Unmanned aerial vehicle control signal generation source reverse positioning system based on TOA technology

Abstract

The invention provides an unmanned aerial vehicle control signal generation source reverse positioning system based on a TOA technology, belongs to the field of signal source positioning, and is used for solving the problem that an unmanned aerial vehicle is difficult to manage well due to a poor signal generation source reverse positioning means of an unmanned aerial vehicle control signal in related technologies. The system comprises a plurality of signal acquisition modules and a reverse positioning module, can realize reverse positioning of a signal generation source of an unmanned aerial vehicle control signal, and can intelligently and reasonably determine a time interval of reverse positioning of the signal generation source of the unmanned aerial vehicle control signal. The position of the signal generation source of the control signal of the unmanned aerial vehicle is ensured to be controllable at a relatively low monitoring frequency, so that the signal generation source of the control signal of the unmanned aerial vehicle can be better managed, and the unmanned aerial vehicle can be better managed.

Description

Technical Field

[0001] The present application relates to the field of signal source positioning, and in particular to a reverse positioning system for a UAV control signal source based on TOA technology. Background Art

[0002] With the development of drone technology, drones are being used more and more widely, and drone management is becoming more and more important. In the management of drones, reverse positioning of the source of drone control signals is an important means, which can determine the location of the source of drone control signals, which is conducive to better management of drones. Summary of the invention

[0003] The present application provides a reverse positioning system for the source of UAV control signals based on TOA technology, which is conducive to achieving better management of UAVs.

[0004] The present application provides a reverse positioning system for the source of UAV control signal based on TOA technology, which specifically adopts the following technical solutions:

[0005] A reverse positioning system for a UAV control signal source based on TOA technology comprises a plurality of signal acquisition modules and a reverse positioning module, wherein the signal acquisition module is used to continuously acquire UAV control signals twice at startup, each acquisition of the UAV control signal lasts for a first preset time length, and the interval between two consecutive acquisitions is a second preset time length; the reverse positioning module is connected to the signal acquisition module, and is used to determine the spatial positioning information of the corresponding signal source according to the UAV control signal, and is used to determine the moving speed level of the corresponding signal source according to two consecutive spatial positioning information obtained by continuously acquiring the UAV control signals twice, and is used to control the startup interval length of the signal acquisition module.

[0006] By adopting the above technical scheme, it is possible to reversely locate the signal source of the drone control signal, and to intelligently and reasonably determine the time interval for reverse positioning of the signal source of the drone control signal. The position of the signal source of the drone control signal can be controlled with a relatively low monitoring frequency, which is conducive to better management of the signal source of the drone control signal, and thus to better management of drones.

[0007] Furthermore, the reverse positioning module is further configured as follows:

[0008] When the signal acquisition module is started, two consecutively acquired UAV control signals are received, and a spatial positioning information is determined according to each UAV control signal, wherein the spatial positioning information carries a time mark;

[0009] Calculate the spatial distance data between the two spatial positioning information, and calculate the moving speed of the signal source in combination with the second preset time length;

[0010] The moving speed of the signal source is substituted into a pre-constructed speed level comparison table to determine the moving speed level.

[0011] Furthermore, the reverse positioning module is further configured as follows:

[0012] The start interval duration between the last start of the signal acquisition module and the previous start is obtained by substituting the movement speed data of the previous start of the signal acquisition module and the historical movement speed before the previous start into the pre-built duration calculation model;

[0013] The duration calculation model includes:

[0014] Calculate the startup interval duration, Where, T J is the start interval duration, v premin and v premax are the lower limit and upper limit of the moving speed interval corresponding to the moving speed level of the signal source moving speed, Δv is the pre-acquired change per unit time, T pre is the preset interval length, z=(x,y) min It means that z takes the minimum value of x and y, and v is the moving speed of the signal source when the signal acquisition module was last started.

[0015] Furthermore, the method for calculating the change per unit time includes:

[0016] Δv=Δv p ×K1×K2, where Δv p It represents the average change in moving speed within the most recent third preset time period with the specified moment as the midpoint, the specified moment and the current moment are periodic moments under the preset periodic rule, K1 is the first influence coefficient calculated from the historical moving speed within the third preset time period before the current moment, and K2 is the second influence coefficient calculated from the most recent preset number of historical moving speeds within the third preset time period with the specified moment as the midpoint.

[0017] Furthermore, the method for obtaining the first influence coefficient includes:

[0018] Assume that the signal acquisition module is started n times within the third preset time period before the last start, and obtain n historical moving speeds accordingly;

[0019] Based on the signal source moving speed v when the signal acquisition module was started last time and n historical moving speeds, n moving speed change data are calculated. Assume that the i-th start of the signal acquisition module is farther away from the previous start time than the i+1-th start time, i=1,2,...n-1, then the i-th moving speed change data Δv i =v i+1 -v i , the nth moving speed change data Δv n =vv n ;

[0020] Determine Δv i Are they all greater than zero or not greater than zero, i=1,2,...n;

[0021] If so, then Wherein, v1 is the historical moving speed of the first start of the signal acquisition module before the last start of the signal acquisition module;

[0022] If not, then Where p is Δv greater than 0 i The number of , q is Δv not greater than 0 i The number of , i = 1, 2, ... n.

[0023] Furthermore, the method for obtaining the second influence coefficient includes:

[0024] Obtain all historical moving speeds within a preset number of third preset time periods with the specified time as the midpoint;

[0025] A historical movement speed change data is calculated according to each two adjacent historical movement speeds, and a historical start interval duration is determined according to each two adjacent historical movement speeds;

[0026] The second impact coefficient is calculated based on the historical speed change data and the historical start interval duration. In the formula, a represents the number of historical speed change data greater than 0, b represents the number of historical speed change data not greater than 0, T a Indicates the historical start interval duration corresponding to the historical speed change data greater than 0, T b Represents the historical start interval duration corresponding to the historical speed change data not greater than 0. Assuming there are m historical start interval durations, a∈[1, m], b∈[1, m], k1 represents the first preset coefficient, k2 represents the second preset coefficient, and both k1 and k2 are greater than 0.

[0027] Furthermore, k1+k2=1.

[0028] Furthermore, the number of the signal acquisition modules is greater than four, and four signal acquisition modules are randomly started at a time.

[0029] In summary, this application at least has the following beneficial effects:

[0030] A reverse positioning system for the source of UAV control signals based on TOA technology is provided, which can locate the source of UAV control signals at a reasonable monitoring frequency, which is conducive to better control of UAVs.

[0031] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present application, nor are they intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0033] Figure 1 A block diagram of a reverse positioning system for a UAV control signal source based on TOA technology in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0036] The present application provides a reverse positioning system for the source of drone control signals based on TOA technology, which can locate the signal source of drone control signals at a reasonable monitoring frequency, which is conducive to better control of drones.

[0037] Figure 1 A block diagram of a reverse positioning system for a UAV control signal source based on TOA technology in an embodiment of the present application is shown.

[0038] Reference Figure 1 The system specifically includes a plurality of signal acquisition modules 110 and a reverse positioning module 120 .

[0039] Specifically, the signal acquisition module 110 is used to continuously collect the UAV control signal twice at startup, each time the UAV control signal is collected, and the interval between the two consecutive collections is a second preset time. The reverse positioning module 120 is connected to the signal acquisition module 110, and is used to determine the spatial positioning information of the corresponding signal source according to the UAV control signal, and is used to determine the moving speed level of the corresponding signal source according to the two consecutive spatial positioning information obtained by continuously collecting the UAV control signals twice, and is used to control the startup interval of the signal acquisition module 110.

[0040] The spatial positioning information is a three-dimensional position. The signal acquisition module 110 determines the position of the signal source of the drone control signal based on the TOA technology. It requires four signal acquisition modules 110 arranged at different spatial positions. The number of signal acquisition modules 110 is not less than four. The specific principles of TOA technology are common knowledge and will not be disclosed again here.

[0041] The specific method for the reverse positioning module 120 to determine the moving speed level of the signal source of the drone control signal includes: when the signal acquisition module 110 is started, two drone control signals collected continuously are received, and a spatial positioning information is determined according to each drone control signal, wherein the spatial positioning information carries a time identifier; the spatial distance data between the two spatial positioning information is calculated, and the moving speed of the signal source is calculated in combination with a second preset time length; the moving speed of the signal source is substituted into a pre-constructed speed level comparison table to determine the moving speed level.

[0042] The specific method for calculating the moving speed of the signal source here is to divide the spatial distance data by the second preset time length to obtain the moving speed of the signal source. The second preset time length is generally short, and it can be considered that the signal source is at a certain instantaneous determined position within the second preset time length. The speed level comparison table is pre-configured in the reverse positioning module 120, which contains the comparison relationship between the moving speed of the signal source and the moving speed level, and each moving speed level corresponds to a moving speed interval.

[0043] Regarding the startup interval duration, the startup interval duration between the last startup of the signal acquisition module 110 and the previous startup is obtained by substituting the movement speed data of the previous startup of the signal acquisition module 110 and the historical movement speed before the previous startup into a pre-built duration calculation model.

[0044] Specifically, the duration calculation model includes: calculating the start interval duration, Where, T J is the start interval duration, v premin and v premax are the lower limit and upper limit of the moving speed interval corresponding to the moving speed level of the signal source moving speed, Δv is the pre-acquired change per unit time, T pre is the preset interval length, z=(x,y) min It means that z takes the minimum value of x and y, and v is the moving speed of the signal source when the signal acquisition module 110 was started last time.

[0045] The calculation method of the unit time variation includes: Δv = Δv p ×K1×K2, where Δv p It represents the average change in moving speed within the most recent third preset time period with the specified moment as the midpoint, the specified moment and the current moment are periodic moments under the preset periodic rule, K1 is the first influence coefficient calculated from the historical moving speed within the third preset time period before the current moment, and K2 is the second influence coefficient calculated from the most recent preset number of historical moving speeds within the third preset time period with the specified moment as the midpoint.

[0046] The preset periodic rules can be understood as the same time on different days, such as 10:00 yesterday and today, the same minute on different hours, such as 10:30 and 11:30, or the same time on the same day in different weeks, such as 14:00 last Wednesday and 14:00 this Wednesday. The preset periodic rules can be set according to data experience and human suggestions.

[0047] In the method of this step, the method for obtaining the first influence coefficient includes: assuming that the signal acquisition module 110 is started n times within the third preset time period before the last start, and correspondingly obtaining n historical moving speeds; calculating n moving speed change data based on the signal source moving speed v when the signal acquisition module 110 was started last time and the n historical moving speeds, assuming that the i-th start of the signal acquisition module 110 is farther from the previous start time than the i+1-th start time, i=1,2,...n-1, then the i-th moving speed change data Δv i =v i+1 -v i , the nth moving speed change data Δv n =vv n ; Determine Δv i Are they all greater than zero or not greater than zero, i = 1, 2, ... n; if so, then Wherein, v1 is the historical moving speed of the first start of the signal acquisition module 110 before the last start of the signal acquisition module 110; if not, then Where p is Δv greater than 0 i The number of , q is Δv not greater than 0 i The number of , i = 1, 2, ... n.

[0048] In the method of this step, the method for obtaining the second influence coefficient includes: obtaining a preset number of all historical moving speeds within a third preset time period with the specified time as the midpoint; calculating a historical moving speed change data according to each two adjacent historical moving speeds, and determining a historical start interval duration according to each two adjacent historical moving speeds; calculating the second influence coefficient according to the historical moving speed change data and the historical start interval duration, In the formula, a represents the number of historical speed change data greater than 0, b represents the number of historical speed change data not greater than 0, T a Indicates the historical start interval duration corresponding to the historical speed change data greater than 0, T b Indicates the historical start interval duration corresponding to the historical speed change data not greater than 0. Assuming there are m historical start interval durations, a∈[1, m], b∈[1, m], k1 represents the first preset coefficient, k2 represents the second preset coefficient, and both k1 and k2 are greater than 0. Wherein, k1+k2=1.

[0049] Based on the above scheme, the reverse positioning module 120 can determine the start interval length of the control signal acquisition module 110. By reasonably configuring the parameters through data training and human suggestions, the model algorithm in the reverse positioning module 120 can better predict the position movement trend of the signal source of the drone control signal, so as to control the signal source with a more reasonable monitoring frequency, ensure that the position of the signal source is controllable, and facilitate better management of the drone.

[0050] In addition, in order to make the positioning work of the signal acquisition module 110 more reliable, the number of the signal acquisition modules 110 can be greater than four, and four random signal acquisition modules 110 can be started at a time. This can not only reduce the workload of a single signal acquisition module 110 and extend the life of a single signal acquisition module 110, but also enable the acquisition results of different signal acquisition modules 110 to verify each other, thereby avoiding abnormal failures of a single signal acquisition module 110 that lead to inaccurate positioning.

[0051] In summary, this application at least has the following beneficial effects:

[0052] A reverse positioning system for the source of UAV control signals based on TOA technology is provided, which can locate the source of UAV control signals at a reasonable monitoring frequency, which is conducive to better control of UAVs.

[0053] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A reverse positioning system for the source of UAV control signals based on TOA technology, characterized in that: The invention comprises a plurality of signal acquisition modules (110) and a reverse positioning module (120), wherein the signal acquisition module (110) is used to continuously acquire two unmanned aerial vehicle control signals at startup, each acquisition of the unmanned aerial vehicle control signals lasting a first preset time length, and the interval between the two consecutive acquisitions being a second preset time length; the reverse positioning module (120) is connected to the signal acquisition module (110) and is used to determine the spatial positioning information of the corresponding signal source according to the unmanned aerial vehicle control signal, and is used to determine the moving speed level of the corresponding signal source according to two consecutive spatial positioning information obtained by continuously acquiring the unmanned aerial vehicle control signals twice, and is used to control the startup interval length of the signal acquisition module (110).

2. The reverse positioning system for the source of the UAV control signal based on TOA technology according to claim 1 is characterized in that: The reverse positioning module (120) is further configured to: When the signal acquisition module (110) is started, two consecutively acquired drone control signals are received, and spatial positioning information is determined according to each drone control signal, wherein the spatial positioning information carries a time mark; Calculate the spatial distance data between the two spatial positioning information, and calculate the moving speed of the signal source in combination with the second preset time length; The moving speed of the signal source is substituted into a pre-constructed speed level comparison table to determine the moving speed level.

3. The TOA-based UAV control signal source reverse positioning system according to claim 2 is characterized in that: The reverse positioning module (120) is further configured to: The start interval duration between the last start of the signal acquisition module (110) and the last start is obtained by substituting the movement speed data of the last start of the signal acquisition module (110) and the historical movement speed before the last start into a pre-built duration calculation model; The duration calculation model includes: Calculate the startup interval duration, Where, T J is the start interval duration, v premin and v premax are the lower limit and upper limit of the moving speed interval corresponding to the moving speed level of the signal source moving speed, Δv is the pre-acquired change per unit time, T pre is the preset interval length, z=(x,y) min It means that z takes the minimum value of x and y, and v is the moving speed of the signal source when the signal acquisition module (110) was started last time.

4. The TOA-based UAV control signal source reverse positioning system according to claim 3 is characterized in that: The method for calculating the change per unit time includes: Δv=Δv p ×K1×K2, where Δv p It represents the average change in moving speed within the most recent third preset time period with the specified moment as the midpoint, the specified moment and the current moment are periodic moments under the preset periodic rule, K1 is the first influence coefficient calculated from the historical moving speed within the third preset time period before the current moment, and K2 is the second influence coefficient calculated from the most recent preset number of historical moving speeds within the third preset time period with the specified moment as the midpoint.

5. The TOA-based UAV control signal source reverse positioning system according to claim 4 is characterized in that: The method for obtaining the first influence coefficient includes: Assume that the signal acquisition module (110) is started n times within the third preset time period before the last start, and obtain n historical moving speeds accordingly; Based on the signal source moving speed v when the signal acquisition module (110) was last started and n historical moving speeds, n moving speed change data are calculated. Assuming that the i-th start of the signal acquisition module (110) is farther from the previous start time than the i+1-th start time, i=1, 2, ... n-1, then the i-th moving speed change data Δv i =v i+1 -v i , the nth moving speed change data Δv n =vv n ; Determine Δv i Are they all greater than zero or not greater than zero, i=1,2,...n; If so, then Wherein, v1 is the historical moving speed of the first start of the signal acquisition module (110) among n starts before the last start of the signal acquisition module (110); If not, then Where p is Δv greater than 0 i The number of , q is Δv not greater than 0 i The number of , i = 1, 2, ... n.

6. The TOA-based UAV control signal source reverse positioning system according to claim 5 is characterized in that: The method for obtaining the second influence coefficient includes: Obtain all historical moving speeds within a preset number of third preset time periods with the specified time as the midpoint; A historical movement speed change data is calculated according to each two adjacent historical movement speeds, and a historical start interval duration is determined according to each two adjacent historical movement speeds; The second impact coefficient is calculated based on the historical speed change data and the historical start interval duration. In the formula, a represents the number of historical speed change data greater than 0, b represents the number of historical speed change data not greater than 0, T a Indicates the historical start interval duration corresponding to the historical speed change data greater than 0, T b Represents the historical start interval duration corresponding to the historical speed change data not greater than 0. Assuming there are m historical start interval durations, a∈[1, m], b∈[1, m], k1 represents the first preset coefficient, k2 represents the second preset coefficient, and both k1 and k2 are greater than 0.

7. The reverse positioning system for the source of the UAV control signal based on TOA technology according to claim 6 is characterized in that: k1+k2=1.

8. The UAV control signal source reverse positioning system based on TOA technology according to any one of claims 1 to 7, characterized in that: The number of the signal acquisition modules (110) is greater than four, and four signal acquisition modules (110) are randomly started at a time.

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