Unmanned aerial vehicle monitoring system and method, electronic equipment, storage medium and program product

Abstract

The invention provides an unmanned aerial vehicle monitoring system and method, electronic equipment, a storage medium and a program product, and relates to the technical field of data processing, the system comprises at least three test terminals deployed in a target area, and a data analysis terminal in communication connection with each test terminal; wherein the test terminal is used for monitoring a signal of a target frequency band to obtain an unmanned aerial vehicle signal, and transmitting the unmanned aerial vehicle signal to the data analysis terminal; wherein the data analysis terminal is used for generating unmanned aerial vehicle positioning information according to the signal information of the unmanned aerial vehicle signals transmitted by each test terminal; wherein the signal information comprises at least one of the following items: signal intensity information, signal receiving time information and signal incident angle information of the unmanned aerial vehicle signal.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a drone monitoring system, method, electronic equipment, storage medium and program product. Background Art

[0002] With the rapid development and widespread application of drone technology (Unmanned Aerial Vehicle, UAV), it plays an increasingly critical role in civil, commercial and even military fields. However, the popularity of drones has also brought a series of security challenges, especially in sensitive areas such as airports and large public events, where illegally flying drones may pose a serious threat to public safety. Therefore, how to effectively monitor and locate drones and promptly detect and respond to potential security risks has become an urgent issue that needs to be resolved.

[0003] Traditional drone detection methods mainly rely on radar, optical imaging and acoustic equipment, but the effect is not ideal when facing small drones, low-flying targets and complex environments. Therefore, how to more effectively monitor drones has become an urgent problem to be solved in the industry. Summary of the invention

[0004] The present invention provides a drone monitoring system, method, electronic device, storage medium and program product, which are used to solve the problem of how to more effectively monitor drones in the prior art.

[0005] The present invention provides a drone monitoring system, comprising: at least three test terminals deployed in a target area, and a data analysis terminal communicatively connected to each of the test terminals; The test terminal is used to monitor the signal of the target frequency band to obtain the drone signal, and transmit the drone signal to the data analysis terminal; The data analysis terminal is used to generate drone positioning information based on the signal information of the drone signal transmitted by each of the test terminals; wherein the signal information includes at least one of the following: signal strength information of the drone signal, signal reception time information, and signal incident angle information.

[0006] According to a drone monitoring system provided by the present invention, the system further comprises: a position display module; the position display module is communicatively connected with the data analysis terminal; Among them, the position display module is used to generate drone positioning display information according to the drone positioning information, and the drone positioning display information includes at least one of the following: drone positioning trajectory information, drone current positioning display information, and drone historical positioning backtracking information.

[0007] According to a drone monitoring system provided by the present invention, the test terminal includes at least one of the following: a signal receiver, a frequency sweeper, and a direction-finding antenna array; The signal receiver is used to receive a drone signal and determine signal strength information of the drone signal; The frequency scanner is used to receive a UAV signal and determine the signal reception time information of the UAV signal; The direction-finding antenna array is used to receive drone signals and determine signal incident angle information of the drone signals.

[0008] According to a drone monitoring system provided by the present invention, the data analysis terminal is specifically used for: In the case where the signal information includes signal strength information, the signal strength information of each drone signal is analyzed based on a signal strength positioning algorithm to generate drone positioning information; In the case where the signal information includes signal reception time information, the signal reception time information of each drone signal is analyzed based on an arrival time difference algorithm to generate drone positioning information; In the case where the signal information includes signal incident angle information, based on the direction finding cross positioning algorithm, the signal incident angle information of each drone signal is analyzed to generate drone positioning information.

[0009] The present invention also provides a drone monitoring method based on the drone monitoring system, comprising: When the test terminal detects a drone signal, the drone signal is transmitted to the data analysis terminal; wherein the test terminal is a device deployed in the target area for monitoring signals in the target frequency band; The data analysis terminal generates drone positioning information based on the signal information of the drone signal transmitted by each of the test terminals; wherein the signal information includes at least one of the following: signal strength information of the drone signal, signal reception time information, and signal incident angle information.

[0010] The data analysis terminal generates drone positioning information according to the signal information of the drone signals transmitted by each of the test terminals, including: In the case where the signal information includes signal strength information, the signal strength information of each drone signal is analyzed based on a signal strength positioning algorithm to generate drone positioning information; In the case where the signal information includes signal reception time information, the signal reception time information of each drone signal is analyzed based on an arrival time difference algorithm to generate drone positioning information; In the case where the signal information includes signal incident angle information, based on the direction finding cross positioning algorithm, the signal incident angle information of each drone signal is analyzed to generate drone positioning information.

[0011] After the step of generating the drone positioning information according to the signal information of the drone signal transmitted by each of the test terminals, the data analysis terminal further comprises: The drone positioning display information is generated according to the drone positioning information and the geographical environment information of the target area, and the drone positioning display information includes at least one of the following: drone positioning trajectory information, drone current positioning display information, and drone historical positioning backtracking information.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any one of the above-described drone monitoring methods is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described drone monitoring methods.

[0014] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned drone monitoring methods.

[0015] The drone monitoring system, method, electronic device, storage medium and program product provided by the present invention can monitor the wireless signals of a specific frequency band in real time by deploying at least three test terminals in the target area to obtain drone signals. The test terminal transmits the captured drone signal and related information to the data analysis terminal, which analyzes the data provided by each test terminal, calculates and generates the positioning information of the drone. The design of the system allows real-time monitoring and precise positioning of drones, which is of great significance for ensuring the safety of sensitive areas. By analyzing information such as signal strength, reception time and incident angle, the system can determine the precise location of the drone and take corresponding safety measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1It is a structural schematic diagram of the UAV monitoring system provided by the present invention.

[0018] Figure 2 A schematic diagram of a flow chart of a drone monitoring method provided in an embodiment of the present application.

[0019] Figure 3 A flow chart of the processing method provided in an embodiment of the present application.

[0020] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments 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.

[0022] Figure 1 Schematic diagram of the structure of the UAV monitoring system provided by the present invention. Figure 1 As shown, it includes: at least three test terminals 11 deployed in the target area, and a data analysis terminal 12 communicatively connected to each of the test terminals 11; The test terminal 11 is used to monitor the signal of the target frequency band to obtain the drone signal, and transmit the drone signal to the data analysis terminal; Among them, the data analysis terminal 12 is used to generate drone positioning information according to the signal information of the drone signal transmitted by each of the test terminals 11; wherein, the signal information includes at least one of the following: signal strength information of the drone signal, signal reception time information, and signal incident angle information.

[0023] The target area described in the embodiment of the present application is an area where drone monitoring is desired. The test terminal 11 is a front-line sensor of the system, responsible for monitoring and capturing wireless signals emitted by drones in the target area.

[0024] In the solution of the embodiment of the present application, at least three test terminals are required to achieve triangulation and precise positioning of drone signals. The test terminal not only monitors the signal, but is also responsible for transmitting the captured drone signal to the data analysis terminal.

[0025] In the embodiment of the present application, the target frequency bands mainly monitored include but are not limited to the 840.5-845MHz frequency band, the 1430-1444MHz frequency band, the 2400-2476MHz (2.4GHz) frequency band, the 5725-5829MHz (5.8GHz) frequency band and other public frequency bands. The test terminal can transmit these monitoring data to the data processing terminal in real time via a cellular network, Wi-Fi or other communication means. The drone signal may refer to a signal source that moves continuously within a specific altitude range.

[0026] The data analysis terminal 12 is responsible for receiving, processing and analyzing the data from the test terminal. According to the drone signal information transmitted by the test terminal, the data analysis terminal generates the positioning information of the drone.

[0027] In the embodiment of the present application, the signal strength information reflects the strength of the drone signal and is used to help determine the approximate distance of the drone.

[0028] The signal reception time information records the specific time when the signal is received by each test terminal and is used to calculate the time difference of signal propagation.

[0029] Signal incident angle information The angle at which the signal arrives at the monitoring terminal is used to determine the direction of the signal source.

[0030] In the embodiment of the present application, the drone monitoring system is composed of multiple test terminals and data analysis terminals, which are designed to monitor and accurately locate drones in real time. The test terminals are deployed in the target area and are responsible for capturing the wireless signals emitted by the drones and transmitting these signals to the data analysis terminals. The data analysis terminals receive signal information from each test terminal, including key data such as signal strength, reception time, and incident angle.

[0031] Using this signal information, the data analysis terminal calculates the precise location of the drone through specific algorithms such as direction finding cross positioning (DOA) and time difference of arrival (TDOA). This positioning method based on signal information allows the system to effectively monitor and locate drones in complex radio environments, thereby improving the security monitoring capabilities of sensitive areas.

[0032] By deploying at least three test terminals, the system is able to capture drone signals in all directions, ensuring that there are no blind spots. This layout also helps improve positioning accuracy and reliability, as multiple data sources can provide more comprehensive signal coverage and more precise positioning data. Overall, the system provides an effective drone monitoring and positioning solution for sensitive areas, enhancing the monitoring and management capabilities of drone activities.

[0033] Optionally, the system further comprises: a position display module; the position display module is communicatively connected with the data analysis terminal; Among them, the position display module is used to generate drone positioning display information according to the drone positioning information, and the drone positioning display information includes at least one of the following: drone positioning trajectory information, drone current positioning display information, and drone historical positioning backtracking information.

[0034] The position display module is the user interface part of the system, responsible for displaying the drone positioning information generated by the data processing terminal to the user in a graphical way. It communicates with the data processing terminal, receives the drone's positioning information, and converts it into display information that the user can understand.

[0035] In an embodiment of the present application, the drone positioning trajectory information displays the flight path of the drone, including all the location points it has flown over, which helps the user understand the movement pattern and behavior of the drone.

[0036] The drone’s current location display information shows the drone’s current location in real time, which is critical for quick response and decision-making.

[0037] The drone’s historical positioning backtracking information provides a record of the drone’s past locations, allowing users to backtrack and analyze the drone’s historical activities.

[0038] In the embodiment of the present application, the drone monitoring system enhances the practicability and user interactivity of the system by adding a position display module. The main task of the position display module is to convert the drone positioning information calculated by the data processing terminal into an intuitive graphical interface, so that the operator can easily monitor the dynamics of the drone.

[0039] In the embodiment of the present application, the addition of the location display module enables the drone monitoring system to not only accurately locate the drone, but also to display this information to the user in an intuitive and easy-to-understand way, greatly improving the monitoring efficiency and operational convenience of the system. This integrated solution provides strong technical support for the security management of sensitive areas and ensures comprehensive control of drone activities.

[0040] Optionally, the test terminal includes at least one of the following: a signal receiver, a frequency sweeper, and a direction-finding antenna array; The signal receiver is used to receive a drone signal and determine signal strength information of the drone signal; The frequency scanner is used to receive a UAV signal and determine the signal reception time information of the UAV signal; The direction-finding antenna array is used to receive drone signals and determine signal incident angle information of the drone signals.

[0041] The signal receiver is used to receive the wireless signal transmitted by the drone. It is responsible for determining the strength information of the received drone signal.

[0042] The frequency sweeper is another type of monitoring terminal device used to receive drone signals. It can more accurately determine the specific time when the drone signal is received, that is, the signal reception time information, which is very important for subsequent signal positioning and time synchronization analysis.

[0043] The direction finding antenna array is an advanced device used in monitoring terminal devices to receive drone signals. It is responsible for determining the incident angle information of the drone signal, that is, the direction from which the signal arrives. This is crucial for determining the orientation of the drone and performing spatial positioning.

[0044] In the embodiment of the present application, the system can collect drone signal data from multiple dimensions, including signal strength, reception time, and incident angle. These data are transmitted to the data processing terminal, analyzed through specific algorithms (such as direction finding cross positioning (DOA) and arrival time difference (TDOA)), and finally generate accurate positioning information of the drone. This comprehensive monitoring method improves the system's monitoring accuracy and positioning accuracy of drone signals, and provides strong technical support for the supervision of drones.

[0045] Optionally, the data analysis terminal is specifically used to: In the case where the signal information includes signal strength information, the signal strength information of each drone signal is analyzed based on a signal strength positioning algorithm to generate drone positioning information; In the case where the signal information includes signal reception time information, the signal reception time information of each drone signal is analyzed based on an arrival time difference algorithm to generate drone positioning information; In the case where the signal information includes signal incident angle information, based on the direction finding cross positioning algorithm, the signal incident angle information of each drone signal is analyzed to generate drone positioning information.

[0046] In the embodiment of the present application, when the signal information collected by the monitoring terminal device includes the strength information of the drone signal, the data analysis terminal uses the signal strength positioning algorithm for analysis. The signal strength positioning algorithm estimates the distance between the drone and the monitoring terminal device according to the strength of the signal, thereby generating the positioning information of the drone.

[0047] When the signal information contains the reception time information of the drone signal, the data analysis terminal uses the arrival time difference algorithm for processing. The arrival time difference algorithm determines the location of the drone by comparing the time difference when different monitoring terminal devices receive the same signal. This method is suitable for the situation where multiple monitoring terminal devices receive signals synchronously.

[0048] Specifically, the calculation method Formula 1 ; Formula 2 ; Among them, (x1, y1), (x2, y2), and (x3, y3) are the known test end position coordinates, and t1, t2, and t3 are the timestamps when the signal arrives at these receivers. Therefore, by collecting drone signal data through three or more test ends with receiver functions, the drone position can be calculated. , .

[0049] When the signal information contains the incident angle information of the drone signal, the data analysis terminal uses the direction finding cross positioning (DOA) algorithm for analysis. The direction finding cross positioning algorithm uses the angle difference of the signal reaching different monitoring terminal devices to determine the location of the drone, which usually requires multiple antenna arrays with direction finding function.

[0050] Specifically, suppose the drone is The incident angle at the test end is , the intersection of the straight line constructed by the incident angle direction of the drone to the test end is the position of the drone. Assume that the position coordinates of the drone are ( , ), The position coordinates of the test end are ( , ), according to their geometric meaning, they satisfy the following relationship: ; The formula is expanded to get ; ⇓ − = − + ; ⇓ = ; ⇓ Y = AX; Therefore, the position of the drone can be calculated by using two or more test terminals with antenna arrays with direction finding function to find the direction of the drone signal. , .

[0051] Figure 2 The flowchart of the drone monitoring method provided in the embodiment of the present application is as follows: Figure 2 As shown, including: Step 210: When the test terminal detects a drone signal, the drone signal is transmitted to the data analysis terminal; wherein the test terminal is a device deployed in the target area for monitoring signals in the target frequency band; Step 220, the data analysis terminal generates drone positioning information based on the signal information of the drone signal transmitted by each of the test terminals; wherein the signal information includes at least one of the following: signal strength information of the drone signal, signal reception time information, and signal incident angle information.

[0052] In the embodiment of the present application, the test terminal is deployed in the target area and is specifically used to monitor signals in a specific frequency band in order to detect the activities of the drone. Once the detection terminal device captures the drone signal, it transmits the signal to the data analysis terminal for further processing.

[0053] In the embodiment of the present application, after the data analysis terminal receives the drone signal, it applies the corresponding algorithm to calculate the precise location of the drone based on the different information contained in the signal (signal strength, reception time, incident angle). This step is the core of achieving the drone monitoring goal, which enables the system to accurately locate the drone, thereby effectively monitoring and managing it.

[0054] In the embodiment of the present application, the drone monitoring system can realize real-time monitoring and precise positioning of drone activities, providing strong technical support for safety monitoring and emergency response. The design of this system enables it to adapt to different monitoring environments and needs, and improves the monitoring efficiency and accuracy of drone activities.

[0055] Optionally, the data analysis terminal generates drone positioning information according to signal information of drone signals transmitted by each of the test terminals, including: In the case where the signal information includes signal strength information, the signal strength information of each drone signal is analyzed based on a signal strength positioning algorithm to generate drone positioning information; In the case where the signal information includes signal reception time information, the signal reception time information of each drone signal is analyzed based on an arrival time difference algorithm to generate drone positioning information; In the case where the signal information includes signal incident angle information, based on the direction finding cross positioning algorithm, the signal incident angle information of each drone signal is analyzed to generate drone positioning information.

[0056] In the embodiment of the present application, the specific process of generating the drone positioning information can refer to the above-mentioned device embodiment and will not be repeated here.

[0057] Optionally, after the step of generating the drone positioning information according to the signal information of the drone signals transmitted by each of the test terminals, the data analysis terminal further comprises: The drone positioning display information is generated according to the drone positioning information and the geographical environment information of the target area, and the drone positioning display information includes at least one of the following: drone positioning trajectory information, drone current positioning display information, and drone historical positioning backtracking information.

[0058] In the embodiment of the present application, the data analysis terminal not only uses the positioning information of the drone, but also combines the geographical environment information of the target area to generate the positioning display information of the drone. The geographical environment information may include data such as terrain, buildings, obstacles, etc., which is crucial for accurately understanding and displaying the location of the drone.

[0059] Optionally, the system stores the drone’s past positioning data, allowing the user to backtrack and analyze the drone’s historical flight path. Historical positioning backtracking information is very important for post-analysis and forensics, and can help determine the drone’s flight habits and potential risk patterns.

[0060] In the embodiment of the present application, by combining geographic environment information, the system can provide more accurate drone location data to help operators better understand the drone's flight environment. The system can display the real-time location and historical trajectory of the drone, providing strong support for monitoring and safety management.

[0061] Figure 3 A flowchart of the processing method provided in the embodiment of the present application is shown in FIG. Figure 3 As shown, including: Real-time signal monitoring: Three or more ground test terminals are deployed in the monitoring area. Each test terminal uses the wireless signal monitoring module to capture and monitor the wireless signals in the area in real time, especially the control signals or data transmission signals of drones. These signals usually have specific frequency bands or modulation methods, and the ground test terminal can effectively identify these signals through preset parameters.

[0062] Data backhaul: Each test terminal transmits the collected wireless signal data to the data processing terminal in real time through the cellular network, Wi-Fi or other communication means.

[0063] Data processing and position calculation: After receiving the monitoring data from different test terminals, the data processing terminal calculates the position of the drone using specific algorithms (such as direction finding cross positioning (DOA) algorithm, arrival time difference (TOA) algorithm, etc.). Based on the arrival time, strength or phase difference of the signal received by each test terminal, the processing terminal can calculate the specific location coordinates of the drone.

[0064] Position display: The data processing terminal displays the calculated drone position in combination with an electronic map. The position display module provides a graphical interface to display the real-time position and flight trajectory of the drone, making it easier for operators to monitor and manage drone activities in real time. In addition, the system can also provide a historical trajectory playback function to analyze the flight path and behavior patterns of the drone.

[0065] In the embodiment of the present application, three or more test terminals are deployed on the ground to capture and monitor the wireless signals emitted by the drone in real time. The test terminal transmits the collected wireless signal data to the data processing terminal in real time through the cellular network, Wi-Fi or other communication means. The processing terminal calculates the specific location of the drone through a specific algorithm, and displays the location of the drone and its flight trajectory in real time in combination with an electronic map. The system can effectively control the activities of drones in the monitoring area and is widely used in security monitoring of sensitive areas such as airports and large public activity venues. By introducing error correction and flexible test terminal deployment schemes, the system of the present invention has high precision and high adaptability, and can provide reliable drone positioning services in complex radio environments.

[0066] Figure 4 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 4 As shown, the electronic device may include: a processor 410, a communications interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communications interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the drone monitoring method, the method comprising: when the test terminal detects a drone signal, transmitting the drone signal to the data analysis terminal; wherein the test terminal is a device deployed in the target area for monitoring the signal of the target frequency band; The data analysis terminal generates drone positioning information based on the signal information of the drone signal transmitted by each of the test terminals; wherein the signal information includes at least one of the following: signal strength information of the drone signal, signal reception time information, and signal incident angle information.

[0067] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0068] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the drone monitoring method provided by the above methods, the method comprising: when a test terminal detects a drone signal, transmitting the drone signal to a data analysis terminal; wherein the test terminal is a device deployed in a target area for monitoring signals in a target frequency band; The data analysis terminal generates drone positioning information based on the signal information of the drone signal transmitted by each of the test terminals; wherein the signal information includes at least one of the following: signal strength information of the drone signal, signal reception time information, and signal incident angle information.

[0069] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the drone monitoring method provided by the above methods, the method comprising: when a test terminal detects a drone signal, transmitting the drone signal to a data analysis terminal; wherein the test terminal is a device deployed in a target area for monitoring signals in a target frequency band; The data analysis terminal generates drone positioning information based on the signal information of the drone signal transmitted by each of the test terminals; wherein the signal information includes at least one of the following: signal strength information of the drone signal, signal reception time information, and signal incident angle information.

[0070] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0071] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drone monitoring system, characterized in that: include: At least three test terminals deployed in the target area, and a data analysis terminal communicatively connected to each of the test terminals; The test terminal is used to monitor the signal of the target frequency band to obtain the drone signal, and transmit the drone signal to the data analysis terminal; The data analysis terminal is used to generate drone positioning information based on the signal information of the drone signal transmitted by each of the test terminals; wherein the signal information includes at least one of the following: signal strength information of the drone signal, signal reception time information, and signal incident angle information.

2. The drone monitoring system according to claim 1, characterized in that: The system further comprises: a position display module; the position display module is communicatively connected with the data analysis terminal; Among them, the position display module is used to generate drone positioning display information according to the drone positioning information, and the drone positioning display information includes at least one of the following: drone positioning trajectory information, drone current positioning display information, and drone historical positioning backtracking information.

3. The drone monitoring system according to claim 1, characterized in that: The test terminal includes at least one of the following: a signal receiver, a frequency sweeper, and a direction-finding antenna array; The signal receiver is used to receive a drone signal and determine signal strength information of the drone signal; The frequency scanner is used to receive a UAV signal and determine the signal reception time information of the UAV signal; The direction-finding antenna array is used to receive drone signals and determine signal incident angle information of the drone signals.

4. The drone monitoring system according to claim 1, characterized in that: The data analysis terminal is specifically used for: In the case where the signal information includes signal strength information, the signal strength information of each drone signal is analyzed based on a signal strength positioning algorithm to generate drone positioning information; In the case where the signal information includes signal reception time information, the signal reception time information of each drone signal is analyzed based on an arrival time difference algorithm to generate drone positioning information; In the case where the signal information includes signal incident angle information, based on the direction finding cross positioning algorithm, the signal incident angle information of each drone signal is analyzed to generate drone positioning information.

5. A drone monitoring method based on the drone monitoring system according to any one of claims 1 to 4, characterized in that: include: When the test terminal detects a drone signal, the drone signal is transmitted to the data analysis terminal; wherein the test terminal is a device deployed in the target area for monitoring signals in the target frequency band; The data analysis terminal generates drone positioning information based on the signal information of the drone signal transmitted by each of the test terminals; wherein the signal information includes at least one of the following: signal strength information of the drone signal, signal reception time information, and signal incident angle information.

6. The drone monitoring method according to claim 5, characterized in that: The data analysis terminal generates drone positioning information according to the signal information of the drone signals transmitted by each of the test terminals, including: In the case where the signal information includes signal strength information, the signal strength information of each drone signal is analyzed based on a signal strength positioning algorithm to generate drone positioning information; In the case where the signal information includes signal reception time information, the signal reception time information of each drone signal is analyzed based on an arrival time difference algorithm to generate drone positioning information; In the case where the signal information includes signal incident angle information, based on the direction finding cross positioning algorithm, the signal incident angle information of each drone signal is analyzed to generate drone positioning information.

7. The drone monitoring method according to claim 5, characterized in that: After the step of generating the drone positioning information according to the signal information of the drone signal transmitted by each of the test terminals, the data analysis terminal further comprises: The drone positioning display information is generated according to the drone positioning information and the geographical environment information of the target area, and the drone positioning display information includes at least one of the following: drone positioning trajectory information, drone current positioning display information, and drone historical positioning backtracking information.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the drone monitoring method as described in any one of claims 5 to 7 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the drone monitoring method according to any one of claims 5 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the drone monitoring method according to any one of claims 5 to 7 is implemented.

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