imitated to send an uplink signal to the low-speed small target.

[0084] It should be noted that deceptive interference can be a type of interference that causes the target receiving device to misjudge or mislead by transmitting false signals or tampering with target signals.

[0085] The uplink remote control signal may refer to a control signal sent from a ground control station or operator to a low, slow, small target (such as a drone, balloon, etc.). These signals are generally used to control the flight, navigation, mission execution, and other operations of the target. In the embodiment of the present application, the uplink signal may be a control signal sent from a remote control device to a drone.

[0086] Non-cooperative reception means that in a communication or interference system, the receiver does not cooperate or coordinate with the sender, but directly receives and processes the signal from the sender. This reception method is usually used in scenarios such as reconnaissance, interference or confrontation. It can also be called non-cooperative reception or blind reception. In an embodiment of the present application, the uplink control signal sent by the remote control device to the drone is obtained by blind reception.

[0087] Reference Figure 2 , shows a flowchart of a method for processing a UAV control signal based on blind communication provided by an embodiment of the present application, which may specifically include the following steps:

[0088] Step 101, constructing a control signal processing system, wherein the control signal processing system performs blind communication with a remote control device and the drone, respectively, and a communication connection is established between the remote control device and the drone.

[0089] It should be noted that the control signal processing system is composed of a software platform and a hardware platform. The software platform may be a GNU Radio platform, and the hardware platform may be a USRP platform.

[0090] GNU Radio is an open source software radio (SDR) framework that is widely used for receiving, sending and processing radio signals. GNU Radio provides a flexible and efficient radio signal processing platform through modular design and rich signal processing algorithms. In the embodiment of the present application, the demodulation processing of the signal can be realized by GNU Radio.

[0091] USRP (Universal Software Radio Peripheral) can be used to support software radio (SDR) applications. USRP devices, combined with software tools such as GNU Radio, provide a flexible and powerful platform for developing and testing various radio communication systems. In the embodiment of the present application, the USRP can be used to receive the uplink signal and send the processed uplink signal.

[0092] In an embodiment of the present application, the control signal processing system can perform blind communication with the remote control device and the drone, respectively, wherein the hardware platform of the control signal processing system includes a receiving side and a transmitting side, the control signal processing system can receive an uplink signal sent by the remote control device to the drone through the receiving side, and the control signal processing system can send a modified uplink signal to the drone through the transmitting side. In addition, there is a communication connection between the remote control device and the drone. The communication connection between the remote control device and the drone can be a wireless communication connection, and the wireless communication connection can be a wireless communication connection operating in the 2.4 GHz frequency band.

[0093] Step 102: Receive an original control signal sent by the remote control device to the drone.

[0094] It should be noted that the original control signal can be a radio frequency analog signal. Radio frequency analog signal refers to an analog signal transmitted in the radio frequency (RF) band. The radio frequency band usually refers to the frequency range between 3kHz and 300GHz, which is widely used in wireless communication, broadcasting, radar, satellite communication and other fields.

[0095] In the embodiment of the present application, the original control signal, that is, the radio frequency analog signal, sent by the remote control device to the drone can be blindly received. The original control signal is the control information sent by the remote control device to the drone. The remote control device can be a remote controller, a terminal device, a mobile phone, a tablet computer, etc. The present application does not limit the specific type of the remote control device.

[0096] Step 103: convert the original control signal into an original digital baseband signal.

[0097] It should be noted that the original digital baseband signal can refer to a digital signal transmitted in the baseband frequency band. The baseband frequency band usually refers to the original frequency range of the signal, that is, the range between the lowest frequency and the highest frequency of the signal. Digital baseband signals are widely used in digital communication systems, such as mobile communications, wireless LANs, optical fiber communications, etc.

[0098] In the embodiment of the present application, the original control signal can be converted into an original digital baseband signal, that is, the radio frequency analog signal can be converted into a baseband digital signal.

[0099] Step 104: Determine fixed data information and variable data information in the original digital baseband signal according to the original digital baseband signal.

[0100] It should be noted that fixed data information may refer to data information that remains unchanged or rarely changes in a communication system. It can be used to identify the basic parameters and configuration of the communication system to ensure the stability and consistency of communication. In the embodiment of the present application, fixed data information is fixed data in a data frame in the original digital baseband signal.

[0101] Variable data information may refer to data information that changes with the communication process or system status in a communication system. It can be used to transmit dynamic data, control instructions, status feedback, etc. to achieve flexibility and real-time performance of the communication system. In the embodiment of the present application, variable data information is data in the data frame of the original digital baseband signal that changes with the state of the drone.

[0102] In the embodiment of the present application, the original digital baseband signal can be demodulated and analyzed to determine the fixed data information and the variable data information in the original digital baseband signal.

[0103] It should be noted that demodulation refers to the process of processing the received modulated signal in a wireless communication system to restore the original baseband signal or data information. Demodulation is a key step in a wireless communication system and directly affects the communication quality and system performance. In an embodiment of the present application, the original digital baseband signal can be demodulated and analyzed.

[0104] Step 105, modifying the data information for controlling the action of the drone in the variable data information, and determining the target digital baseband signal according to the modified variable data information and the fixed data information.

[0105] In the embodiment of the present application, the variable data information includes data information for controlling the action of the drone, and the data information for controlling the action of the drone in the variable data information can be modified, and the target digital baseband signal is determined according to the modified variable data information and the fixed data information. By modifying the data information for controlling the action of the drone, the target digital baseband signal formed by the modified variable data information can have the function of controlling the action of the drone.

[0106] Step 106: convert the target digital baseband signal into a target control signal.

[0107] In the embodiment of the present application, the target digital baseband signal can be converted into a target control signal, that is, the baseband digital signal can be converted into a radio frequency analog signal.

[0108] Step 107: Send the target control signal to the UAV.

[0109] In an embodiment of the present application, a target control signal may be sent to the drone based on blind communication, wherein the target control signal is control information sent by the control signal processing system to the drone.

[0110] In an embodiment of the present application, an original control signal sent by a remote control device to a drone is received, the original control signal is converted into an original digital baseband signal, fixed data information and variable data information in the original digital baseband signal are determined according to the original digital baseband signal, data information for controlling the drone action in the variable data information is modified, a target digital baseband signal is determined according to the modified variable data information and fixed data information, the target digital baseband signal is converted into a target control signal, and the target control signal is sent to the drone. The present application can accurately control the drone action without causing the drone to lose control, and the present application only needs to control the drone, with a small power requirement, and only controls the drone, without affecting devices other than the drone.

[0111] In an optional embodiment of the present application, step 103 further includes the following sub-steps:

[0112] S11: adjusting the first frequency information, the first phase information, and the first amplitude information corresponding to the original control signal to obtain an original intermediate frequency analog signal;

[0113] S12: adjusting the second frequency information, the second phase information, the second amplitude information, and the first time information corresponding to the original intermediate frequency analog signal to obtain an original intermediate frequency digital signal;

[0114] S13: Adjust the third frequency information, the third phase information, and the third amplitude information corresponding to the original intermediate frequency digital signal to obtain the original digital baseband signal.

[0115] It should be noted that frequency information can refer to the frequency characteristics of a signal, that is, the number of times a signal is repeated per unit time. Frequency is usually expressed in Hertz (Hz). It can be used to describe the periodicity and rate of change of a signal.

[0116] Phase information refers to the phase characteristics of a signal, that is, the relative position of the signal in time. Phase is usually expressed in degrees (°) or radians (rad). It can be used to describe the relative position and phase relationship of a signal.

[0117] Amplitude information refers to the amplitude characteristics of the signal, that is, the strength or size of the signal. Amplitude is usually expressed in units of voltage (V) or power (W). It can be used to describe the strength and energy of the signal.

[0118] An intermediate frequency signal may refer to a signal obtained after down-conversion processing in a wireless communication system. An intermediate frequency signal generally has a lower frequency and bandwidth, which facilitates subsequent signal processing and demodulation. In an embodiment of the present application, the intermediate frequency signal may be an intermediate frequency analog signal or an intermediate frequency digital signal.

[0119] In the embodiment of the present application, the first frequency information, the first phase information, and the first amplitude information corresponding to the original control signal may be adjusted to obtain the original intermediate frequency analog signal.

[0120] The second frequency information, the second phase information, the second amplitude information, and the first time information corresponding to the original intermediate frequency analog signal may be adjusted to obtain the original intermediate frequency digital signal.

[0121] The third frequency information, the third phase information, and the third amplitude information corresponding to the original intermediate frequency digital signal may be adjusted to obtain the original digital baseband signal.

[0122] This application achieves accurate conversion from the original control signal to the original digital baseband signal by gradually adjusting the frequency, phase, amplitude and time information of the signal, ensuring the consistency and accuracy of the signal at different stages, improving the flexibility and reliability of signal processing, and is suitable for various complex communication and signal processing scenarios.

[0123] In an optional embodiment of the present application, step 106 further includes the following sub-steps:

[0124] S21: adjusting the fourth frequency information, the fourth phase information, and the fourth amplitude information corresponding to the target digital baseband signal to obtain a target intermediate frequency digital signal;

[0125] S22: adjusting the fifth frequency information, the fifth phase information, the fifth amplitude information, and the second time information corresponding to the target intermediate frequency digital signal to obtain a target intermediate frequency analog signal;

[0126] S23: Adjust the sixth frequency information, the sixth phase information, and the sixth amplitude information corresponding to the target intermediate frequency analog signal to obtain the target control signal.

[0127] In the embodiment of the present application, the fourth frequency information, the fourth phase information, and the fourth amplitude information corresponding to the target digital baseband signal may be adjusted to obtain a target intermediate frequency digital signal;

[0128] The fifth frequency information, the fifth phase information, the fifth amplitude information, and the second time information corresponding to the target intermediate frequency digital signal may be adjusted to obtain the target intermediate frequency analog signal;

[0129] The sixth frequency information, the sixth phase information, and the sixth amplitude information corresponding to the target intermediate frequency analog signal may be adjusted to obtain a target control signal.

[0130] This application achieves accurate conversion from the target digital baseband signal to the target control signal by gradually adjusting the frequency, phase, amplitude and time information of the signal, ensuring the consistency and accuracy of the signal at different stages, improving the flexibility and reliability of signal processing, and is suitable for various complex communication and signal processing scenarios.

[0131] In the specific implementation, you can refer to Figure 3 Realize the process of interconnecting and transmitting signals between the hardware platform and the software platform. Figure 3 A schematic diagram of a process of interconnecting and transmitting signals between a hardware platform and a software platform provided in an embodiment of the present application is shown, and the specific steps are as follows:

[0132] USRP (Universal Software Radio Peripheral) may include FPGA and transmitting sub-board, receiving sub-board, digital-to-analog converter (DAC), and analog-to-digital converter (ADC).

[0133] The PC side may include the GNU Radio software platform running on a Linux platform.

[0134] It should be noted that FPGA (Field Programmable Gate Array) can be a programmable logic device, and users can configure its internal logic units and connections through programming to implement various digital circuit functions. In the embodiment of the present application, up and down conversion of signals can be implemented through FPGA.

[0135] The transmitting sub-board may be a hardware module for signal transmission, which generally includes functions such as signal modulation, amplification, filtering, etc. In the embodiment of the present application, the transmitting sub-board may be used to send a modified uplink signal to the drone.

[0136] The receiving sub-board may be a hardware module for signal reception, and generally includes functions such as signal demodulation, amplification, filtering, etc. In an embodiment of the present application, the receiving sub-board may be used to receive an initial uplink signal sent by a remote control device to a drone.

[0137] A digital-to-analog converter (DAC) may be an electronic device, and in the embodiment of the present application, may be used to convert a digital signal into an analog signal.

[0138] An analog-to-digital converter (ADC) may be an electronic device, and in the embodiment of the present application, may be used to convert an analog signal into a digital signal.

[0139] The signal processing process on the receiving side is as follows: the receiving daughter board is connected to the antenna to receive the radio signal, the receiving daughter board down-converts the received radio signal to obtain the intermediate frequency signal, at this time the signal is still an analog signal, then the ADC module samples the intermediate frequency analog signal to obtain a digital signal, and then moves the signal frequency band to the baseband through FPGA processing, and finally sends the digital baseband signal to the PC end, and uses GNU Radio for demodulation and analysis.

[0140] The transmitter performs the exact opposite processing. The binary sequence is modulated by GNU Radio and becomes a digital baseband signal. The signal enters the FPGA for processing via the USRP interface, and the signal frequency band is moved to the intermediate frequency. Next, the DAC module samples the intermediate frequency digital signal to obtain an intermediate frequency analog signal. The transmitter sub-board upsamples the intermediate frequency analog signal to obtain an RF analog signal, which is finally transmitted by the antenna.

[0141] In an optional embodiment of the present application, step 104 further includes the following sub-steps:

[0142] S31: Filtering the original digital baseband signal based on a preset frequency range to obtain a single-frequency digital baseband signal.

[0143] It should be noted that a single-frequency digital baseband signal may refer to a single-frequency digital signal transmitted in a baseband frequency band. A single-frequency signal generally refers to a signal with a single frequency component, while a digital baseband signal refers to a digital signal transmitted in a baseband frequency band.

[0144] In the embodiment of the present application, the original digital baseband signal may be filtered based on a preset frequency range to obtain a single-frequency digital baseband signal.

[0145] In a specific implementation, since the received intermediate frequency digital signal has a certain bandwidth, there is a possibility that multiple frequency points enter the receiver at the same time, so the signal can be filtered through a filter to select a single frequency component to ensure the correct recovery of the binary sequence. Among them, the frequency point can refer to a specific frequency used to transmit a signal in a wireless communication system. The frequency point is usually used to identify and select channels in a wireless communication system to ensure that the signal is transmitted and received at the correct frequency.

[0146] S32: Acquire a valid digital baseband signal according to the single-frequency digital baseband signal.

[0147] In an embodiment of the present application, a valid digital baseband signal can be obtained according to a single-frequency digital baseband signal, wherein the valid digital baseband signal can be a signal containing valid drone control information.

[0148] In a specific implementation, the effective signal extractor can extract the "raised signal" according to the starting and ending positions of the energy recorded in the energy detection module and send it to the demodulator, thereby reducing the amount of data for demodulation processing and shortening the processing time.

[0149] In a specific implementation, the data sequence number generated by the reader can also be used as a basis for extracting effective signals, for example, extracting the signal from the time the signal is generated to the time the signal ends.

[0150] In the specific implementation, you can refer to Figure 4 Get the demodulator structure. Figure 4 A schematic structural diagram of a demodulator provided in an embodiment of the present application is shown.

[0151] The demodulator can demodulate the data. The demodulator is an electronic device used to convert the received modulated signal into the original baseband signal or data information. The demodulator plays a key role in the wireless communication system and directly affects the communication quality and system performance. The demodulator can include a signal parameter estimation module and a synchronization module.

[0152] S33: Acquire time positioning information according to the effective digital baseband signal.

[0153] It should be noted that time positioning information can refer to the local characteristics of the signal on the time axis, mainly including the following aspects: Instantaneous amplitude: the amplitude value of the signal at a certain moment. The instantaneous amplitude can reflect the intensity change of the signal. Instantaneous frequency: the frequency value of the signal at a certain moment. The instantaneous frequency can reflect the frequency change of the signal. Instantaneous phase: the phase value of the signal at a certain moment. The instantaneous phase can reflect the phase change of the signal. Time envelope: the envelope of the signal on the time axis. The time envelope can reflect the overall shape and change trend of the signal.

[0154] In the embodiment of the present application, time positioning information can be obtained according to the effective digital baseband signal, wherein the time positioning information may include instantaneous amplitude, instantaneous frequency, and instantaneous phase.

[0155] In the specific implementation, you can refer to Figure 5 Get the structure of the signal parameter estimation module. Figure 5 A schematic diagram of the structure of a signal parameter estimation module provided in an embodiment of the present application is shown.

[0156] In the case of non-cooperation, the communication system parameters are unknown and the signal cannot be demodulated. Blind processing of the signal can estimate the communication system parameters. Blind processing includes signal detection and sorting, modulation mode identification, carrier frequency estimation, and symbol rate estimation. The signal parameter estimation module is as follows: Figure 5 As shown, it includes a detection and sorting module, a modulation mode identification module, a carrier estimation module and a symbol rate estimation module.

[0157] In the specific implementation, the frequency band of civilian small low-speed and slow-speed target signals is 2.4G, and there are also interference signals such as WiFi signals in this frequency band. In order to eliminate interference and select the required low-speed and slow-speed target signals from the received mixed signals for analysis, the collected signals must first be detected and sorted. The frequency points and durations of different signals are different, and they can be distinguished by using the characteristics of the signal in the time and frequency domain.

[0158] The detection and sorting module can use short-time Fourier transform. This transform is to perform windowing on the signal and then perform Fourier transform in segments. Compared with the traditional Fourier transform, this transform can perform positioning measurement on each signal frequency segment. The positioning measurement result can include time positioning information. The positioning measurement result can also include the following other information:

[0159] Frequency location information refers to the local characteristics of the signal on the frequency axis, which mainly includes the following aspects: Spectral distribution: the energy distribution of the signal at different frequencies. Spectral distribution can reflect the frequency components and energy distribution of the signal. Spectral components: the specific components of the signal at different frequencies. Spectral components can reflect the frequency components and frequency characteristics of the signal. Spectral envelope: the envelope of the signal on the frequency axis. The spectrum envelope can reflect the frequency characteristics and change trends of the signal. Spectral leakage: the leakage phenomenon of the signal on the frequency axis. Spectral leakage can reflect the frequency resolution and spectrum characteristics of the signal.

[0160] Time-frequency joint positioning information can refer to the local characteristics of the signal on the time-frequency plane, which mainly includes the following aspects: Time-frequency distribution: the energy distribution of the signal on the time-frequency plane. Time-frequency distribution can reflect the joint characteristics of the signal in time and frequency. Time-frequency component: the specific component of the signal on the time-frequency plane. The time-frequency component can reflect the joint characteristics of the signal in time and frequency. Time-frequency envelope: the envelope of the signal on the time-frequency plane. The time-frequency envelope can reflect the joint characteristics and changing trends of the signal in time and frequency. Time-frequency leakage: the leakage phenomenon of the signal on the time-frequency plane. Time-frequency leakage can reflect the joint characteristics and resolution of the signal in time and frequency.

[0161] The instantaneous frequency change rate of a signal: It can refer to the frequency change rate of a signal at a certain moment. The instantaneous frequency change rate can reflect the speed at which the frequency of the signal changes.

[0162] The instantaneous phase change rate of a signal: It can refer to the phase change rate of a signal at a certain moment. The instantaneous phase change rate can reflect the speed at which the phase of the signal changes.

[0163] Instantaneous energy of a signal: It refers to the energy value of a signal at a certain moment. Instantaneous energy can reflect the energy change of a signal.

[0164] Instantaneous power of a signal: It can refer to the power value of a signal at a certain moment. Instantaneous power can reflect the power change of a signal.

[0165] S34: Determine a modulation method of the effective digital baseband signal according to the time positioning information.

[0166] It should be noted that modulation scheme refers to the technical method used to convert baseband signals into radio frequency signals in wireless communication systems. Several modulation schemes commonly used in communication systems for typical low, small and slow target signals include binary phase shift keying (BPSK), quadrature phase shift keying (QPSK) and 16 quadrature amplitude modulation (16QAM).

[0167] In the embodiment of the present application, the modulation mode of the effective digital baseband signal can be determined according to the time positioning information, wherein the modulation mode may include a modulation order.

[0168] In the specific implementation, accurately identifying the modulation mode of the signal is the basis for inversely solving the signal to obtain its modulation parameters. Since the modulation modes commonly used by typical low, small and slow target signals are BPSK, QPSK, 16QAM, etc., these modulation modes have obvious differences in instantaneous amplitude, instantaneous frequency, and instantaneous phase. The modulation mode identification module can use these three basic parameters to derive characteristic parameters for distinguishing different modulation modes, and then determine the modulation mode of the signal.

[0169] S35: Determine carrier frequency information of the effective digital baseband signal according to the effective digital baseband signal and the modulation mode of the effective digital baseband signal.

[0170] It should be noted that carrier frequency information may refer to relevant information used to identify and select carrier frequency in a wireless communication system. Carrier frequency is a key parameter in a wireless communication system and directly affects the transmission characteristics and performance of a signal.

[0171] In the embodiment of the present application, the carrier frequency information of the effective digital baseband signal can be determined according to the effective digital baseband signal and the modulation method of the effective digital baseband signal.

[0172] In a specific implementation, the carrier estimation module can be implemented using the following principles to obtain carrier frequency information.

[0173] For MPSK and MQAM signals with known modulation methods and modulation orders, the transformed signals will produce single-frequency components related to the carrier through nonlinear transformation. The M-th power transformation of the signal has this transformation characteristic.

[0174] If the received signal is an MPSK intermediate frequency signal, when estimating the MPSK carrier frequency, the received signal expression can be:

[0175]

[0176] Among them, f c represents the carrier frequency; θ0 represents the reference phase; Ts represents the sampling interval; n(k) represents Gaussian white noise with zero mean, and y(k) represents the original MPSK signal.

[0177] By raising y(k) to the Mth power, we can obtain:

[0178]

[0179] The original MPSK signal becomes noise n'(k) and a single frequency signal after being raised to the Mth power. According to the polynomial expansion principle, the noise n'(k) is a mixture of the power of white noise and the power of the signal. If the single-frequency signal power is large, it will not be covered by the noise n'(k). There will be M times the carrier frequency component in the Mth power spectrum of the signal. The frequency corresponding to the maximum value of the search spectrum peak is M times the required carrier frequency.

[0180] S36: Determine a symbol rate of the effective digital baseband signal according to the effective digital baseband signal.

[0181] It should be noted that symbol rate refers to the number of symbols transmitted per second in a digital communication system. Symbol rate is a key parameter in a digital communication system, which directly affects the signal transmission rate and bandwidth efficiency.

[0182] In the embodiment of the present application, the symbol rate of the effective digital baseband signal can be determined according to the effective digital baseband signal.

[0183] In the specific implementation, the estimated result of the symbol rate will affect the performance of the subsequent bit synchronization algorithm and ultimately affect the recovery of binary data. Each hop signal of a low, small and slow target is a burst signal. Using finite length data to obtain a high-precision and fast estimate of the symbol rate is a key step in correctly demodulating the signal.

[0184] There are discrete spectral lines corresponding to the symbol rate in the envelope amplitude spectrum, and the symbol rate estimation module uses this property to achieve high-precision and fast estimation of the symbol rate of low, small and slow target signals. That is, calculate the envelope amplitude of the signal; perform fast Fourier transform to obtain the envelope amplitude spectrum; set the peak value at the origin of the amplitude spectrum to 0, and search for the frequency point corresponding to the maximum value of the remaining part, recorded as f1, which is a rough estimate of the symbol rate; take f1 as the center, perform CZT transform on the part near it, find the frequency value corresponding to the maximum spectrum peak, recorded as f2, which is the accurate estimate of the symbol rate.

[0185] S37: Determine carrier phase information of the effective digital baseband signal according to the effective digital baseband signal.

[0186] Carrier phase information may refer to a specific phase used to transmit a signal in a wireless communication system. The carrier phase is usually used to identify and select a channel in a wireless communication system.

[0187] In the embodiment of the present application, the carrier phase information of the effective digital baseband signal can be determined according to the effective digital baseband signal.

[0188] In the specific implementation, you can refer to Figure 6 Get the structure of the synchronization module. Figure 6 FIG. 2 shows a schematic diagram of the structure of a synchronization module provided by an embodiment of the present application. Figure 6 As shown, it includes a carrier synchronization module and a bit synchronization module.

[0189] In the specific implementation, generating a carrier with the same frequency and phase as the input signal is the basis of signal coherent demodulation. The carrier synchronization module can use an in-phase orthogonal loop structure, combining the orthogonality of the signal and the filtering characteristics to achieve carrier synchronization. The in-phase orthogonal loop is mainly composed of a mixer, a phase detector, a loop filter, and a voltage-controlled oscillator. You can refer to Figure 7 Construct an in-phase orthogonal ring.

[0190] The Costas Loop can be used to recover the local carrier with the same frequency and phase as the transmitting end at the receiving end.

[0191] Mixer: can convert the input signal I in and Q in , multiplied by the local carrier to generate an intermediate frequency signal. The intermediate frequency signal contains the in-phase signal I out and the quadrature signal Q out , respectively represent the in-phase and quadrature components of the input signal and the local carrier.

[0192] Phase detector: It can compare the phase of the intermediate frequency signal with the local carrier and output a phase error signal δ. The phase error signal δ represents the phase difference between the input signal and the local carrier.

[0193] Loop filter: The phase error signal δ can be passed through a loop filter to remove high-frequency noise and obtain a smoothed phase error signal u.

[0194] Voltage-controlled oscillator: The smoothed phase error signal u can be used to control the frequency and phase of the voltage-controlled oscillator, adjusting the frequency sin(ωt) and phase cos(ωt) of the local carrier so that it has the same frequency and phase as the input signal.

[0195] Closed-loop feedback: The adjusted local carrier is fed back to the mixer to form a closed-loop control system, which continuously adjusts the frequency sin(ωt) and phase cos(ωt) of the local carrier to make it have the same frequency and phase as the input signal.

[0196] S38: Determine a target clock signal of the effective digital baseband signal according to the effective digital baseband signal.

[0197] The target clock signal can refer to a clock signal with the same frequency and phase as the symbol clock signal of the transmitter, which is recovered by the receiving end in a digital communication system. Clock synchronization is a key step in digital communication systems and directly affects signal demodulation and data recovery.

[0198] In the embodiment of the present application, the target clock signal of the effective digital baseband signal can be determined according to the effective digital baseband signal.

[0199] In the specific implementation, if you want to accurately recover the binary bit sequence carried by the transmitter signal, you must know when each code element starts and where it ends, so that you can perform sampling and judgment in the middle of each code element to recover the binary signal. In the case of non-cooperative or blind reception, the receiver cannot know the accurate synchronization clock of the transmitter, so it is difficult to find the best decision position in each code element. The bit synchronization algorithm can recover the clock signal with the same frequency and phase as the received code element. You can refer to Figure 8 , construct the bit timing synchronization algorithm structure based on Gardner. The bit timing synchronization algorithm structure includes interpolator, time error detector, loop filter, digital control oscillator, and resampling.

[0200] Interpolator: The received signal x(n) can be sampled at a fixed sampling rate, but the sampling points are not necessarily aligned with the symbol boundaries. The interpolator uses an interpolation algorithm to interpolate at non-integer multiple sampling points to obtain a more accurate sampling value y(n).

[0201] Time error detector: The interpolated signal y(n) can be passed through the time error detector to detect the phase error τ(n) between adjacent sampling points. For binary signals, the time error detector usually uses the Gardner error formula to calculate the phase error signal τ(n).

[0202] Loop filter: The phase error signal τ(n) can be passed through a loop filter to remove high-frequency noise and obtain a smooth control signal δ(n).

[0203] Digitally controlled oscillator: The smooth control signal δ(n) can be used to control the frequency and phase of the digitally controlled oscillator and adjust the sampling time m in the sampling clock. k and the adjustment amount u at the sampling time k , so that it has the same frequency and phase as the received code element.

[0204] Resampling: The sampling time m in the adjusted sampling clock can be k and the adjustment amount u at the sampling time k It is used to resample the interpolated signal to align it with the symbol boundary. The resampled signal is used as the final sampling result s(n) for subsequent demodulation and data recovery.

[0205] S39: Based on one or more of the modulation mode, the carrier frequency information, the symbol rate, the carrier phase information, and the target clock signal, obtain original data information according to the effective digital baseband signal.

[0206] S40: Determine the fixed data information and the variable data information according to the original data information.

[0207] In the embodiment of the present application, fixed data information and variable data information can be determined based on original data information.

[0208] In the specific implementation, the data frame structure of the demodulated low-speed small target uplink remote control signal is divided into two parts: a fixed field and a variable field. Among them, the preamble, address code, frame start delimiter, length identifier, and end field of the frame tail under the same protocol will not change during the entire communication process and belong to the fixed field, while the command bit, checksum field, ACK, and PID identifier will change with the change of the drone status during the communication process and belong to the variable field.

[0209] The present application realizes accurate demodulation and data recovery of low, small and slow target signals through a series of steps and modules. First, the original digital baseband signal is filtered based on a preset frequency range to obtain a single-frequency digital baseband signal to ensure the purity of the signal. Then, the effective signal is intercepted by the effective signal extractor to reduce the amount of data processed by demodulation and improve processing efficiency. Then, the signal parameter estimation module is used to blindly process the signal to estimate the communication system parameters, including modulation mode, carrier frequency, symbol rate and carrier phase information. Carrier synchronization and bit synchronization are achieved through the in-phase orthogonal loop and the Gardner-based bit timing synchronization algorithm to ensure correct demodulation of the signal. Finally, based on the demodulated original data information, the fixed data information and the variable data information are determined to achieve accurate recovery of the drone control information. This method ensures accurate demodulation and data recovery of the signal through multi-step signal processing and parameter estimation, improves the flexibility and reliability of the system, and is suitable for various complex communication and signal processing scenarios.

[0210] In an optional embodiment of the present application, the original data information is composed of a plurality of data frames, and step S40 further includes the following sub-steps:

[0211] S51: Compare data in any data frame with data in other data frames;

[0212] S52: taking the unchanged data in the data frame as fixed data information;

[0213] S53: taking the changed data in the data frame as variable data information.

[0214] It should be noted that a data frame refers to a basic unit for transmitting data in a digital communication system. A data frame usually includes multiple fields, such as a preamble, an address code, a control field, a data field, a check field, etc., which are used to identify and transmit data information. In an embodiment of the present application, the transmission of control information is achieved through a data frame.

[0215] In the embodiment of the present application, the data in any data frame can be compared with the data in other data frames, and the data that remains unchanged in the data frame can be used as fixed data information, and the data that changes in the data frame can be used as variable data information.

[0216] In the specific implementation, the location and content of the fixed domain can be determined by comparing frames. The location of the variable domain can be identified by changing the attitude and motion of the drone and observing the dynamically changing bytes in the frame structure in real time. The data frame is constructed by the inferred frame structure and modulated to send an uplink signal to a low, small and slow target, thus realizing attitude and motion control of the low, slow and small target.

[0217] This application can effectively distinguish fixed data information from variable data information by comparing the data in different data frames. Fixed data information remains unchanged during the communication process, such as the preamble, address code, frame start delimiter, length identifier, and end field at the end of the frame. This information is used to identify and synchronize data frames to ensure the stability and consistency of communication. Variable data information changes with the change of the drone status during the communication process, such as command bits, checksum fields, ACK, and PID identifiers. This information is used to transmit specific control instructions and status feedback to ensure the flexibility and real-time nature of communication. Through this distinction, the system can process and parse data frames more efficiently, improve the accuracy and reliability of data transmission, and is suitable for various complex communication and control scenarios.

[0218] In an optional embodiment of the present application, step 105 further includes the following sub-steps:

[0219] S62: Determine data information in the variable data information for controlling the action of the drone according to the drone action and the variable data information;

[0220] S62: modifying the data information controlling the action of the drone in the variable data information, and determining the target data information according to the modified variable data information and the fixed data information;

[0221] S62: Acquire clock information of the original digital baseband signal according to the original digital baseband signal;

[0222] S62: Acquire a frequency hopping frequency of the original digital baseband signal according to the original digital baseband signal;

[0223] S62: Determine the target digital baseband signal according to the clock information, the frequency hopping frequency and the target data information.

[0224] It should be noted that frequency hopping frequency refers to the frequency sequence used to transmit signals in a frequency hopping communication system. Frequency hopping communication is a communication technology with strong anti-interference ability, which avoids signal interference or interception by quickly switching between different frequencies.

[0225] In an embodiment of the present application, the data information for controlling the drone action in the variable data information can be determined based on the drone action and the variable data information, the data information for controlling the drone action in the variable data information can be modified, and the target data information can be determined based on the modified variable data information and the fixed data information.

[0226] Then, the clock information of the original digital baseband signal is obtained according to the original digital baseband signal, the frequency hopping frequency of the original digital baseband signal is obtained according to the original digital baseband signal, and the target digital baseband signal is determined according to the clock information, the frequency hopping frequency and the target data information.

[0227] In the specific implementation, the clock information of the original digital baseband signal can be obtained through the reader. The reader module records the position of each sampling point, numbers each sampling point, and calibrates it according to the order in which the sampling points are read in using the natural number sequence {1, 2, 3...i...}. The data sequence number is then transmitted to the synchronous clock module, which is used as the only clock in the entire signal processing process.

[0228] By analyzing the drone's movements and variable data information, this application can accurately determine and modify the data information that controls the drone's movements, ensuring that the drone performs specific actions. At the same time, the clock information and frequency hopping frequency are obtained based on the original digital baseband signal, and the target digital baseband signal is generated by combining the modified variable data information and fixed data information. This method not only improves the flexibility and accuracy of control, but also ensures the reliability and stability of communication, and is suitable for various complex drone control scenarios. By comprehensively utilizing clock information, frequency hopping frequency and target data information, the system can efficiently generate and transmit target digital baseband signals, improving the efficiency and safety of drone control.

[0229] In an optional embodiment of the present application, step S62 further includes the following sub-steps:

[0230] S71: Acquire frequency information of the original digital baseband signal and frequency information of the preset local oscillator signal according to the original digital baseband signal and the preset local oscillator signal;

[0231] S72: Determine a correlation value between the original digital baseband signal and the preset local oscillator signal according to the frequency information of the original digital baseband signal and the frequency information of the preset local oscillator signal;

[0232] S73: When the correlation value is greater than a preset threshold, use the preset local oscillator signal as the frequency hopping frequency.

[0233] It should be noted that the local oscillator signal may refer to a signal used to generate a local carrier in a wireless communication system. The local oscillator signal may be generated by a local oscillator (LO) and used to mix with a received signal to achieve frequency conversion and signal demodulation.

[0234] In the embodiment of the present application, the frequency information of the original digital baseband signal and the frequency information of the preset local oscillator signal can be obtained according to the original digital baseband signal and the preset local oscillator signal, and the correlation value between the original digital baseband signal and the preset local oscillator signal can be determined according to the frequency information of the original digital baseband signal and the frequency information of the preset local oscillator signal, and when the correlation value is greater than a preset threshold, the preset local oscillator signal is used as the frequency hopping frequency. The preset threshold can be set as needed.

[0235] In the specific implementation, the multiplier can multiply the received intermediate frequency digital signal with a local oscillator signal of a certain frequency for mixing. At the same time, the multiplier also includes an energy detection module, which is mainly used to detect whether the frequency of the input signal is related to the local oscillator frequency. The realization of this function depends on the rationality of the threshold value selection. If the correlation value is greater than the threshold value, the input frequency point is consistent with the local oscillator frequency point, and the frequency capture of the frequency hopping signal has been achieved. This module transmits a synchronization indication to the sequence generator, and controls the frequency hopping frequency synthesis together with the synchronization clock.

[0236] This application can accurately determine the correlation value between the original digital baseband signal and the preset local oscillator signal by analyzing the frequency information of the two. When the correlation value is greater than the preset threshold, the preset local oscillator signal is used as the frequency hopping frequency to ensure that the signal is transmitted and received at the correct frequency. This method not only improves the accuracy and reliability of frequency selection, but also enhances the anti-interference ability of the system, and is suitable for various complex wireless communication scenarios. By comprehensively utilizing frequency information and correlation values, the system can efficiently select and adjust the frequency hopping frequency, improving the stability and security of communication.

[0237] Reference Fig. 9 , showing a schematic diagram of a flow chart of a software platform processing a signal provided by an embodiment of the present application.

[0238] It should be noted that the software platform includes USRP source, reader, multiplier, filter, effective signal extractor, demodulator, data display, frequency synthesizer, and synchronous clock.

[0239] The USRP Source can be used to receive and send radio signals, supporting a variety of modulation methods and communication protocols.

[0240] The reader can be used to read and process signal data, such as sampling, quantization, encoding, etc.

[0241] A multiplier can be used to multiply two signals to generate a new signal. Common applications include mixing, modulation, demodulation, etc.

[0242] Filters can be used to remove noise and interference from signals and improve signal quality. Common filters include low-pass filters, high-pass filters, band-pass filters, etc.

[0243] The Effective Signal Extractor can be used to extract effective signals from mixed signals and remove noise and interference.

[0244] A demodulator can be used to convert the modulated signal into the original baseband signal or data information.

[0245] Data Display can be used to display signal data and processing results, such as spectrum graphs, time domain graphs, data tables, etc.

[0246] A frequency synthesizer can be used to generate a specific frequency signal. Common frequency synthesizers include a phase-locked loop (PLL), direct digital synthesis (DDS), etc.

[0247] Synchronization Clock can be used to synchronize the clock signals of multiple devices or systems to ensure the synchronization of data transmission and processing.

[0248] In an embodiment of the present application, the USRP source can send a digital baseband signal to a reader for processing, and the reader obtains a data sequence number as clock information based on the digital baseband signal. The digital baseband signal is then processed by a multiplier to obtain a frequency hopping frequency, and then the noise and interference in the digital baseband signal are removed by a filter, and then the effective digital baseband signal is extracted by an effective signal extractor. The effective digital baseband signal is input into a demodulator for processing, the demodulator demodulates the data, and the demodulated bit stream is transmitted to the screen through a data display module for dynamic display.

[0249] In addition, the reader can send a synchronization indication to the frequency synthesizer, synthesize the target digital baseband signal with the hopping frequency and the modified acquired target data information and return it to the USRP source.

[0250] Among them, the USRP source is the interface for the PC to read data from the hardware platform. The analog signal is processed by the hardware platform and converted into a sampled baseband digital signal, which enters the system in the form of a stream and is processed by the reader.

[0251] In the embodiment of the present application, not only can the drone be controlled, but also the equipment or system that needs to be controlled and managed in the wireless communication system, such as unmanned ships, robots and other wireless communication objects, can be controlled. The original control signal sent by the remote control device to the wireless communication object can be received, the original control signal can be converted into an original digital baseband signal, the fixed data information and variable data information in the original digital baseband signal can be determined according to the original digital baseband signal, the data information in the variable data information that controls the action of the wireless communication object can be modified, the target digital baseband signal can be determined according to the modified variable data information and fixed data information, the target digital baseband signal can be converted into a target control signal, and the target control signal can be sent to the wireless communication object. This method improves the flexibility and accuracy of control, ensures the reliability and stability of communication, and is suitable for various complex wireless communication and control scenarios. By comprehensively utilizing fixed and variable data information, the system can efficiently generate and transmit target control signals, improving the control efficiency and safety of wireless communication objects.

[0252] Reference Fig.10 , shows a schematic diagram of the structure of a UAV control signal processing device based on blind communication provided by an embodiment of the present application, the device comprising:

[0253] A control signal processing system construction module 1001 is used to construct a control signal processing system, wherein the control signal processing system performs blind communication with the remote control device and the drone, respectively, and there is a communication connection between the remote control device and the drone;

[0254] The original signal receiving module 1002 is used to receive the original control signal sent by the remote control device to the drone;

[0255] The original signal conversion module 1003 is used to convert the original control signal into an original digital baseband signal;

[0256] The original signal demodulation module 1004 is used to determine the fixed data information and the variable data information in the original digital baseband signal according to the original digital baseband signal;

[0257] A target signal acquisition module 1005 is used to modify the data information for controlling the action of the drone in the variable data information, and determine the target digital baseband signal according to the modified variable data information and the fixed data information;

[0258] A target signal conversion module 1006, configured to convert the target digital baseband signal into a target control signal;

[0259] The target signal sending module 1007 is used to send the target control signal to the UAV.

[0260] Optionally, the original signal conversion module 1003 includes:

[0261] An original intermediate frequency analog signal acquisition module is used to adjust the first frequency information, the first phase information, and the first amplitude information corresponding to the original control signal to obtain an original intermediate frequency analog signal;

[0262] An original intermediate frequency digital signal acquisition module is used to adjust the second frequency information, the second phase information, the second amplitude information, and the first time information corresponding to the original intermediate frequency analog signal to acquire the original intermediate frequency digital signal;

[0263] The original digital baseband signal acquisition module is used to adjust the third frequency information, the third phase information, and the third amplitude information corresponding to the original intermediate frequency digital signal to obtain the original digital baseband signal.

[0264] Optionally, the target signal conversion module 1006 includes:

[0265] A target intermediate frequency digital signal acquisition module, used to adjust the fourth frequency information, the fourth phase information, and the fourth amplitude information corresponding to the target digital baseband signal to acquire the target intermediate frequency digital signal;

[0266] A target intermediate frequency analog signal acquisition module is used to adjust the fifth frequency information, the fifth phase information, the fifth amplitude information, and the second time information corresponding to the target intermediate frequency digital signal to acquire the target intermediate frequency analog signal;

[0267] The target control signal acquisition module is used to adjust the sixth frequency information, the sixth phase information, and the sixth amplitude information corresponding to the target intermediate frequency analog signal to obtain the target control signal.

[0268] Optionally, the original signal demodulation module 1004 includes:

[0269] A filtering module, used for filtering the original digital baseband signal based on a preset frequency range to obtain a single-frequency digital baseband signal;

[0270] An effective signal extraction module, used for obtaining an effective digital baseband signal according to the single-frequency digital baseband signal;

[0271] A detection and sorting module, used for acquiring time positioning information according to the effective digital baseband signal;

[0272] A modulation mode identification module, used to determine the modulation mode of the effective digital baseband signal according to the time positioning information;

[0273] A carrier frequency determination module, used to determine the carrier frequency information of the effective digital baseband signal according to the effective digital baseband signal and the modulation mode of the effective digital baseband signal;

[0274] A symbol rate determination module, configured to determine a symbol rate of the effective digital baseband signal according to the effective digital baseband signal;

[0275] A carrier phase determination module, used to determine the carrier phase information of the effective digital baseband signal according to the effective digital baseband signal;

[0276] A clock signal determination module, used to determine a target clock signal of the effective digital baseband signal according to the effective digital baseband signal;

[0277] Based on one or more of the modulation mode, the carrier frequency information, the symbol rate, the carrier phase information, and the target clock signal, obtaining original data information according to the effective digital baseband signal;

[0278] A data information determination module is used to determine the fixed data information and the variable data information according to the original data information.

[0279] Optionally, the original data information is composed of a plurality of data frames, and the data information determination module includes:

[0280] A data comparison module, used to compare the data in any data frame with the data in other data frames;

[0281] A fixed data determination module, used for taking the unchanged data in the data frame as fixed data information;

[0282] The variable data determination module is used to use the changed data in the data frame as variable data information.

[0283] Optionally, the target signal acquisition module 1005 includes:

[0284] An action data information determination module, used to determine data information for controlling the action of the drone in the variable data information according to the drone action and the variable data information;

[0285] a target data information determination module, used to modify the data information controlling the action of the drone in the variable data information, and determine the target data information according to the modified variable data information and the fixed data information;

[0286] A clock acquisition module, used to acquire clock information of the original digital baseband signal according to the original digital baseband signal;

[0287] A frequency hopping frequency determination module, used to obtain the frequency hopping frequency of the original digital baseband signal according to the original digital baseband signal;

[0288] The target digital baseband signal synthesis module is used to determine the target digital baseband signal according to the clock information, the frequency hopping frequency and the target data information.

[0289] Optionally, the frequency hopping frequency determination module includes:

[0290] A frequency information acquisition module, used to acquire the frequency information of the original digital baseband signal and the frequency information of the preset local oscillator signal according to the original digital baseband signal and the preset local oscillator signal;

[0291] A correlation value determination module, configured to determine a correlation value between the original digital baseband signal and the preset local oscillator signal according to the frequency information of the original digital baseband signal and the frequency information of the preset local oscillator signal;

[0292] The frequency hopping frequency determination submodule is used to use the preset local oscillator signal as the frequency hopping frequency when the correlation value is greater than a preset threshold.

[0293] An embodiment of the present application also provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the above-mentioned drone control signal processing method based on blind communication is implemented.

[0294] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned drone control signal processing method based on blind communication is implemented.

[0295] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0296] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0297] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0298] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0299] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0300] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0301] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0302] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0303] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0304] The above is a detailed introduction to the provided UAV control signal processing method and device based on blind communication. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for processing UAV control signals based on blind communication, characterized in that: The method comprises: Constructing a control signal processing system, wherein the control signal processing system performs blind communication with a remote control device and the drone, respectively, and a communication connection is established between the remote control device and the drone; Receiving an original control signal sent by the remote control device to the drone; Converting the original control signal into an original digital baseband signal; Determine fixed data information and variable data information in the original digital baseband signal according to the original digital baseband signal; Modifying the data information controlling the action of the drone in the variable data information, and determining the target digital baseband signal according to the modified variable data information and the fixed data information; Converting the target digital baseband signal into a target control signal; The target control signal is sent to the UAV.

2. The method according to claim 1, characterized in that The converting the original control signal into an original digital baseband signal comprises: Adjusting the first frequency information, the first phase information, and the first amplitude information corresponding to the original control signal to obtain an original intermediate frequency analog signal; Adjust the second frequency information, the second phase information, the second amplitude information, and the first time information corresponding to the original intermediate frequency analog signal to obtain an original intermediate frequency digital signal; The third frequency information, the third phase information, and the third amplitude information corresponding to the original intermediate frequency digital signal are adjusted to obtain the original digital baseband signal.

3. The method according to claim 1, characterized in that The converting the target digital baseband signal into a target control signal comprises: Adjusting the fourth frequency information, the fourth phase information, and the fourth amplitude information corresponding to the target digital baseband signal to obtain a target intermediate frequency digital signal; Adjust the fifth frequency information, the fifth phase information, the fifth amplitude information, and the second time information corresponding to the target intermediate frequency digital signal to obtain a target intermediate frequency analog signal; The sixth frequency information, the sixth phase information, and the sixth amplitude information corresponding to the target intermediate frequency analog signal are adjusted to obtain the target control signal.

4. The method according to claim 1, characterized in that: The determining, according to the original digital baseband signal, the fixed data information and the variable data information in the original digital baseband signal comprises: Filtering the original digital baseband signal based on a preset frequency range to obtain a single-frequency digital baseband signal; Acquire an effective digital baseband signal according to the single-frequency digital baseband signal; Acquire time positioning information according to the effective digital baseband signal; Determining a modulation mode of the effective digital baseband signal according to the time positioning information; Determine carrier frequency information of the effective digital baseband signal according to the effective digital baseband signal and the modulation mode of the effective digital baseband signal; Determining a symbol rate of the effective digital baseband signal according to the effective digital baseband signal; Determine carrier phase information of the effective digital baseband signal according to the effective digital baseband signal; Determine a target clock signal of the valid digital baseband signal according to the valid digital baseband signal; Based on one or more of the modulation mode, the carrier frequency information, the symbol rate, the carrier phase information, and the target clock signal, obtaining original data information according to the effective digital baseband signal; The fixed data information and the variable data information are determined according to the original data information.

5. The method according to claim 4, characterized in that The original data information is composed of a plurality of data frames, and the determining the fixed data information and the variable data information according to the original data information includes: Compare the data in any data frame with the data in other data frames; Using the unchanged data in the data frame as fixed data information; The changed data in the data frame is used as variable data information.

6. The method according to claim 4, characterized in that The step of modifying the data information for controlling the action of the drone in the variable data information and determining the target digital baseband signal according to the modified variable data information and the fixed data information includes: Determine data information in the variable data information for controlling the action of the drone according to the drone action and the variable data information; Modify the data information controlling the action of the drone in the variable data information, and determine the target data information according to the modified variable data information and the fixed data information; Acquire clock information of the original digital baseband signal according to the original digital baseband signal; Acquire a frequency hopping frequency of the original digital baseband signal according to the original digital baseband signal; The target digital baseband signal is determined according to the clock information, the frequency hopping frequency and the target data information.

7. The method according to claim 5, characterized in that The acquiring the frequency hopping frequency of the original digital baseband signal according to the original digital baseband signal comprises: Acquire frequency information of the original digital baseband signal and frequency information of the preset local oscillator signal according to the original digital baseband signal and the preset local oscillator signal; Determine a correlation value between the original digital baseband signal and the preset local oscillator signal according to the frequency information of the original digital baseband signal and the frequency information of the preset local oscillator signal; When the correlation value is greater than a preset threshold, the preset local oscillator signal is used as the frequency hopping frequency.

8. A UAV control signal processing device based on blind communication, characterized in that: The device comprises: A control signal processing system building module, used to build a control signal processing system, wherein the control signal processing system performs blind communication with the remote control device and the drone, respectively, and there is a communication connection between the remote control device and the drone; An original signal receiving module, used to receive an original control signal sent by the remote control device to the drone; An original signal conversion module, used for converting the original control signal into an original digital baseband signal; An original signal demodulation module, used to determine fixed data information and variable data information in the original digital baseband signal according to the original digital baseband signal; A target signal acquisition module, used to modify the data information controlling the action of the drone in the variable data information, and determine the target digital baseband signal according to the modified variable data information and the fixed data information; A target signal conversion module, used for converting the target digital baseband signal into a target control signal; A target signal sending module is used to send the target control signal to the UAV.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for processing unmanned aerial vehicle control signals based on blind communication as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the method for processing unmanned aerial vehicle control signals based on blind communication as described in any one of claims 1 to 7 is implemented.

Images