Posture adjustment method and system for avoiding ground GNSS strong interference of unmanned aerial vehicle, and unmanned aerial vehicle

Abstract

The invention discloses a posture adjustment method and system for an unmanned aerial vehicle to avoid ground GNSS strong interference and the unmanned aerial vehicle. The method comprises the following steps: acquiring a carrier-to-noise ratio of a real-time navigation signal; judging whether the carrier-to-noise ratio of the obtained real-time navigation signal is lower than a first preset threshold value or not; if the carrier-to-noise ratio of the obtained real-time navigation signal is lower than a first preset threshold value, adjusting the initial posture of the unmanned aerial vehicle according to the pitch angle and the horizontal azimuth angle of the unmanned aerial vehicle to obtain each adjustment posture; obtaining carrier-to-noise ratios corresponding to the adjustment postures, and comparing the carrier-to-noise ratios corresponding to the adjustment postures to obtain an optimal carrier-to-noise ratio; and obtaining an optimal posture according to the adjustment posture corresponding to the optimal carrier-to-noise ratio. The carrier-to-noise ratio of the real-time navigation signal is improved by adjusting the posture of the unmanned aerial vehicle, so that the influence of a strong interference signal on the unmanned aerial vehicle is reduced, and the safety of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a posture adjustment method and system for unmanned aerial vehicles to avoid strong interference from ground GNSS, and the unmanned aerial vehicle. Background Art

[0002] A drone, also known as an unmanned aircraft, is an unmanned aircraft controlled by a radio remote control device. When remotely controlling a drone, it is necessary to send navigation signals to the drone via satellite; the drone has an antenna on the top to receive the navigation signal so that the drone can fly along the route planned by the navigation signal.

[0003] However, drones usually operate in low-altitude areas, which are close to the ground. People on the ground will generate strong interference signals during their production activities. Strong interference signals can easily affect drones operating in low-altitude areas. At this time, strong interference signals will weaken or shield the drone from receiving navigation signals, causing the drone to lose navigation signals and be unable to control the flight route, resulting in the drone losing the ability to receive navigation signals and being unable to return, thus causing the problem of crashing.

[0004] Therefore, there is still an urgent need for a method to improve the ability of drones to receive navigation signals. Summary of the invention

[0005] The main purpose of the present invention is to propose a posture adjustment method, system and drone for drones to avoid strong interference from ground GNSS, so as to solve the problem that existing drones will lose the ability to receive navigation signals and cannot return when they are affected by strong interference signals, thus causing crashes.

[0006] To achieve the above object, the present invention proposes a posture adjustment method for a UAV to avoid strong interference of ground GNSS, and the posture adjustment method for a UAV to avoid strong interference of ground GNSS includes: Obtain the carrier-to-noise ratio of real-time navigation signals; Determining whether the carrier-to-noise ratio of the acquired real-time navigation signal is lower than a first preset threshold; If the carrier-to-noise ratio of the acquired real-time navigation signal is lower than the first preset threshold, adjusting the initial posture of the UAV according to the pitch angle and horizontal azimuth angle of the UAV to obtain various adjusted postures; Acquire the carrier-to-noise ratio corresponding to each of the adjustment postures, and compare the carrier-to-noise ratios corresponding to each of the adjustment postures to obtain an optimal carrier-to-noise ratio; The optimal posture is obtained according to the adjusted posture corresponding to the optimal carrier-to-noise ratio.

[0007] In some embodiments, the initial posture of the drone is adjusted according to the pitch angle and the horizontal azimuth angle of the drone to obtain each adjusted posture, including: Acquiring an initial pitch angle of the initial posture; The initial pitch angle is adjusted to a preset pitch angle, and the horizontal azimuth angle of the drone is rotated to adjust the horizontal azimuth angle to obtain the adjusted postures.

[0008] In some embodiments, after obtaining the optimal posture according to the adjusted posture corresponding to the optimal carrier-to-noise ratio, the method further includes: Determine the location of the interference source according to the optimal posture; The UAV is controlled to move away from the interference source in the optimal posture.

[0009] In some embodiments, after controlling the drone to move away from the interference source in the optimal posture, the method further includes: Obtain the carrier-to-noise ratio of real-time navigation signals; Determining whether the carrier-to-noise ratio of the real-time navigation signal is higher than a second preset threshold; If the carrier-to-noise ratio of the real-time navigation signal is higher than the second preset threshold, it is determined that the UAV has moved away from the location of the interference source.

[0010] In some embodiments, after determining that the drone has moved away from the interference source, the method further includes: Acquiring the preset depression angle of the optimal posture; The preset pitch angle is adjusted to the initial pitch angle.

[0011] In some embodiments, acquiring the carrier-to-noise ratio of the real-time navigation signal includes: Acquire the real-time navigation signal received by the antenna; The real-time navigation signal is analyzed to obtain a carrier-to-noise ratio of the real-time navigation signal.

[0012] In some embodiments, obtaining the carrier-to-noise ratio corresponding to each of the adjustment postures includes: For each of the adjustment postures, acquiring the real-time navigation signal received by the antenna; The real-time navigation signal is analyzed to obtain a carrier-to-noise ratio of the real-time navigation signal corresponding to the adjustment posture.

[0013] In some embodiments, comparing the carrier-to-noise ratios corresponding to the adjustment postures to obtain an optimal carrier-to-noise ratio includes: Arrange the carrier-to-noise ratios corresponding to the adjustment postures in descending order; The optimal carrier-to-noise ratio is obtained according to the first-ranked carrier-to-noise ratio.

[0014] The present invention also proposes a posture adjustment system for an unmanned aerial vehicle to avoid strong interference with the ground GNSS. The posture adjustment system for an unmanned aerial vehicle to avoid strong interference with the ground GNSS includes a processing module, an antenna and a gyroscope; the posture adjustment system for an unmanned aerial vehicle to avoid strong interference with the ground GNSS can execute any of the posture adjustment methods for an unmanned aerial vehicle to avoid strong interference with the ground GNSS described above.

[0015] The present invention also proposes an unmanned aerial vehicle, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the posture adjustment method for the unmanned aerial vehicle described in any one of the above-mentioned methods to avoid strong interference from the ground GNSS is implemented.

[0016] The present invention obtains the real-time navigation signal received by the antenna, and determines whether the carrier-to-noise ratio of the real-time navigation signal is lower than a first preset threshold value; if the carrier-to-noise ratio of the real-time navigation signal is lower than the first preset threshold value, the posture of the unmanned aerial vehicle is adjusted to find the posture when the carrier-to-noise ratio is optimal; since the antenna is installed on the top of the unmanned aerial vehicle, adjusting the posture of the unmanned aerial vehicle is adjusting the posture of the antenna; when the unmanned aerial vehicle is in the optimal posture, the antenna is also in the optimal posture, at which time the antenna has the strongest ability to receive the real-time navigation signal and the weakest ability to receive the strong interference signal; the influence of the strong interference signal on the unmanned aerial vehicle is reduced, and the safety of the unmanned aerial vehicle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of a method for adjusting the posture of a UAV to avoid strong interference from ground GNSS in an embodiment of the present invention; Figure 2 Another flowchart of a method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to an embodiment of the present invention; Figure 3 Another flowchart of a method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to an embodiment of the present invention; Figure 4 Another flowchart of a method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to an embodiment of the present invention; Figure 5 Another flowchart of a method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to an embodiment of the present invention; Figure 6 Another flowchart of a method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to an embodiment of the present invention; Figure 7 This is a structural schematic diagram of a posture adjustment system for a UAV to avoid strong interference from ground GNSS in an embodiment of the present invention; Figure 8 Schematic diagram of the structure of a drone in an embodiment of the present invention.

[0018] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0019] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0022] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] To achieve the above object, the present invention proposes a posture adjustment method for a UAV to avoid strong interference of ground GNSS. The posture adjustment method for a UAV to avoid strong interference of ground GNSS includes: Step S110, obtaining the carrier-to-noise ratio of the real-time navigation signal; Step S120, determining whether the carrier-to-noise ratio of the real-time navigation signal is lower than a first preset threshold; Step S130, if the carrier-to-noise ratio of the real-time navigation signal is lower than a first preset threshold, adjusting the initial posture of the UAV according to the pitch angle and horizontal azimuth angle of the UAV to obtain various adjusted postures; Step S140, obtaining the carrier-to-noise ratio corresponding to each adjustment posture, and comparing the carrier-to-noise ratio corresponding to each adjustment posture to obtain the optimal carrier-to-noise ratio; Step S150, obtaining the optimal posture according to the adjusted posture corresponding to the optimal carrier-to-noise ratio.

[0024] In this embodiment, refer to Figure 1 , Figure 7 and Figure 8 , the posture adjustment method for a UAV to avoid strong interference from the ground GNSS is applied to a posture adjustment system for a UAV to avoid strong interference from the ground GNSS. The posture adjustment system for a UAV to avoid strong interference from the ground GNSS can be configured on a UAV; the UAV can avoid strong interference from the ground through the posture adjustment system for a UAV to avoid strong interference from the ground GNSS, thereby ensuring the safety of the UAV. The posture adjustment system for a UAV to avoid strong interference from the ground GNSS may include a processing module, an antenna, and a gyroscope. The processing module can be used to process various data; the antenna can be used to receive navigation signals; the gyroscope can be used to determine the pitch angle and horizontal azimuth angle of the UAV. In this embodiment, the execution body of the method steps is the processing module.

[0025] It is understandable that the antenna is used to receive navigation signals that may be from GNSS (Global Navigational Satellite System). The antenna is fixedly mounted on the top of the drone, and the top of the antenna is parallel to the top of the drone; therefore, the pitch angle and horizontal azimuth of the drone are the same as the pitch angle and horizontal azimuth of the antenna; adjusting the posture of the drone is adjusting the posture of the antenna. Studies have shown that the top of the antenna has the best effect in receiving signals, and the bottom of the antenna has the worst effect in receiving signals. Therefore, when the bottom of the antenna is aligned with the position of the interference source, the antenna's ability to receive strong interference signals generated by the interference source is the weakest. In this embodiment, the posture of the drone is adjusted so that the bottom of the antenna is aligned with the position of the interference source to avoid strong interference from the ground GNSS.

[0026] In order for the drone to achieve precise flight along the predetermined flight trajectory, it needs to continuously receive real-time navigation signals through the antenna. At this point, the processing module of the drone can obtain the real-time navigation signal. Then the processing module can obtain the carrier-to-noise ratio of the real-time navigation signal based on the real-time navigation signal. Among them, the carrier-to-noise ratio refers to the ratio of the carrier signal power to the noise signal power in the received signal; a higher carrier-to-noise ratio means that the carrier signal power is relatively strong and the noise signal power is relatively weak. At this time, the signal quality is better and the receiving end can demodulate the original signal more accurately. In this embodiment, the carrier signal can be a meaningful navigation signal; the noise signal can be a strong interference signal; the real-time navigation signal includes a carrier signal and a noise signal.

[0027] After the processing module obtains the carrier-to-noise ratio of the real-time navigation signal, it will determine whether the carrier-to-noise ratio of the real-time navigation signal is lower than a first preset threshold, wherein the first preset threshold can be determined according to the ability of the drone to receive navigation signals; the first preset threshold is less than the second preset threshold.

[0028] If the processing module determines that the carrier-to-noise ratio of the real-time navigation signal is lower than the first preset threshold, it can be indicated that the carrier signal power is relatively weak, the noise signal power is relatively strong, and the signal quality is poor. The processing module adjusts the initial posture of the drone according to the pitch angle and horizontal azimuth of the drone to obtain various adjusted postures. For example, the processing module can control the wings of the drone to adjust the pitch angle and horizontal azimuth of the drone.

[0029] When adjusting the posture of the drone, the processing module will also obtain the carrier-to-noise ratio corresponding to each adjusted posture, and compare the carrier-to-noise ratios corresponding to each adjusted posture, and find an optimal carrier-to-noise ratio from the carrier-to-noise ratios corresponding to each adjusted posture, that is, the carrier-to-noise ratio with the largest value among the carrier-to-noise ratios corresponding to each adjusted posture.

[0030] After the processing module obtains the optimal carrier-to-noise ratio, it obtains the optimal posture according to the adjustment posture corresponding to the optimal carrier-to-noise ratio; at this time, the antenna's ability to receive the strong interference signal generated by the interference source is the weakest.

[0031] Through this embodiment, the real-time navigation signal received by the antenna can be obtained to determine whether the carrier-to-noise ratio of the real-time navigation signal is lower than a preset threshold; if the carrier-to-noise ratio of the real-time navigation signal is lower than the preset threshold, the posture of the UAV is adjusted to find the posture when the carrier-to-noise ratio is optimal; since the antenna is installed on the top of the UAV, adjusting the posture of the UAV is adjusting the posture of the antenna; when the UAV is in the optimal posture, the antenna is also in the optimal posture, at which time the antenna has the strongest ability to receive real-time navigation signals and the weakest ability to receive strong interference signals; the influence of strong interference signals on the UAV is reduced, and the safety of the UAV is improved.

[0032] In some embodiments, the initial posture of the drone is adjusted according to the pitch angle and horizontal azimuth angle of the drone to obtain each adjusted posture, including: Step S160, obtaining an initial pitch angle of the initial posture; Step S161, adjusting the initial pitch angle to a preset pitch angle, and rotating and adjusting the horizontal azimuth angle of the drone to obtain various adjustment postures.

[0033] In this embodiment, refer to Figure 2, when the processing module executes step S130, it adjusts the pitch angle and the horizontal azimuth angle respectively. The processing module can obtain the initial pitch angle of the initial posture of the drone through the gyroscope. After the processing module obtains the initial pitch angle, it will first adjust the pitch angle of the drone, and adjust the nose of the drone from the initial pitch angle to the preset pitch angle. For example: the preset pitch angle can be set to 45 degrees, and the processing module can tilt the nose of the drone downward by adjusting the wings of the drone, so that the pitch angle of the drone reaches 45 degrees. Then rotate and adjust the horizontal azimuth angle of the drone; that is, when the drone is at the preset pitch angle, rotate the drone one circle (rotate 360 ​​degrees); thereby obtaining each adjustment posture. For example: an adjustment posture can be determined for every 1 degree in 360 degrees to obtain each adjustment posture. It can also be determined for every 10 degrees in 360 degrees to obtain each adjustment posture. Of course, there is no limit on how many degrees are used to determine an adjustment posture in 360 degrees.

[0034] In some embodiments, after obtaining the optimal posture according to the adjusted posture corresponding to the optimal carrier-to-noise ratio in the foregoing, the method further includes: Step S170, determining the location of the interference source according to the optimal posture; Step S171, controlling the drone to move away from the interference source in an optimal posture.

[0035] In this embodiment, refer to Figure 3 , after executing step SS150, the processing module also needs to determine the location of the interference source. Because when the bottom of the antenna is aligned with the position of the interference source, the antenna's ability to receive the strong interference signal generated by the interference source is the weakest. When the drone is in the optimal posture, the antenna is also in the optimal posture, that is, the bottom of the antenna is aligned with the position of the interference source; at this time, the processing module can determine the position of the interference source based on the pitch angle and horizontal azimuth angle in the optimal posture. After the processing module determines the position of the interference source, it can control the drone to move away from the interference source in the optimal posture; that is, to move away from the interference source in the posture with the bottom of the antenna aligned with the interference source.

[0036] In some embodiments, after controlling the drone to move away from the interference source in an optimal posture, the method further includes: Step S180, obtaining the carrier-to-noise ratio of the real-time navigation signal; Step S181, determining whether the carrier-to-noise ratio of the real-time navigation signal is higher than a second preset threshold; Step S182: If the carrier-to-noise ratio of the real-time navigation signal is higher than a second preset threshold, it is determined that the UAV has moved away from the location of the interference source.

[0037] In this embodiment, refer to Figure 4, after executing step S171, the processing module needs to determine the carrier-to-noise ratio. In the process of controlling the UAV to move away from the interference source in the optimal posture, the processing module will also obtain the carrier-to-noise ratio of the real-time navigation signal, thereby determining whether the carrier-to-noise ratio of the real-time navigation signal is higher than the second preset threshold. If the processing module determines that the carrier-to-noise ratio of the real-time navigation signal is higher than the second preset threshold, it can be determined that the UAV is far away from the interference source. The processing module can continuously detect whether the carrier-to-noise ratio of the real-time navigation signal is higher than the second preset threshold while the UAV is moving away from the interference source in the optimal posture, thereby determining whether the UAV is far away from the interference source.

[0038] For example, the first preset threshold value can be set to 24db (decibel), and the second preset threshold value can be set to 30db. When the processing module determines that the carrier-to-noise ratio of the real-time navigation signal is lower than 24db, it can be determined that the UAV is seriously affected by the interference source, and the posture of the UAV can be adjusted at this time. When the processing module determines that the carrier-to-noise ratio of the real-time navigation signal is higher than 30db, it can be determined that the UAV is far away from the interference source, and the adjustment of the UAV posture can be ended at this time.

[0039] In a preferred embodiment, if the carrier-to-noise ratio of the real-time navigation signal is not higher than the second preset threshold, the drone continues to be controlled to move away from the interference source in an optimal posture. In the process of the drone moving away from the interference source in an optimal posture, the processing module continues to detect whether the carrier-to-noise ratio of the real-time navigation signal is higher than the second preset threshold. If the carrier-to-noise ratio of the real-time navigation signal is not higher than the second preset threshold, the processing module continues to control the drone to move away from the interference source in an optimal posture.

[0040] In some embodiments, after determining that the drone is far away from the interference source, the method further includes: Get the preset pitch angle for the optimal posture; Adjust the preset pitch angle to the initial pitch angle.

[0041] In this embodiment, after executing step S182, the processing module will also adjust the pitch angle of the drone back. After the processing module determines that the drone has moved away from the interference source, it will obtain the preset pitch angle of the optimal posture; thereby adjusting the preset pitch angle to the initial pitch angle. The processing module can obtain the preset pitch angle of the optimal posture based on historical data; it can also obtain the preset pitch angle of the optimal posture from the gyroscope. For example: in the case where the preset pitch angle is 45 degrees; the nose of the drone is in a downward tilt state, and the pitch angle is 45 degrees; the processing module can control the nose of the drone to lift up, so that the pitch angle of the drone is adjusted from the preset pitch angle to the initial pitch angle. The pitch angle of the nose of the drone returns to the initial pitch angle, so that the drone flies at the initial pitch angle.

[0042] In some embodiments, the above-mentioned obtaining the carrier-to-noise ratio of the real-time navigation signal includes: Step S111, acquiring a real-time navigation signal received by the antenna; Step S112: analyzing the real-time navigation signal to obtain the carrier-to-noise ratio of the real-time navigation signal.

[0043] In this embodiment, refer to Figure 5 When executing step S110, the processing module also needs to obtain the real-time navigation signal first. The antenna of the drone will receive the real-time navigation signal in real time. After the antenna receives the real-time navigation signal, the processing module can obtain the real-time navigation signal from the antenna. After the processing module obtains the real-time navigation signal, it will parse the real-time navigation signal to obtain the carrier-to-noise ratio of the real-time navigation signal. For example: the processing module can disassemble the real-time navigation signal, divide the real-time navigation signal into a meaningful navigation signal and a strong interference signal, and then compare the meaningful navigation signal with the strong interference signal to obtain the carrier-to-noise ratio of the real-time navigation signal.

[0044] In some embodiments, the above-mentioned obtaining the carrier-to-noise ratio corresponding to each adjustment posture includes: For each adjusted posture, obtaining a real-time navigation signal received by the antenna; The real-time navigation signal is analyzed to obtain the carrier-to-noise ratio of the real-time navigation signal corresponding to the adjusted posture.

[0045] In this embodiment, when the processing module obtains the carrier-to-noise ratio corresponding to each adjustment posture in step S140, the carrier-to-noise ratio is obtained once for each adjustment posture. For each adjustment posture, the processing module obtains the real-time navigation signal received by the antenna, and then analyzes the real-time navigation signal of each adjustment posture, thereby obtaining the carrier-to-noise ratio of the real-time navigation signal of each adjustment posture.

[0046] In some embodiments, comparing the carrier-to-noise ratios corresponding to the various adjustment postures to obtain the optimal carrier-to-noise ratio includes: Step S190, arranging the carrier-to-noise ratios corresponding to the adjustment postures in descending order; Step S191, obtaining an optimal carrier-to-noise ratio according to the first ranked carrier-to-noise ratio.

[0047] In this embodiment, refer to Figure 6When the processing module compares the carrier-to-noise ratios corresponding to each adjustment posture to obtain the optimal carrier-to-noise ratio in step S140, the carrier-to-noise ratios will be arranged in descending order. The processing module arranges the carrier-to-noise ratios corresponding to each adjustment posture in descending order, and then determines the carrier-to-noise ratio ranked first as the optimal carrier-to-noise ratio. In a preferred embodiment, after the processing module adjusts the initial pitch angle of the drone to a preset pitch angle, the processing module adjusts the horizontal azimuth angle of the drone while detecting the carrier-to-noise ratio. For example: the processing module can control the drone to rotate clockwise and detect the change in the carrier-to-noise ratio during the rotation process. If the carrier-to-noise ratio is increasing, it continues to rotate clockwise; if the carrier-to-noise ratio decreases, it rotates counterclockwise until the carrier-to-noise ratio reaches the optimal carrier-to-noise ratio.

[0048] The present invention obtains the real-time navigation signal received by the antenna, and determines whether the carrier-to-noise ratio of the real-time navigation signal is lower than a first preset threshold value; if the carrier-to-noise ratio of the real-time navigation signal is lower than the first preset threshold value, the posture of the unmanned aerial vehicle is adjusted to find the posture when the carrier-to-noise ratio is optimal; since the antenna is installed on the top of the unmanned aerial vehicle, adjusting the posture of the unmanned aerial vehicle is adjusting the posture of the antenna; when the unmanned aerial vehicle is in the optimal posture, the antenna is also in the optimal posture, at which time the antenna has the strongest ability to receive the real-time navigation signal and the weakest ability to receive the strong interference signal; the influence of the strong interference signal on the unmanned aerial vehicle is reduced, and the safety of the unmanned aerial vehicle is improved.

[0049] The present invention also proposes a posture adjustment system for an unmanned aerial vehicle to avoid strong interference with the ground GNSS. The posture adjustment system for an unmanned aerial vehicle to avoid strong interference with the ground GNSS includes a processing module, an antenna and a gyroscope; the posture adjustment system for an unmanned aerial vehicle to avoid strong interference with the ground GNSS can execute any of the posture adjustment methods for an unmanned aerial vehicle to avoid strong interference with the ground GNSS described above.

[0050] In this embodiment, refer to Figure 7 , the posture adjustment system for the UAV to avoid strong interference from the ground GNSS includes a processing module, an antenna and a gyroscope. The processing module can be used to process various data; the antenna can be used to receive navigation signals; the gyroscope can be used to determine the pitch angle and horizontal azimuth of the UAV. The antenna is fixedly mounted on the top of the UAV, and the top of the antenna is parallel to the top of the UAV; therefore, the pitch angle and horizontal azimuth of the UAV are the same as the pitch angle and horizontal azimuth of the antenna; adjusting the posture of the UAV is to adjust the posture of the antenna. Studies have shown that the top of the antenna has the best effect of receiving signals, and the bottom of the antenna has the worst effect of receiving signals. Therefore, when the bottom of the antenna is aligned with the position of the interference source, the antenna's ability to receive the strong interference signal generated by the interference source is the weakest. In this embodiment, the posture of the UAV is adjusted so that the bottom of the antenna is aligned with the position of the interference source to avoid strong interference from the ground GNSS.

[0051] The present invention also proposes a drone comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the posture adjustment method for the drone to avoid strong interference from the ground GNSS as described above is implemented.

[0052] In this embodiment, refer to Figure 8 , the UAV can be equipped with a posture adjustment system for the UAV to avoid strong interference from the ground GNSS. The UAV executes the posture adjustment method for the UAV to avoid strong interference from the ground GNSS through the posture adjustment system for the UAV to avoid strong interference from the ground GNSS. The antenna is fixedly mounted on the top of the UAV, and the top of the antenna is parallel to the top of the UAV; therefore, the pitch angle and horizontal azimuth of the UAV are the same as the pitch angle and horizontal azimuth of the antenna; adjusting the posture of the UAV is adjusting the posture of the antenna. Studies have shown that the top of the antenna has the best effect in receiving signals, and the bottom of the antenna has the worst effect in receiving signals. Therefore, when the bottom of the antenna is aligned with the position of the interference source, the antenna's ability to receive the strong interference signal generated by the interference source is the weakest. In this embodiment, the posture of the UAV is adjusted so that the bottom of the antenna is aligned with the position of the interference source to avoid strong interference from the ground GNSS.

[0053] Based on the computer program proposed in the aforementioned embodiment, the present invention further proposes a storage medium, which stores a computer program. When the computer program is executed by a controller, the posture adjustment method for the drone to avoid strong interference from the ground GNSS recorded in the aforementioned embodiment is implemented.

[0054] The present invention also proposes a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of a posture adjustment method for a drone to avoid strong interference from ground GNSS as described in any one of the above technical solutions are implemented.

[0055] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A posture adjustment method for a UAV to avoid strong interference from ground GNSS, characterized in that: The posture adjustment method of the UAV to avoid strong interference of ground GNSS includes: Obtain the carrier-to-noise ratio of real-time navigation signals; Determining whether the carrier-to-noise ratio of the acquired real-time navigation signal is lower than a first preset threshold; If the carrier-to-noise ratio of the acquired real-time navigation signal is lower than the first preset threshold, adjusting the initial posture of the UAV according to the pitch angle and horizontal azimuth angle of the UAV to obtain various adjusted postures; Acquire the carrier-to-noise ratio corresponding to each of the adjustment postures, and compare the carrier-to-noise ratios corresponding to each of the adjustment postures to obtain an optimal carrier-to-noise ratio; The optimal posture is obtained according to the adjusted posture corresponding to the optimal carrier-to-noise ratio.

2. The method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to claim 1, characterized in that: The initial posture of the UAV is adjusted according to the pitch angle and horizontal azimuth angle of the UAV to obtain each adjusted posture, including: Acquiring an initial pitch angle of the initial posture; The initial pitch angle is adjusted to a preset pitch angle, and the horizontal azimuth angle of the drone is rotated to adjust the horizontal azimuth angle to obtain the adjusted postures.

3. The method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to claim 2 is characterized in that: After obtaining the optimal posture according to the adjusted posture corresponding to the optimal carrier-to-noise ratio, the method further includes: Determine the location of the interference source according to the optimal posture; The UAV is controlled to move away from the interference source in the optimal posture.

4. The method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to claim 3 is characterized in that: After controlling the drone to move away from the interference source in the optimal posture, the method further includes: Obtain the carrier-to-noise ratio of real-time navigation signals; Determining whether the carrier-to-noise ratio of the real-time navigation signal is higher than a second preset threshold; If the carrier-to-noise ratio of the real-time navigation signal is higher than the second preset threshold, it is determined that the UAV has moved away from the location of the interference source.

5. The method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to claim 4, characterized in that: After determining that the UAV has moved away from the interference source, the method further includes: Acquiring the preset depression angle of the optimal posture; The preset pitch angle is adjusted to the initial pitch angle.

6. The method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to claim 1, characterized in that: The obtaining of the carrier-to-noise ratio of the real-time navigation signal comprises: Acquire the real-time navigation signal received by the antenna; The real-time navigation signal is analyzed to obtain a carrier-to-noise ratio of the real-time navigation signal.

7. The method for adjusting the posture of a UAV to avoid strong interference from ground GNSS according to claim 6, characterized in that: The obtaining of the carrier-to-noise ratio corresponding to each of the adjustment postures includes: For each of the adjustment postures, acquiring the real-time navigation signal received by the antenna; The real-time navigation signal is analyzed to obtain a carrier-to-noise ratio of the real-time navigation signal corresponding to the adjustment posture.

8. The method for adjusting the posture of a UAV to avoid strong ground GNSS interference according to claim 1, characterized in that: The comparing the carrier-to-noise ratios corresponding to the adjustment postures to obtain the optimal carrier-to-noise ratio includes: Arrange the carrier-to-noise ratios corresponding to the adjustment postures in descending order; The optimal carrier-to-noise ratio is obtained according to the first-ranked carrier-to-noise ratio.

9. A posture adjustment system for a UAV to avoid strong interference from ground GNSS, characterized in that: The posture adjustment system for the UAV to avoid strong interference with the ground GNSS includes a processing module, an antenna and a gyroscope; the posture adjustment system for the UAV to avoid strong interference with the ground GNSS can execute the posture adjustment method for the UAV to avoid strong interference with the ground GNSS described in any one of claims 1 to 8.

10. A drone, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the posture adjustment method for a drone to avoid strong interference from a ground GNSS as described in any one of claims 1 to 8 is implemented.

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