Method, System and UAV for Adjusting Posture of UAV to Avoid Strong Ground GNSS Interference

Abstract

The present invention discloses a posture adjustment method, system and unmanned aerial vehicle for the unmanned aerial vehicle to avoid strong ground GNSS interference. The method includes: obtaining the carrier-to-noise ratio of the real-time navigation signal; determining whether the carrier-to-noise ratio of the obtained real-time navigation signal is lower than a first preset threshold; if the carrier-to-noise ratio of the obtained real-time navigation signal is lower than the first preset threshold, adjusting the initial posture of the unmanned aerial vehicle according to the pitch angle and horizontal azimuth angle of the unmanned aerial vehicle to obtain each adjusted posture; obtaining the carrier-to-noise ratio corresponding to each adjusted posture, and comparing the carrier-to-noise ratios corresponding to each adjusted posture to obtain the optimal carrier-to-noise ratio; and obtaining the optimal posture according to the adjusted posture corresponding to the optimal carrier-to-noise ratio. The present invention improves the carrier-to-noise ratio of the real-time navigation signal by adjusting the posture of the unmanned aerial vehicle, thereby reducing the influence of strong interference signals on the unmanned aerial vehicle and improving the safety of the unmanned aerial vehicle.

Description

Technical Field

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

[0002] An unmanned aerial vehicle, also known as an unmanned aircraft, is an aircraft without a pilot that is controlled by a radio remote control device. When remotely controlling an unmanned aerial vehicle over a long distance, a navigation signal needs to be sent to the unmanned aerial vehicle via a satellite; an antenna is provided on the top of the unmanned aerial vehicle to receive the navigation signal so that the unmanned aerial vehicle can fly along the route planned by the navigation signal.

[0003] However, unmanned aerial vehicles usually operate in low-altitude areas; and low-altitude areas are relatively close to the ground. People on the ground will generate strong interference signals during production activities; the strong interference signals are likely to act on the unmanned aerial vehicles operating in low-altitude areas. At this time, the strong interference signals will weaken or block the navigation signals received by the unmanned aerial vehicles, thereby causing the unmanned aerial vehicles to lose the navigation signals and being unable to control the flight route, resulting in the problem that the unmanned aerial vehicles lose the ability to receive navigation signals and cannot return, and thus crash.

[0004] Therefore, there is still an urgent need for a method that can improve the navigation signal reception ability of unmanned aerial vehicles. Summary of the Invention

[0005] The main object of the present invention is to propose a posture adjustment method, system and unmanned aerial vehicle for an unmanned aerial vehicle to avoid strong ground GNSS interference, so as to solve the problem that the existing defective unmanned aerial vehicle will lose the ability to receive navigation signals due to strong interference signals and cannot return, resulting in crashing.

[0006] To achieve the above object, the present invention proposes a posture adjustment method for an unmanned aerial vehicle to avoid strong ground GNSS interference. The posture adjustment method for an unmanned aerial vehicle to avoid strong ground GNSS interference includes:

[0007] Obtaining the carrier-to-noise ratio of the real-time navigation signal;

[0008] Judging whether the carrier-to-noise ratio of the obtained real-time navigation signal is lower than a first preset threshold;

[0009] If the carrier-to-noise ratio of the obtained real-time navigation signal is lower than the first preset threshold, adjusting the initial posture of the unmanned aerial vehicle according to the pitch angle and horizontal azimuth angle of the unmanned aerial vehicle to obtain each adjusted posture;

[0010] Obtaining the carrier-to-noise ratio corresponding to each adjusted posture, and comparing the carrier-to-noise ratios corresponding to each adjusted posture to obtain the optimal carrier-to-noise ratio;

[0011] Obtaining the optimal posture according to the adjusted posture corresponding to the optimal carrier-to-noise ratio.

[0012] In some embodiments, 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 adjusted posture includes:

[0013] Obtaining the initial depression angle of the initial posture;

[0014] Adjusting the initial depression angle to a preset depression angle and rotating and adjusting the horizontal azimuth angle of the unmanned aerial vehicle to obtain each of the adjusted postures.

[0015] In some embodiments, after obtaining the optimal posture according to the adjusted posture corresponding to the optimal carrier-to-noise ratio, it further includes:

[0016] Determining the position of the interference source according to the optimal posture;

[0017] Controlling the unmanned aerial vehicle to move away from the position of the interference source in the optimal posture.

[0018] In some embodiments, after controlling the unmanned aerial vehicle to move away from the position of the interference source in the optimal posture, it further includes:

[0019] Obtaining the carrier-to-noise ratio of the real-time navigation signal;

[0020] Judging whether the carrier-to-noise ratio of the real-time navigation signal is higher than a second preset threshold;

[0021] If the carrier-to-noise ratio of the real-time navigation signal is higher than the second preset threshold, it is determined that the unmanned aerial vehicle has moved away from the position of the interference source.

[0022] In some embodiments, after determining that the unmanned aerial vehicle has moved away from the position of the interference source, it further includes:

[0023] Obtaining the preset depression angle of the optimal posture;

[0024] Adjusting the preset depression angle to the initial depression angle.

[0025] In some embodiments, obtaining the carrier-to-noise ratio of the real-time navigation signal includes:

[0026] Obtaining the real-time navigation signal received by the antenna;

[0027] Analyzing the real-time navigation signal to obtain the carrier-to-noise ratio of the real-time navigation signal.

[0028] In some embodiments, obtaining the carrier-to-noise ratio corresponding to each of the adjusted postures includes:

[0029] For each of the adjusted postures, obtaining the real-time navigation signal received by the antenna;

[0030] Analyze the real-time navigation signal to obtain the carrier-to-noise ratio of the real-time navigation signal corresponding to the adjusted posture.

[0031] In some embodiments, the comparing the carrier-to-noise ratios corresponding to each adjusted posture to obtain the optimal carrier-to-noise ratio includes:

[0032] Arrange the carrier-to-noise ratios corresponding to each adjusted posture in descending order;

[0033] Obtain the optimal carrier-to-noise ratio according to the carrier-to-noise ratio ranked first.

[0034] The present invention also provides a posture adjustment system for a drone to avoid strong ground GNSS interference. The posture adjustment system for a drone to avoid strong ground GNSS interference includes a processing module, an antenna, and a gyroscope; the posture adjustment system for a drone to avoid strong ground GNSS interference can execute the posture adjustment method for a drone to avoid strong ground GNSS interference described in any one of the above.

[0035] The present invention also provides a drone, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the posture adjustment method for a drone to avoid strong ground GNSS interference described in any one of the above.

[0036] The present invention obtains the real-time navigation signal received by the antenna, determines whether the carrier-to-noise ratio of the real-time navigation signal is lower than a first preset threshold; if the carrier-to-noise ratio of the real-time navigation signal is lower than the first preset threshold, adjust the posture of the drone to find the posture when the carrier-to-noise ratio is optimal; since the antenna is installed on the top of the drone, adjusting the posture of the drone is to adjust the posture of the antenna; when the drone is in the optimal posture, the antenna is also in the optimal posture. At this time, the antenna has the strongest ability to receive the real-time navigation signal and the weakest ability to receive strong interference signals; the influence of strong interference signals on the drone is reduced, and the safety of the drone is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic flow chart of the posture adjustment method for a drone to avoid strong ground GNSS interference in an embodiment of the present invention;

[0038] Figure 2 It is another schematic flow chart of the posture adjustment method for a drone to avoid strong ground GNSS interference in an embodiment of the present invention;

[0039] Figure 3 It is another schematic flow chart of the posture adjustment method for a drone to avoid strong ground GNSS interference in an embodiment of the present invention;

[0040] Figure 4 It is another schematic flow chart of the posture adjustment method for a drone to avoid strong ground GNSS interference in an embodiment of the present invention;

[0041] Figure 5 Another flowchart of the attitude adjustment method for the UAV to avoid strong ground GNSS interference in the embodiment of the present invention;

[0042] Figure 6 Another flowchart of the attitude adjustment method for the UAV to avoid strong ground GNSS interference in the embodiment of the present invention;

[0043] Figure 7 Schematic structural diagram of the attitude adjustment system for the UAV to avoid strong ground GNSS interference in the embodiment of the present invention;

[0044] Figure 8 Schematic structural diagram of the UAV in the embodiment of the present invention.

[0045] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Specific embodiments

[0046] Next, the solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0047] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0048] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can 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 can be directly connected to the other element or there may be an intermediate element at the same time.

[0049] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] To achieve the above object, the present invention proposes a posture adjustment method for an unmanned aerial vehicle (UAV) to avoid strong ground GNSS interference. The posture adjustment method for the UAV to avoid strong ground GNSS interference includes:

[0051] Step S110, obtaining the carrier-to-noise ratio of the real-time navigation signal;

[0052] Step S120, determining whether the carrier-to-noise ratio of the obtained real-time navigation signal is lower than a first preset threshold;

[0053] Step S130, if the carrier-to-noise ratio of the obtained 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;

[0054] Step S140, obtaining the carrier-to-noise ratio corresponding to each adjusted posture, and comparing the carrier-to-noise ratios corresponding to each adjusted posture to obtain the optimal carrier-to-noise ratio;

[0055] Step S150, obtaining the optimal posture according to the adjusted posture corresponding to the optimal carrier-to-noise ratio.

[0056] In this embodiment, referring to Figure 1 、 Figure 7 and Figure 8 , the posture adjustment method for the UAV to avoid strong ground GNSS interference is applied to a posture adjustment system for the UAV to avoid strong ground GNSS interference. The posture adjustment system for the UAV to avoid strong ground GNSS interference can be configured on the UAV; the UAV can avoid strong interference from the ground through the posture adjustment system for the UAV to avoid strong ground GNSS interference, thereby ensuring the safety of the UAV. The posture adjustment system for the UAV to avoid strong ground GNSS interference can 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 subject of the method steps is the processing module.

[0057] It can be understood that the antenna for receiving navigation signals can come from GNSS (Global Navigational Satellite System). The antenna is fixedly installed 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 angle of the drone are the same as those of the antenna. Adjusting the posture of the drone is to adjust the posture of the antenna. Research shows that the signal reception effect at the top of the antenna is the best, and the signal reception effect at the bottom of the antenna is the worst. Therefore, when the bottom of the antenna is aligned with the position of the interference source, the ability of the antenna to receive strong interference signals generated by the interference source is the weakest. In this embodiment, by adjusting the posture of the drone, the bottom of the antenna is aligned with the position of the interference source to avoid strong ground GNSS interference.

[0058] For the drone to fly precisely along a predetermined flight trajectory, it needs to continuously receive real-time navigation signals through the antenna. At this time, the processing module of the drone can obtain the real-time navigation signals. Then the processing module can obtain the carrier-to-noise ratio of the real-time navigation signals based on the real-time navigation signals. 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 good, and the receiving end can more accurately demodulate the original signal. In this embodiment, the carrier signal can be a meaningful navigation signal, the noise signal can be a strong interference signal, and the real-time navigation signals include carrier signals and noise signals.

[0059] After the processing module obtains the carrier-to-noise ratio of the real-time navigation signals, it will judge the carrier-to-noise ratio of the real-time navigation signals. It is judged whether the carrier-to-noise ratio of the real-time navigation signals is lower than a first preset threshold. Among them, 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.

[0060] If the processing module determines that the carrier-to-noise ratio of the real-time navigation signals is lower than the first preset threshold, it can indicate at this time that the carrier signal power is relatively weak and 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 angle 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 angle of the drone.

[0061] During the process of the processing module adjusting the posture of the drone, it will also obtain the carrier-to-noise ratio corresponding to each adjusted posture, 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 largest carrier-to-noise ratio value among the carrier-to-noise ratios corresponding to each adjusted posture.

[0062] 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 ability of the antenna to receive strong interference signals generated by the interference source is the weakest.

[0063] Through this embodiment, it is possible to obtain the real-time navigation signal received by the antenna and 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 to adjust the posture of the antenna; when the UAV is in the optimal posture, the antenna is also in the optimal posture, at this time the ability of the antenna to receive the real-time navigation signal is the strongest, and the ability to receive strong interference signals is the weakest; the influence of strong interference signals on the UAV is reduced, and the safety of the UAV is improved.

[0064] In some embodiments, in the foregoing, adjusting the initial posture of the UAV according to the pitch angle and horizontal azimuth angle of the UAV to obtain each adjustment posture includes:

[0065] Step S160, obtaining the initial pitch angle of the initial posture;

[0066] Step S161, adjusting the initial pitch angle to a preset pitch angle and rotating to adjust the horizontal azimuth angle of the UAV to obtain each adjustment posture.

[0067] In this embodiment, referring to Figure 2 , when the processing module executes step S130, it adjusts the pitch angle and horizontal azimuth angle separately. The processing module can obtain the initial pitch angle of the initial posture of the UAV through a gyroscope. After the processing module obtains the initial pitch angle, it will first adjust the pitch angle of the UAV, adjusting the nose of the UAV 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 use the wings of the UAV to tilt the nose of the UAV downward so that the pitch angle of the UAV reaches 45 degrees. Then rotate and adjust the horizontal azimuth angle of the UAV; that is, when the UAV is at the preset pitch angle, rotate the UAV in a circle (rotate 360 degrees); thus obtaining each adjustment posture. For example: one adjustment posture can be determined every 1 degree in 360 degrees to obtain each adjustment posture. It can also be that one adjustment posture is determined every 10 degrees in 360 degrees to obtain each adjustment posture. Of course, there is no limit to how many degrees in 360 degrees to determine one adjustment posture.

[0068] In some embodiments, after obtaining the optimal posture according to the adjustment posture corresponding to the optimal carrier-to-noise ratio in the foregoing, it further includes:

[0069] Step S170, determining the position of the interference source according to the optimal posture;

[0070] Step S171, controlling the UAV to move away from the position of the interference source in the optimal posture.

[0071] In this embodiment, referring to Figure 3 , after the processing module executes step SS150, it is also necessary to determine the position of the interference source. Since when the bottom of the antenna is aligned with the position of the interference source, the ability of the antenna to receive the strong interference signal generated by the interference source is the weakest. When the UAV 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 according to the pitch angle and the horizontal azimuth angle in the optimal posture. After the processing module determines the position of the interference source, it can control the UAV to move away from the position of the interference source in the optimal posture; that is, move away from the position of the interference source in the posture where the bottom of the antenna is aligned with the position of the interference source.

[0072] In some embodiments, after controlling the UAV to move away from the position of the interference source in the optimal posture as described above, it further includes:

[0073] Step S180, obtaining the carrier-to-noise ratio of the real-time navigation signal;

[0074] Step S181, determining whether the carrier-to-noise ratio of the real-time navigation signal is higher than a second preset threshold;

[0075] Step S182, if the carrier-to-noise ratio of the real-time navigation signal is higher than the second preset threshold, determining that the UAV has moved away from the position of the interference source.

[0076] In this embodiment, referring to Figure 4 , after the processing module executes step S171, it is also necessary to judge the carrier-to-noise ratio. During the process of the processing module controlling the UAV to move away from the position of the interference source in the optimal posture, it 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 determine that the UAV has moved away from the position of 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 during the process of the UAV moving away from the position of the interference source in the optimal posture; thereby determining whether the UAV has moved away from the position of the interference source.

[0077] For example: the first preset threshold can be set to 24 db (decibel), and the second preset threshold can be set to 30 db. When the processing module determines that the obtained carrier-to-noise ratio of the real-time navigation signal is lower than 24 db, it can be determined that the UAV is seriously affected by the interference source, and at this time, the posture of the UAV can be adjusted. When the processing module determines that the obtained carrier-to-noise ratio of the real-time navigation signal is higher than 30 db, it can be determined that the UAV has moved away from the position of the interference source, and at this time, the adjustment of the UAV posture can be ended.

[0078] 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 the optimal posture. During the process of the drone moving away from the interference source in the optimal posture, the processing module continuously detects 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 the optimal posture.

[0079] In some embodiments, after determining that the drone has moved away from the interference source as described above, it further includes:

[0080] Obtain the preset depression angle of the optimal posture;

[0081] Adjust the preset depression angle to the initial depression angle.

[0082] In this embodiment, after the processing module executes step S182, it will also adjust the depression 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 depression angle of the optimal posture; thus, adjust the preset depression angle to the initial depression angle. The processing module can obtain the preset depression angle of the optimal posture according to historical data; it can also obtain the preset depression angle of the optimal posture from the gyroscope. For example: in the case where the preset depression angle is 45 degrees; the nose of the drone is in a downward-tilted state, and the depression angle is 45 degrees; the processing module can control the nose of the drone to lift, so that the depression angle of the drone is adjusted from the preset depression angle to the initial depression angle. Make the depression angle of the nose of the drone return to the initial depression angle, and make the drone fly at the initial depression angle.

[0083] In some embodiments, obtaining the carrier-to-noise ratio of the real-time navigation signal as described above includes:

[0084] Step S111, obtain the real-time navigation signal received by the antenna;

[0085] Step S112, analyze the real-time navigation signal to obtain the carrier-to-noise ratio of the real-time navigation signal.

[0086] In this embodiment, referring to Figure 5 , when the processing module executes step S110, it also needs to first obtain the real-time navigation signal. The antenna of the drone receives 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 analyze 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 meaningful navigation signals and strong interference signals, and then calculate the ratio of the meaningful navigation signal to the strong interference signal to obtain the carrier-to-noise ratio of the real-time navigation signal.

[0087] In some embodiments, obtaining the carrier-to-noise ratio corresponding to each adjustment posture as described above includes:

[0088] For each adjustment posture, obtain the real-time navigation signal received by the antenna;

[0089] Analyze the real-time navigation signal to obtain the carrier-to-noise ratio of the real-time navigation signal corresponding to the adjustment posture.

[0090] In this embodiment, when the processing module executes the step of obtaining the carrier-to-noise ratio corresponding to each adjustment posture in 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, so as to obtain the carrier-to-noise ratio of the real-time navigation signal of each adjustment posture.

[0091] In some embodiments, comparing the carrier-to-noise ratios corresponding to each adjustment posture as described above to obtain the optimal carrier-to-noise ratio includes:

[0092] Step S190, arranging the carrier-to-noise ratios corresponding to each adjustment posture in descending order;

[0093] Step S191, obtain the optimal carrier-to-noise ratio according to the carrier-to-noise ratio ranked first.

[0094] In this embodiment, referring to Figure 6 , when the processing module executes the step of comparing the carrier-to-noise ratios corresponding to each adjustment posture in S140 to obtain the optimal carrier-to-noise ratio, 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 depression angle of the drone to the preset depression angle, the processing module will detect the carrier-to-noise ratio while adjusting the horizontal azimuth angle of the drone. For example: the processing module can control the drone to rotate clockwise and detect the change of the carrier-to-noise ratio during the rotation. If the carrier-to-noise ratio is increasing, continue to rotate clockwise; if the carrier-to-noise ratio decreases, rotate counterclockwise until the carrier-to-noise ratio reaches the optimal carrier-to-noise ratio.

[0095] 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 the first preset threshold; if the carrier-to-noise ratio of the real-time navigation signal is lower than the first preset threshold, adjust the posture of the drone to find the posture when the carrier-to-noise ratio is optimal; since the antenna is installed on the top of the drone, adjusting the posture of the drone is to adjust the posture of the antenna; when the drone is in the optimal posture, the antenna is also in the optimal posture. At this time, the ability of the antenna to receive the real-time navigation signal is the strongest, and the ability to receive strong interference signals is the weakest; the influence of strong interference signals on the drone is reduced, and the safety of the drone is improved.

[0096] The present invention also provides a posture adjustment system for a drone to avoid strong ground GNSS interference. The posture adjustment system for a drone to avoid strong ground GNSS interference includes a processing module, an antenna, and a gyroscope. The posture adjustment system for a drone to avoid strong ground GNSS interference can execute the posture adjustment method for a drone to avoid strong ground GNSS interference described in any one of the above.

[0097] In this embodiment, referring to Figure 7 , the posture adjustment system for a drone to avoid strong ground GNSS interference 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 angle of the drone. The antenna is fixedly installed 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 angle of the drone are the same as those of the antenna; adjusting the posture of the drone is to adjust the posture of the antenna. Research shows that the signal reception effect at the top of the antenna is the best, and the signal reception effect at the bottom of the antenna is the worst. Therefore, when the bottom of the antenna is aligned with the position of the interference source, the ability of the antenna to receive strong interference signals generated by the interference source is the weakest. In this embodiment, by adjusting the posture of the drone, the bottom of the antenna is aligned with the position of the interference source to achieve avoidance of strong ground GNSS interference.

[0098] The present invention also provides a drone including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the posture adjustment method for a drone to avoid strong ground GNSS interference described in any one of the above.

[0099] In this embodiment, referring to Figure 8 , the drone can be configured with a posture adjustment system for a drone to avoid strong ground GNSS interference. The drone executes the posture adjustment method for a drone to avoid strong ground GNSS interference through the posture adjustment system for a drone to avoid strong ground GNSS interference. The antenna is fixedly installed 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 angle of the drone are the same as those of the antenna; adjusting the posture of the drone is to adjust the posture of the antenna. Research shows that the signal reception effect at the top of the antenna is the best, and the signal reception effect at the bottom of the antenna is the worst. Therefore, when the bottom of the antenna is aligned with the position of the interference source, the ability of the antenna to receive strong interference signals generated by the interference source is the weakest. In this embodiment, by adjusting the posture of the drone, the bottom of the antenna is aligned with the position of the interference source to achieve avoidance of strong ground GNSS interference.

[0100] Based on the computer program proposed in the foregoing embodiments, the present invention further provides a storage medium storing a computer program, which, when executed by a controller, implements the posture adjustment method for a drone to avoid strong ground GNSS interference described in the foregoing embodiments.

[0101] The present invention further provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the posture adjustment method for a drone to avoid strong ground GNSS interference according to any one of the above technical solutions.

[0102] The above are only partial or preferred embodiments of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the overall concept of the present invention, or any direct / indirect application in other related technical fields is 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; Obtaining an optimal posture according to the adjusted posture corresponding to the optimal carrier-to-noise ratio; 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: Obtaining 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 adjusted by rotation to obtain each of the adjustment postures; The real-time navigation signal comes from 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, and the pitch angle and horizontal azimuth angle of the antenna are the same as the pitch angle and horizontal azimuth angle of the UAV; 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; Controlling the UAV to move away from the interference source in the optimal posture; Wherein, the optimal posture is that the bottom of the antenna is aligned with the position of the interference source; 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; After determining that the UAV has moved away from the interference source, the method further includes: Acquiring the preset pitch angle of the optimal posture; Adjusting the preset pitch angle to the initial pitch angle; 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; Obtaining the optimal carrier-to-noise ratio according to the first-ranked carrier-to-noise ratio; Wherein, obtaining the carrier-to-noise ratio corresponding to each of the adjustment postures includes: adjusting the initial pitch angle of the drone to a preset pitch angle; and detecting the carrier-to-noise ratio while adjusting the horizontal azimuth angle of the drone.

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 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.

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: 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.

4. 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 3.

5. 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 3 is implemented.

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