Unmanned aerial vehicle signal enhancement method and system based on dynamic pointing signal tracking

Abstract

The invention relates to the technical field of unmanned aerial vehicle communication, in particular to an unmanned aerial vehicle signal enhancement method and system based on dynamic pointing signal tracking, and the method comprises the steps: obtaining the current position, flight speed, flight direction and target position of an unmanned aerial vehicle; calculating the optimal direction of the antenna according to the current position information and the target position information of the unmanned aerial vehicle; dynamically adjusting the direction of the antenna according to the optimal direction of the antenna and the flight speed and the flight direction of the unmanned aerial vehicle; amplifying the signal received by the antenna; the amplified signal is filtered; and transmitting the filtered signal to the unmanned aerial vehicle to realize enhancement of the remote control signal. Through the dynamic pointing signal tracking technology, the system can adjust the antenna direction in real time, it is ensured that the antenna points to the unmanned aerial vehicle all the time, and therefore directional enhancement of signals is achieved. Compared with a traditional omnidirectional antenna, the method has the advantages that signal energy can be more effectively concentrated, and the strength of remote control signals is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle communication technology, and in particular to a method and system for enhancing unmanned aerial vehicle signals based on dynamic pointing signal tracking. Background Art

[0002] Existing drone communication systems generally use omnidirectional antennas as the main means of signal transmission. As the name suggests, the radiation characteristics of omnidirectional antennas are evenly distributed in all directions, which means that the signal strength in all directions is basically the same. However, this characteristic also brings a significant defect: the signal dispersion is too high, causing the remote control signal strength to gradually weaken during the transmission process, thereby limiting the transmission distance.

[0003] In drone communication systems, the strength and transmission distance of remote control signals are crucial. If the signal strength is insufficient, the drone may lose control when it is far away from the operator, which will not only affect the operation efficiency but also bring serious safety risks. Therefore, although the existing omnidirectional antenna technology has met the basic needs of drone communication to a certain extent, it still has obvious limitations in practical applications.

[0004] In order to improve this situation, researchers and engineers have been exploring more advanced communication technologies. However, due to the complexity and particularity of drone communication systems, how to increase the transmission distance while ensuring signal strength remains an urgent problem to be solved.

[0005] In complex operating environments, the omnidirectional antenna technology used in existing drone communication systems has exposed its inherent defects. Due to the uniform distribution of signals in all directions, the effective coverage of signals in complex environments (such as urban high-rise buildings, mountainous areas, electromagnetic interference, etc.) is greatly limited. This not only affects the operating efficiency of drones, but is also likely to cause drone control failure due to signal loss, thereby causing safety risks.

[0006] Specifically, when a drone is operating in a complex environment, surrounding obstacles such as buildings and trees may block or reflect the signal, causing the signal strength to further decrease. At the same time, electromagnetic interference may also interfere with the signal, causing the signal quality to deteriorate or even be lost completely. These problems may cause the drone to lose control, leading to serious consequences.

[0007] In addition, existing drone communication systems also face challenges in terms of power consumption and cost. Although the omnidirectional antenna has a simple structure, its energy consumption during signal transmission is relatively high. This not only increases the operating cost of the drone, but may also limit the drone's endurance. Therefore, how to reduce power consumption and cost while ensuring signal quality and transmission distance is also an urgent problem to be solved in the current development of drone communication system technology.

[0008] In summary, although the omnidirectional antenna technology used in existing drone communication systems meets basic needs to a certain extent, it still has obvious defects in practical applications. In order to promote the further development of drone communication technology, it is necessary to continuously explore more advanced and efficient communication technology solutions. Summary of the invention

[0009] In view of the problems in the prior art, the present invention provides a method and system for enhancing UAV signals based on dynamic pointing signal tracking. The specific technical solutions are as follows:

[0010] A method for enhancing UAV signals based on dynamic pointing signal tracking comprises the following steps:

[0011] Step S1, obtaining the current position, flight speed, flight direction and target position of the drone;

[0012] Step S2, calculating the optimal antenna direction according to the current position information and target position information of the UAV;

[0013] Step S3, dynamically adjusting the antenna orientation according to the optimal antenna orientation and the flight speed and flight direction of the UAV;

[0014] Step S4, amplifying the signal received by the antenna;

[0015] Step S5, filtering the amplified signal;

[0016] Step S6, transmitting the filtered signal to the drone to enhance the remote control signal.

[0017] Preferably, the method for calculating the optimal antenna pointing direction in step S2 is as follows:

[0018] Assume the current position of the drone is P current =(x current ,y current ,z current ), the target position is P target =(x target ,y target ,z target ); where x current ,y current ,z currentThe longitude, latitude and altitude of the current location respectively; x target ,y target ,z target are the longitude, latitude and altitude of the target location respectively;

[0019] Then the vector between the current position of the drone and the target position is

[0020] Calculate the unit vector of the antenna pointing to the drone

[0021] This is the best direction for the antenna.

[0022] Preferably, the antenna orientation is dynamically adjusted according to the optimal orientation of the antenna and the flight speed and flight direction of the drone as follows:

[0023] Assume the current pointing vector of the antenna is calculate and The angle α between them is as follows:

[0024] According to the angle α, the horizontal angle change Δθ and the vertical angle change Δφ of the antenna are adjusted so that the current pointing vector of the antenna is Optimal pointing with antenna parallel.

[0025] Preferably, the amplification of the signal received by the antenna in step S4 is specifically performed by using a directional signal amplifier, and applying an adaptive beamforming algorithm to adjust the gain characteristics of the amplifier.

[0026] Preferably, the step S4 specifically includes the following steps:

[0027] Calculate the expected signal vector S based on the signal received by the antenna;

[0028] Initialize the weight vector W;

[0029] Iteratively calculate the optimal weight vector W based on the expected signal vector S and the weight vector W opt , until the maximum number of iterations is reached or converges to the set threshold, the optimal weight vector W is output. opt ;

[0030] According to the calculated optimal weight vector W opt Adjust the gain characteristics of the amplifier to enhance the signal.

[0031] Preferably, the filtering algorithm used in filtering the amplified signal is:

[0032]

[0033] Where H(f) is the frequency response of the filter, f is the frequency, and f c is the cutoff frequency, which represents the highest frequency that the filter allows to pass.

[0034] Preferably, the method further comprises the following steps:

[0035] Step S7, monitor the signal strength, phase, and frequency in real time to determine whether the signal is stable; when the signal stability is less than a set threshold, increase the signal amplification gain and filtering bandwidth.

[0036] A UAV signal enhancement system based on dynamic pointing signal tracking, applied to the method described above, connected to an antenna, comprising:

[0037] The data acquisition module is used to obtain the current position, flight speed, flight direction and target position of the drone;

[0038] The optimal pointing calculation module is used to calculate the optimal pointing of the antenna according to the current position information and target position information of the UAV; the antenna pointing adjustment module is used to dynamically adjust the pointing of the antenna according to the optimal pointing of the antenna and the flight speed and flight direction of the UAV;

[0039] an amplification module, used for amplifying the signal received by the antenna;

[0040] A filtering module, used for filtering the amplified signal;

[0041] The transmission module is used to transmit the filtered signal to the drone to enhance the remote control signal.

[0042] A computer-readable storage medium includes a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute the method for enhancing drone signals based on dynamic pointing signal tracking.

[0043] A processor is used to run a program, wherein the program executes the method for enhancing drone signals based on dynamic pointing signal tracking when running.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. Signal strength improvement: Through dynamic pointing signal tracking technology, the system can adjust the antenna direction in real time to ensure that the antenna is always pointing to the drone, thereby achieving directional signal enhancement. This method can concentrate signal energy more effectively than traditional omnidirectional antennas, significantly improving the strength of remote control signals.

[0046] 2. Expanded communication range: Due to the improvement of signal strength, the effective communication range between the UAV and the ground control station is expanded. This means that the UAV can stably receive control signals at a longer distance, improving the flexibility and coverage of operations.

[0047] 3. Improve operational efficiency: In complex environments, such as urban high-rise buildings and mountainous areas, this system can ensure that drones can maintain stable communication connections even in areas with insufficient signal coverage, thereby improving operational efficiency and reducing operational interruptions caused by signal problems.

[0048] 3. Enhanced safety: By reducing the risk of signal loss, this system improves the safety of drone flight. In an emergency, the drone can receive control signals more reliably, reducing the risk of loss of control and accidents.

[0049] 4. Reduce environmental interference: Integrated filtering technology can effectively reduce the impact of environmental noise and other electromagnetic interference on the signal and improve signal stability. This is especially important in areas with complex electromagnetic environments, such as city centers or industrial areas.

[0050] 5. Improve signal anti-interference ability: By dynamically adjusting the gain of the signal amplifier and the bandwidth of the filter, the system can adapt to different environmental conditions and improve the signal's anti-interference ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0052] Figure 1 The present invention is a flow chart of the method.

[0053] Figure 2 It is a system principle diagram of the present invention. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments 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.

[0055] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0056] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0057] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0058] Embodiment 1:

[0059] like Figure 1 As shown, this embodiment provides a method for enhancing drone signals based on dynamic pointing signal tracking, which aims to solve the problems of weak remote control signals and short transmission distances caused by signal dispersion of existing omni-directional antennas, insufficient signal coverage of drones in complex operating environments, affecting operating efficiency and safety, and drone control failure and safety risks that may be caused by signal loss, and includes the following steps:

[0060] Step S1, obtain the current position, flight speed, flight direction and target position of the drone. The current position of the drone is provided by the GPS or other positioning device on the drone and transmitted to the ground control station wirelessly. Specifically, the drone obtains its current position information through the built-in GPS or other positioning device (such as GLONASS, Beidou, etc.). The position information includes parameters such as longitude, latitude, and altitude. The drone transmits the position information to the ground control station in real time through a wireless communication module (such as 4G / 5G, Wi-Fi, LoRa, etc.).

[0061] Step S2, using a dynamic signal tracking algorithm to calculate the optimal antenna orientation based on the current position information and target position information of the drone. The algorithm needs to consider factors such as the flight speed and direction of the drone to ensure that the antenna always points to the direction with the strongest signal. The calculation method for the optimal antenna orientation is as follows:

[0062] Assume the current position of the drone is P current =(x current ,y current ,z current ), the target position is P target =(xtarget ,y target ,z target ); where x current ,y current ,z current The longitude, latitude and altitude of the current location respectively; x target ,y target ,z target are the longitude, latitude and altitude of the target location respectively;

[0063] Then the vector between the current position of the drone and the target position is

[0064] Calculate the unit vector of the antenna pointing to the drone

[0065] This is the best direction for the antenna.

[0066] For example, the current location information is longitude 116.3833 degrees, latitude 39.9167 degrees, altitude 150 meters, speed 10 meters / second, and direction 30 degrees south east. This information is transmitted to the ground control station in real time via the 5G network and updated once a second. Assume that the target location is longitude 116.3835 degrees, latitude 39.9165 degrees, and altitude 155 meters. Then (To simplify the calculation, the difference in longitude and latitude is converted to decimals of degrees. A more precise conversion method is required in actual calculations).

[0067] Step S3, dynamically adjust the antenna orientation according to the optimal antenna orientation and the flight speed and flight direction of the drone. The details are as follows:

[0068] Assume the current pointing vector of the antenna is calculate and The angle α between them is as follows:

[0069] According to the angle α, the horizontal angle change Δθ and the vertical angle change Δφ of the antenna are adjusted so that the current pointing vector of the antenna is Optimal pointing with antenna parallel, thus ensuring that the signal can be transmitted along the drone's intended flight path.

[0070] When adjusting the angle variation Δθ of the antenna in the horizontal direction and the angle variation Δφ of the antenna in the vertical direction, it is necessary to adjust according to the physical characteristics of the antenna, such as the rotation speed of the antenna, the maximum rotation angle, and the like.

[0071] Among them, let the current position of the antenna bottom be P antenna =(x antenna ,yantenna ,z antenna );The target position of the antenna top is P antenna *=(x antenna *,y antenna *,z antenna *), the current pointing vector of the antenna is Step S4, amplify the signal received by the antenna. Specifically, a directional signal amplifier is used, and an adaptive beamforming algorithm is applied to adjust the gain characteristics of the amplifier. The amplifier has a specific frequency response and gain characteristics, which can enhance the signal strength in a specific direction while suppressing interference signals in other directions. The frequency response characteristics of the amplifier are set to accurately match the frequency range of the remote control signal. The following steps are included:

[0072] Step S41, calculating the expected signal vector S according to the signal received by the antenna;

[0073] Step S42, initializing the weight vector W;

[0074] Step S43, iteratively calculate the optimal weight vector W according to the expected signal vector S and the weight vector W opt , until the maximum number of iterations is reached or converges to the set threshold, the optimal weight vector W is output. opt ; The calculation method is as follows:

[0075]

[0076] Among them, W H represents the conjugate transpose of W, and |·| represents the vector norm.

[0077] Step S44: based on the calculated optimal weight vector W opt Adjust the gain characteristics of the amplifier to enhance the signal.

[0078] The algorithm achieves signal enhancement by adjusting the weight vector w to maximize the ratio of the desired signal power to the noise and interference signal power. According to the adaptive beamforming algorithm, the gain characteristics of the amplifier are adjusted. By measuring and analyzing the signal direction in real time, the algorithm can dynamically adjust the gain to ensure the enhancement of the signal in the target direction while suppressing interference signals in other directions. The amplifier parameters are optimized by comprehensively considering the frequency response and gain characteristics of the amplifier. By adjusting the frequency response and gain characteristics, the signal strength is maximized while ensuring the stability and reliability of the signal.

[0079] Step S5, filtering the amplified signal. Through the integrated filtering module, the amplified signal is filtered to reduce environmental interference. The filter can be a low-pass filter, and its cut-off frequency can be adjusted according to the characteristics of the environmental noise. The filtering algorithm used is:

[0080]

[0081] Where H(f) is the frequency response of the filter, f is the frequency, and f c is the cutoff frequency, which indicates the highest frequency that the filter allows to pass. When the signal frequency is less than or equal to the cutoff frequency f c When the frequency response H(f) of the filter is 1, it means that the signal can pass completely; when the frequency of the signal is greater than the cutoff frequency f c When , the filter's frequency response H(f) is 0, indicating that the signal is completely blocked.

[0082] Step S6, transmitting the filtered signal to the drone to enhance the remote control signal.

[0083] Step S7, monitor the signal strength, phase, and frequency in real time to determine whether the signal is stable. Dynamically adjust the signal amplification and filtering parameters according to the signal stability. When the signal stability is less than the set threshold, increase the signal amplification gain and filtering bandwidth to improve the signal's anti-interference ability.

[0084] Specifically, it can be judged by measuring the signal-to-noise ratio, bit error rate and other parameters of the signal. The quantification of signal stability can be achieved by calculating the variation range or standard deviation of the signal-to-noise ratio and bit error rate within a certain period of time. If the variation range or standard deviation exceeds the set threshold, the signal is considered unstable. According to the signal stability, the signal amplification and filtering parameters are dynamically adjusted. For example, when the signal stability is poor, the signal amplification gain and filtering bandwidth can be increased to improve the signal's anti-interference ability.

[0085] Embodiment 2:

[0086] like Figure 2 As shown, based on the same inventive concept as that of Example 1, this embodiment provides a drone signal enhancement system based on dynamic pointing signal tracking, and is applied to a method in which the system is connected to an antenna and communicates with the drone, including:

[0087] The data acquisition module is used to obtain the current position, flight speed, flight direction and target position of the drone;

[0088] The optimal pointing calculation module is used to calculate the optimal pointing of the antenna according to the current position information and target position information of the UAV; the antenna pointing adjustment module is used to dynamically adjust the pointing of the antenna according to the optimal pointing of the antenna and the flight speed and flight direction of the UAV;

[0089] an amplification module, used for amplifying the signal received by the antenna;

[0090] A filtering module, used for filtering the amplified signal;

[0091] The transmission module is used to transmit the filtered signal to the drone to enhance the remote control signal.

[0092] The system also includes a monitoring module, which is used to monitor the strength, phase, and frequency of the signal to determine whether the signal is stable. According to the signal stability, the signal amplification and filtering parameters are dynamically adjusted.

[0093] Among them, the data acquisition module is connected to the UAV for communication, the data acquisition module, the optimal pointing calculation module, and the antenna pointing adjustment module are connected in sequence, the antenna pointing adjustment module and the amplification module are connected to the antenna respectively, the amplification module, the filtering module, and the transmission module are connected in sequence, the transmission module is connected to the UAV for communication, the transmission module is connected to the monitoring module, and the detection module is connected to the amplification module and the filtering module respectively.

[0094] Embodiment 3:

[0095] Based on the same inventive concept as Example 1, this embodiment provides a computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the drone signal enhancement method based on dynamic pointing signal tracking as described in any one of claims 1 to 7.

[0096] Embodiment 4:

[0097] Based on the same inventive concept as Example 1, this embodiment provides a processor, characterized in that the processor is used to run a program, wherein the program executes the drone signal enhancement method based on dynamic pointing signal tracking as described in any one of claims 1 to 7 when running.

[0098] Those of ordinary skill in the art will appreciate that the modules of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition of each example has been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0099] In the embodiments provided by the present invention, it should be understood that the division of modules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple modules can be combined into one module, one module can be split into multiple modules, or some features can be ignored, etc.

[0100] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0101] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several 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, read-only memory (ROM, Read-0nlyMemory), random access memory (RAM, RandomAccessMemory), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program codes.

[0102] 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 replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A method for enhancing UAV signals based on dynamic pointing signal tracking, characterized in that: The following steps are involved: Step S1, obtaining the current position, flight speed, flight direction and target position of the drone; Step S2, calculating the optimal antenna direction according to the current position information and target position information of the UAV; Step S3, dynamically adjusting the antenna orientation according to the optimal antenna orientation and the flight speed and flight direction of the UAV; Step S4, amplifying the signal received by the antenna; Step S5, filtering the amplified signal; Step S6, transmitting the filtered signal to the drone to enhance the remote control signal.

2. The method for enhancing UAV signals based on dynamic pointing signal tracking according to claim 1, characterized in that: The calculation method of the optimal antenna pointing in step S2 is as follows: Assume the current position of the drone is P current =(x current ,y current ,z current ), the target position is P target =(x target ,y target ,z target ); where x current ,y current ,z current The longitude, latitude and altitude of the current location respectively; x target ,y target ,z target are the longitude, latitude and altitude of the target location respectively; Then the vector between the current position of the drone and the target position is Calculate the unit vector of the antenna pointing to the drone This is the best direction for the antenna.

3. The method for enhancing UAV signal based on dynamic pointing signal tracking according to claim 1, characterized in that: The antenna direction is dynamically adjusted according to the optimal antenna direction and the flight speed and direction of the drone as follows: Assume the current pointing vector of the antenna is calculate and The angle α between them is as follows: According to the angle α, adjust the horizontal angle change Δθ and the vertical angle change Δφ of the antenna so that the current pointing vector of the antenna is Optimal pointing with antenna parallel.

4. The method for enhancing UAV signals based on dynamic pointing signal tracking according to claim 1, characterized in that: The step S4 of amplifying the signal received by the antenna specifically adopts a directional signal amplifier and applies an adaptive beamforming algorithm to adjust the gain characteristics of the amplifier.

5. The method for enhancing UAV signals based on dynamic pointing signal tracking according to claim 4 is characterized in that: The step S4 specifically comprises the following steps: Calculate the expected signal vector S based on the signal received by the antenna; Initialize the weight vector W; Iteratively calculate the optimal weight vector W based on the expected signal vector S and the weight vector W opt , until the maximum number of iterations is reached or converges to the set threshold, the optimal weight vector W is output. opt ; According to the calculated optimal weight vector W opt Adjust the gain characteristics of the amplifier to enhance the signal.

6. The method for enhancing UAV signals based on dynamic pointing signal tracking according to claim 1, characterized in that: The filtering algorithm used in filtering the amplified signal is: Where H(f) is the frequency response of the filter, f is the frequency, and f c is the cutoff frequency, which represents the highest frequency that the filter allows to pass.

7. The method for enhancing UAV signals based on dynamic pointing signal tracking according to claim 1, characterized in that: The following steps are also included: Step S7, monitor the signal strength, phase, and frequency in real time to determine whether the signal is stable; when the signal stability is less than a set threshold, increase the signal amplification gain and filtering bandwidth.

8. A UAV signal enhancement system based on dynamic pointing signal tracking, characterized in that: The method applied to any one of claims 1 to 7, connected to an antenna, comprises: The data acquisition module is used to obtain the current position, flight speed, flight direction and target position of the drone; The best pointing calculation module is used to calculate the best pointing direction of the antenna according to the current position information and target position information of the UAV; Antenna pointing adjustment module, used to dynamically adjust the antenna pointing according to the optimal antenna pointing and the flight speed and flight direction of the drone; an amplification module, used for amplifying the signal received by the antenna; A filtering module, used for filtering the amplified signal; The transmission module is used to transmit the filtered signal to the drone to enhance the remote control signal.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the drone signal enhancement method based on dynamic pointing signal tracking as described in any one of claims 1 to 7.

10. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes the drone signal enhancement method based on dynamic pointing signal tracking as described in any one of claims 1 to 7.

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