Unmanned aerial vehicle group dynamic angle measurement system and angle measurement method

Abstract

The invention belongs to the technical field of radio direction finding, and discloses an unmanned aerial vehicle group dynamic angle measurement system, which comprises a plurality of mobile platforms, each mobile platform is provided with an antenna, a radio frequency channel and a baseband processing terminal machine, each antenna is connected with the corresponding radio frequency channel, and the radio frequency channel is connected with the baseband processing terminal machine; a long base line and a short base line are formed between the antennas, and the incident angle is calculated in real time through the length of the long and short base lines and the phase difference of incident signals. According to the invention, the unmanned aerial vehicle is also provided with antennas and baseband processing terminal machines, and three aircrafts are provided with three antennas, three radio frequency channels and three baseband processing terminal machines; when the unmanned aerial vehicle group has a high-precision time reference and a high-precision position reference, the angle measurement of the goniometer can be realized by using the unmanned aerial vehicle group.

Description

Technical Field

[0001] The invention belongs to the technical field of radio direction finding, and relates to a dynamic angle measurement system and angle measurement method for a group of unmanned aerial vehicles. Background Art

[0002] Radio direction finding technology uses the different phase responses and the phase relationship between them formed when the same phase wave front of the electromagnetic wave of the radiation source in the propagation direction reaches the spatially separated sensors (usually multi-element antenna arrays) to find the direction. In order to improve the lateral accuracy, a three-channel long and short baseline goniometer is generally used. The short baseline is used to resolve ambiguity, and the long baseline is used to improve the direction finding accuracy. Figure 1 shown.

[0003] The three-channel long and short baseline goniometer is a complete set of equipment consisting of three antennas, three RF channels and a baseband processing terminal. It can realize the angle measurement function by installing it on the platform.

[0004] Therefore, two conditions need to be met to realize the angle measurement function. First, the signals received by the three antennas need to be sampled simultaneously. Second, the relative positions of the three antennas need to be accurately known so that the precise length of the baseline can be calculated. Summary of the invention

[0005] (I) Purpose of the invention

[0006] The purpose of the present invention is to provide a dynamic angle measurement system and method for a group of unmanned aerial vehicles, which utilizes the existing equipment on board the unmanned aerial vehicles and realizes angle measurement with a goniometer by changing the software.

[0007] (II) Technical solution

[0008] In order to solve the above technical problems, the present invention provides a dynamic angle measurement system for a drone swarm, including multiple mobile platforms, each of which is equipped with an antenna, a radio frequency channel and a baseband processing terminal, each antenna is connected to a corresponding radio frequency channel, and the radio frequency channel is connected to the baseband processing terminal; a long baseline and a short baseline are formed between the antennas, and the incident angle is calculated in real time through the length of the long and short baselines and the phase difference of the incident signal.

[0009] Among them, the mobile platform is a drone.

[0010] There are three drones, each equipped with three antennas, three RF channels and three baseband processing terminals.

[0011] The three antennas are respectively denoted as antenna A1, antenna A2 and antenna A3. Antenna A1 and antenna A3 form a long baseline, and antenna A1 and antenna A2 form a short baseline.

[0012] Each radio frequency channel is equipped with a wireless communication module for broadcasting and receiving signals.

[0013] The fleet of three drones achieves a unified time and position reference through round-trip timing of wireless communication modules.

[0014] The three drones collect the phase of the incident signal and their own precise position at the same time, and broadcast them through the wireless communication module; each drone calculates the length of the long and short baselines based on the positions of the other two drones received, calculates the phase difference based on the phase of the incident signal collected by the other two drones, and calculates the incident angle in real time based on the calculated length and phase difference.

[0015] Based on the above-mentioned drone swarm dynamic angle measurement system, the drone swarm dynamic angle measurement method of the present invention comprises the following steps:

[0016] In the first step, the fleet of three drones achieves a unified time base and position base through round-trip time calibration of wireless communication modules.

[0017] In the second step, the three drones collect the phase of the incident signal and their own precise position at the same time and broadcast them through the wireless communication module.

[0018] In the third step, the lengths of the long and short baselines are calculated based on the positions of the other two drones received, and the phase difference is calculated based on the phases of the incident signals collected by the other two drones.

[0019] The fourth step is to calculate the incident angle in real time based on the calculated length and phase difference.

[0020] (III) Beneficial effects

[0021] The above technical solution provides a dynamic angle measurement system and method for a swarm of unmanned aerial vehicles. The drones are also equipped with antennas and baseband processing terminals. Three aircraft have three antennas, three radio frequency channels and three baseband processing terminals. When the swarm of unmanned aerial vehicles has a high-precision time reference and position reference, the swarm of unmanned aerial vehicles can be used to realize the angle measurement of the goniometer. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of angle measurement using a long and short baseline goniometer.

[0023] Figure 2 Schematic diagram of the connection between the long and short baseline goniometer antennas and the RF channel. DETAILED DESCRIPTION

[0024] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0025] Reference Figure 2As shown, the dynamic angle measurement system for a swarm of unmanned aerial vehicles of this embodiment includes multiple mobile platforms, each of which is equipped with an antenna, a radio frequency channel and a baseband processing terminal. Each antenna is connected to a corresponding radio frequency channel, and the radio frequency channel is connected to the baseband processing terminal. A long baseline and a short baseline are formed between the antennas, and the incident angle is calculated in real time through the length of the long and short baselines and the phase difference of the incident signal.

[0026] Among them, the mobile platform is a drone.

[0027] There are three drones, each equipped with three antennas, three RF channels and three baseband processing terminals.

[0028] The three antennas are respectively denoted as antenna A1, antenna A2 and antenna A3. Antenna A1 and antenna A3 form a long baseline, and antenna A1 and antenna A2 form a short baseline.

[0029] Each radio frequency channel is equipped with a wireless communication module for broadcasting and receiving signals.

[0030] The fleet of three drones achieves a unified time and position reference through round-trip timing of wireless communication modules.

[0031] The three drones collect the phase of the incident signal and their own precise position at the same time, and broadcast them through the wireless communication module; each drone calculates the length of the long and short baselines based on the positions of the other two drones received, calculates the phase difference based on the phase of the incident signal collected by the other two drones, and calculates the incident angle in real time based on the calculated length and phase difference.

[0032] Based on the above-mentioned drone swarm dynamic angle measurement system, the drone swarm dynamic angle measurement method of this embodiment includes the following steps:

[0033] In the first step, the fleet of three drones achieves a unified time base and position base through round-trip time calibration of wireless communication modules.

[0034] In the second step, the three drones collect the phase of the incident signal and their own precise position at the same time and broadcast them through the wireless communication module.

[0035] In the third step, the lengths of the long and short baselines are calculated based on the positions of the other two drones received, and the phase difference is calculated based on the phases of the incident signals collected by the other two drones.

[0036] The fourth step is to calculate the incident angle in real time based on the calculated length and phase difference.

[0037] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A drone group dynamic angle measurement system, characterized in that: include: Multiple mobile platforms, each of which is equipped with an antenna, a radio frequency channel, and a baseband processing terminal. Each antenna is connected to a corresponding radio frequency channel, and the radio frequency channel is connected to a baseband processing terminal. A long baseline and a short baseline are formed between the antennas, and the incident angle is calculated in real time based on the length of the long and short baselines and the phase difference of the incident signal.

2. The UAV swarm dynamic angle measurement system according to claim 1, characterized in that: The mobile platform is a drone.

3. The UAV swarm dynamic angle measurement system according to claim 2, characterized in that: There are three drones, each equipped with three antennas, three RF channels and three baseband processing terminals.

4. The UAV swarm dynamic angle measurement system according to claim 3, characterized in that: The three antennas are respectively denoted as antenna A1, antenna A2 and antenna A3. Antenna A1 and antenna A3 form a long baseline, and antenna A1 and antenna A2 form a short baseline.

5. The UAV swarm dynamic angle measurement system according to claim 4, characterized in that: Each radio frequency channel is equipped with a wireless communication module for broadcasting and receiving signals.

6. The UAV swarm dynamic angle measurement system according to claim 5, characterized in that: The fleet of three drones achieves a unified time and position reference through round-trip timing of wireless communication modules.

7. The UAV swarm dynamic angle measurement system according to claim 6, characterized in that: The three drones collect the phase of the incident signal and their own precise position at the same time, and broadcast them through the wireless communication module; each drone calculates the length of the long and short baselines based on the positions of the other two drones received, calculates the phase difference based on the phase of the incident signal collected by the other two drones, and calculates the incident angle in real time based on the calculated length and phase difference.

8. A method for dynamic angle measurement of a drone group, characterized in that: Angle measurement is performed based on the UAV group dynamic angle measurement system according to claim 7, and the angle measurement method comprises the following steps: In the first step, the three drones in the fleet achieve a unified time and position reference through round-trip time calibration using wireless communication modules. In the second step, the three drones collect the phase of the incident signal and their own precise positions at the same time and broadcast them through the wireless communication module; The third step is to calculate the length of the long and short baselines based on the positions of the other two drones received, and calculate the phase difference based on the phase of the incident signals collected by the other two drones; The fourth step is to calculate the incident angle in real time based on the calculated length and phase difference.

9. An application of a dynamic angle measurement system for a swarm of unmanned aerial vehicles according to any one of claims 1 to 7 in the field of radio direction finding technology.

10. An application of the UAV swarm dynamic angle measurement method according to claim 8 in the field of radio direction finding technology.

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