Unmanned aerial vehicle positioning method and device, electronic equipment and storage medium

Abstract

The invention provides an unmanned aerial vehicle positioning method and device, electronic equipment and a storage medium. The method comprises the following steps: detecting and positioning a to-be-detected target based on a 5G-A base station; detecting and verifying a to-be-detected target based on the first site and the second site; the first station is closer to the 5G-A base station than the second station; the method specifically comprises the following steps: receiving a 5G-A original signal sent by a 5G-A base station based on a first station; receiving a 5G-A original signal sent by the first station based on the second station; searching a 5G-A reflection signal which is sent by the 5G-A base station and is reflected by the to-be-measured target from multiple angles; determining a reflected signal direction; and verifying the to-be-detected target in the direction of the reflected signal based on the second station, verifying whether the unmanned aerial vehicle exists in the direction of the reflected signal, and carrying out preliminary false alarm elimination on a 5G-A positioning result. According to the technical scheme, AOA and 5G-A are fused, the 5G-A is helped to preliminarily eliminate false alarms, and the positioning result is more accurate.

Description

Technical Field

[0001] The present invention relates to the field of drone positioning technology, and in particular to a drone positioning method, device, electronic equipment and storage medium. Background Art

[0002] Drone positioning involves using base station observation points and their observed values at known coordinates to determine the target's location. Common drone positioning algorithms are based on the following technologies: TDOA (Time Difference of Arrival), AOA (Angle of Arrival), and 5G-A interawareness integration.

[0003] The positioning technology based on TDOA uses the arrival time difference of the signal from the transmitter to different receivers to achieve precise positioning. Specifically, after obtaining the signal transmission delay between the drone and the site, the arrival time difference is calculated using the TOA measurement values between multiple sites and the drone. By comparing the arrival time difference of the signal sent by the drone to multiple monitoring sites, a hyperbola with the site as the focus and the distance difference as the major axis can be made. The intersection of the hyperbola is the location of the signal, so it can also be called a hyperbola positioning technology. TDOA is a positioning system based on multiple sites, so to locate the signal, at least three or more monitoring sites must measure simultaneously.

[0004] AOA-based positioning technology uses the angle of incidence of the signal received by the receiver to infer the target's position. Specifically, when a drone is in flight, it transmits electromagnetic wave signals. When the signal reaches the antenna arrays of multiple base stations or the multiple antennas of a single base station, the angles of incidence of the signal received by different antennas vary, and this angle information can be used for positioning. However, this positioning method based on the difference in angle of incidence places high demands on the antenna, and its positioning accuracy is significantly affected by the multipath effect.

[0005] The positioning technology based on 5G-A inter-sensory integration is to co-locate the 5G-A inter-sensory integration base station with the traditional 5G communication base station, which can achieve the radar scattering cross-sectional area of 0.01m. 2 5G-A integrated positioning technology provides more accurate positioning results than TDOA and AOA technologies. However, because 5G-A uses radar for positioning, the radar may mistake noise signals exceeding the detection threshold for targets, which can easily cause false alarms. Summary of the Invention

[0006] The present invention provides a drone positioning method, device, electronic device and storage medium to solve the problem that the existing positioning technology based on 5G-A synaesthesia integration is prone to false alarms.

[0007] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0008] According to a first aspect of the present invention, a method for positioning a drone is provided, comprising:

[0009] Detect and locate the target based on the 5G-A base station;

[0010] Detecting and verifying the target to be measured based on a first site and a second site; wherein the distance between the first site and the 5G-A base station is less than the distance between the second site and the 5G-A base station; specifically comprising:

[0011] Receiving, based on the first site, a 5G-A original signal sent by the 5G-A base station;

[0012] The second site receives the 5G-A original signal sent by the first site; and searches for the 5G-A reflected signal sent by the 5G-A base station and reflected by the target at multiple angles;

[0013] After searching for the 5G-A reflected signal, determining the direction of the reflected signal;

[0014] After determining the direction of the reflected signal, the target to be measured in the direction of the reflected signal is verified to verify whether there is a drone in the direction of the reflected signal, so as to preliminarily eliminate false alarms in the 5G-A positioning result of the 5G-A base station.

[0015] Optionally, determining the direction of the reflected signal specifically includes:

[0016] The 5G-A reflected signal most correlated with the 5G-A original signal among the 5G-A reflected signals searched from multiple angles is screened, and the incoming direction of the 5G-A reflected signal is the direction of the reflected signal.

[0017] Optionally, the screening of the 5G-A reflected signal that is most relevant to the 5G-A original signal in the multi-angle search, where the arrival direction of the 5G-A reflected signal is the reflected signal direction, specifically includes:

[0018] Performing cross-correlation operations on the 5G-A reflected signal from the multi-angle search and the 5G-A original signal to obtain multiple cross-correlation peaks;

[0019] Multiple cross-correlation peaks are compared, and the direction of arrival of the 5G-A reflected signal corresponding to the highest cross-correlation peak is the direction of the reflected signal.

[0020] Optionally, verifying the target to be detected in the direction of the reflected signal to verify whether a drone exists in the direction specifically includes:

[0021] Based on the second site, a search is performed for an image transmission signal sent by the target to be measured near the direction of the reflected signal; if the image transmission signal is not found, it indicates that there is no drone in that direction; if the image transmission signal is found, it indicates that there is a drone in that direction.

[0022] Optionally, after detecting and verifying the target to be detected based on the first site and the second site, the method further includes:

[0023] Performing in-depth false alarm elimination on the 5G-A positioning result of the 5G-A base station based on the first site and the second site, specifically including:

[0024] Based on the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal, an estimated arrival time difference between the two signals is obtained. According to the estimated arrival time difference, the 5G-A positioning result located in the direction of the reflected signal is subjected to coordinate logic verification. If there is a 5G-A positioning result that conforms to the coordinate logic, then the 5G-A positioning result is the UAV positioning result.

[0025] Optionally, the obtaining an estimated arrival time difference between the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal based on the two signals, and performing coordinate logic verification on the 5G-A positioning result in the direction of the reflected signal according to the estimated arrival time difference, specifically includes:

[0026] Performing a cross-correlation operation on the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal to obtain an estimated arrival time difference between the two signals corresponding to a cross-correlation peak;

[0027] Calculate the coordinate logical distance difference between the two signal propagation paths based on the coordinates of the 5G-A base station, the coordinates of the first site, the coordinates of the second site, and the coordinates of the 5G-A positioning result in the direction of the reflected signal;

[0028] According to the estimated arrival time difference, the estimated distance difference of the two signal propagation paths is obtained, and it is judged whether the estimated distance difference is consistent with the coordinate logical distance difference. If they are inconsistent, it means that the 5G-A positioning result is a false positioning result. If they are consistent, it means that the 5G-A positioning result is the UAV positioning result; or; according to the coordinate logical distance difference, the coordinate logical arrival time difference of the two signals is obtained, and it is judged whether the estimated arrival time difference is consistent with the coordinate logical arrival time difference. If they are inconsistent, it means that the 5G-A positioning result is a false positioning result. If they are consistent, it means that the 5G-A positioning result is the UAV positioning result.

[0029] Optionally, the cross-correlation operation is performed based on the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal. The specific expression is:

[0030]

[0031] Among them, the 5G-A original signal is expressed as: x1(t)=as(t-τ1)+n1(t); the 5G-A reflected signal in the direction of the reflected signal is expressed as: x2(t)=bs(t-τ2)+n2(t); s(t) represents the signal sent by the 5G-A base station, τ1 and τ2 respectively represent the time delay for the first site to receive the 5G-A original signal and the second site to receive the 5G-A reflected signal in the direction of the reflected signal, a and b respectively represent the attenuation coefficients of the 5G-A original signal reaching the first site and the 5G-A reflected signal in the direction of the reflected signal reaching the second site, n1(t) and n2(t) respectively represent noise; τ is the time delay variable, τ 12 =τ2-τ1, R ss (τ-τ 12 ) represents the cross-correlation sequence of s(t-τ1) and s(t-τ2), represents the cross-correlation operation between n1(t) and n2(t);

[0032] The τ corresponding to when the cross-correlation sequence reaches a peak value is the estimated arrival time difference.

[0033] Optionally, there are multiple second sites, and the method further includes:

[0034] Based on the first site and the plurality of second sites, detecting the target to be measured, and locating the target to be measured using a TDOA algorithm;

[0035] If the coordinate logic verification shows that the drone positioning result exists, the drone positioning result is sent to the first site and the plurality of second sites;

[0036] After receiving the UAV positioning result, the first site and multiple second sites verify the deviation between the result and the TDOA positioning result near their own UAV positioning result. If there is a deviation, their own clocks are calibrated.

[0037] Optionally, calibrating the clock of the device specifically includes:

[0038] Calculate the calibrated time difference of arrival of the received signals at the two sites based on the coordinates of the site itself, the coordinates of the site with the consistent positioning result, and the coordinates of the UAV positioning result; wherein the site with the consistent positioning result refers to the site where the TDOA positioning result is consistent with the UAV positioning result;

[0039] Adjust its own clock so that the actual signal arrival time difference between the two stations is consistent with the calibrated arrival time difference.

[0040] According to a second aspect of the present invention, there is provided a drone positioning device, comprising:

[0041] 5G-A base station, used to detect and locate the target;

[0042] The first site is configured to receive a 5G-A original signal sent by a 5G-A base station;

[0043] At least one second site is configured to: receive the 5G-A original signal sent by the first site; and perform a multi-angle search for a 5G-A reflected signal sent by the 5G-A base station and reflected by the target to be measured; wherein the distance between the first site and the 5G-A base station is less than the distance between the second site and the 5G-A base station;

[0044] The second site is also used for:

[0045] After searching for the 5G-A reflected signal, determining the direction of the reflected signal;

[0046] After determining the direction of the reflected signal, the target to be measured in the direction of the reflected signal is verified to verify whether there is a drone in the direction of the reflected signal, so as to preliminarily eliminate false alarms in the 5G-A positioning result of the 5G-A base station.

[0047] According to a third aspect of the present invention, there is provided an electronic device, comprising:

[0048] processor;

[0049] and, a memory for storing processor-executable instructions;

[0050] The processor implements the steps in the above method by running the executable instructions.

[0051] According to a fourth aspect of the present invention, there is provided a storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above-mentioned method when executed by a processor.

[0052] The drone positioning method, device, electronic device and storage medium provided by the present invention detect and locate the target to be measured through a 5G-A base station; and receive the signal sent by 5G-A through a first station, and also receive the 5G-A reflected signal reflected by the target to be measured through a second station, determine the direction of the reflected signal, and verify whether there is a drone among the targets to be measured in the direction, thereby eliminating false targets and utilizing direction information, that is, combining AOA technology to perform preliminary false alarm elimination on the 5G-A positioning results. Compared with single 5G-A positioning, the positioning is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 This is a flow chart of a method for positioning a UAV according to an embodiment of the present invention;

[0055] Figure 2 A diagram showing the specific steps of a method for positioning a drone according to an embodiment of the present invention;

[0056] Figure 3 This is a flow chart of a method for positioning a UAV according to another embodiment of the present invention;

[0057] Figure 4 A diagram showing the specific steps of a method for positioning a drone according to another embodiment of the present invention;

[0058] Figure 5 Schematic diagram of the principle of a UAV positioning method according to another embodiment of the present invention;

[0059] Figure 6 This is a flow chart of a method for positioning a UAV according to another embodiment of the present invention;

[0060] Figure 7 is a schematic diagram of an electronic device according to an embodiment of the present invention;

[0061] Description of reference numerals:

[0062] 11-5G-A base station;

[0063] 12-First site;

[0064] 13-Second site;

[0065] 14- Target to be measured;

[0066] 21-processor,

[0067] 22- internal bus,

[0068] 23-Network interface,

[0069] 24-memory,

[0070] 25-Memory. DETAILED DESCRIPTION

[0071] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 making creative efforts are within the scope of protection of the present invention.

[0072] In the description of the specification of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper part", "lower part", "upper end", "lower end", "lower surface", "upper surface", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0073] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of such features.

[0074] In the description of the present invention, "plurality" means multiple, such as two, three, four, etc., unless otherwise clearly defined.

[0075] In the description of the present invention, unless otherwise specified or limited, the term "connection" and other terms should be understood in a broad sense. For example, it can mean fixed connection, detachable connection, or integration; it can mean mechanical connection, electrical connection, or mutual communication; it can mean direct connection or indirect connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0076] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0077] Please refer to Figure 1 In one embodiment, a method for positioning a drone is provided, comprising:

[0078] S11: Detect and locate the target based on the 5G-A base station.

[0079] The radar of the 5G-A base station will emit a beam to scan the drone target. The transmitted beam will be reflected and generate an echo signal when it hits the target. The base station can identify the position of the target through the echo signal, thereby achieving detection and positioning.

[0080] S12: Detect and verify the target to be measured based on the first site and the second site to preliminarily eliminate false alarms in the 5G-A positioning results.

[0081] Among them, the distance between the first site and the 5G-A base station is smaller than the distance between the second site and the 5G-A base station, that is, the first site is closer to the 5G-A base station than the second site.

[0082] Please refer to Figure 2 , S12 specifically includes:

[0083] S121: Receive the 5G-A original signal sent by the 5G-A base station based on the first site, and send the received 5G-A original signal to the second site.

[0084] The signal sent by 5G-A is expressed as s(t), and the original 5G-A signal received by the first site is expressed as x1(t)=as(t-τ1)+n1(t); wherein τ1 represents the time delay for the first site to receive the original 5G-A signal, that is, the time delay caused by the transmission path from the 5G-A base station to the first site, a represents the attenuation coefficient of the signal sent by 5G-A reaching the first site, and n1(t) represents noise.

[0085] S122: Receive the 5G-A original signal sent by the first site based on the second site; and search for the 5G-A reflected signal sent by the 5G-A base station and reflected by the target to be measured at multiple angles.

[0086] The second site searches for 5G-A reflected signals at multiple angles through the antenna. Each time the antenna searches an angle, it receives a received signal in one direction. The total number of received signals is: r1(t), r2(t), r3(t)…r M (t), M represents the searched angle number.

[0087] S123: After searching for the 5G-A reflected signal, determine the direction of the reflected signal.

[0088] In one embodiment, the direction of the reflected signal can be determined based on the original 5G-A signal. Since the first station is closer to the 5G-A base station, the received original 5G-A signal is relatively strong. This signal can be used for accurate direction finding and time estimation, and used as a local signal to determine the direction of the reflected signal reflected from the target. Specifically, the 5G-A reflected signal most closely correlated with the original 5G-A signal from the multi-angle search is selected, and the direction of the 5G-A reflected signal is the direction of the reflected signal.

[0089] Specifically, the 5G-A reflected signals r1(t), r2(t), r3(t)……r M (t) is cross-correlated with the original 5G-A signal to obtain multiple cross-correlation peaks:

[0090]

[0091] When the angle of the second site's antenna search coincides with the angle of the 5G-A reflected signal from the target, a large peak will appear in the cross-correlation result. Comparing these cross-correlation peaks, the signal r(t) with the highest peak, indicating the strongest correlation, is the 5G-A reflected signal from the target. The corresponding angle is the direction of the reflected signal.

[0092] Compare multiple cross-correlation peaks. The direction of the 5G-A reflected signal corresponding to the highest cross-correlation peak is the direction of the reflected signal.

[0093] S124: After determining the direction of the reflected signal, verify the target to be measured in the direction of the reflected signal to verify whether there is a drone in the direction of the reflected signal.

[0094] Based on this verification result, namely whether there is a drone in the direction of the reflected signal, preliminary false alarm elimination can be performed on the 5G-A positioning results of the 5G-A base station. Specifically, if there is a drone in the direction of the reflected signal, it can be preliminarily determined that the 5G-A positioning results in the direction of the reflected signal contain a drone positioning result. If there is no drone in the direction of the reflected signal, the 5G-A positioning results in the direction of the reflected signal can be considered to be false alarms. This achieves preliminary false alarm elimination and makes the 5G-A positioning results more accurate.

[0095] In one embodiment, verification of the target can be achieved through image transmission signals. If the target is a drone, the image transmission signal is received, but if it is a false target, the image transmission signal is not received. Specifically, the second station searches for an image transmission signal from the target in the direction of the reflected signal. If no image transmission signal is found, it indicates that no drone is present in that direction. If an image transmission signal is found, it indicates that a drone is present in that direction.

[0096] It should be understood that S11 and S121 to S124 can be performed simultaneously in any order.

[0097] Please refer to Figure 3 In another embodiment, a method for positioning a drone is provided, comprising:

[0098] S21: Detect and locate the target based on the 5G-A base station.

[0099] S22: Detect and verify the target based on the first site and the second site to preliminarily eliminate false alarms in the 5G-A positioning results.

[0100] S23: Perform in-depth false alarm elimination on the 5G-A positioning results based on the first site and the second site.

[0101] Among them, S21, S22 and Figure 1-Figure 2 S11 and S12 in the embodiment shown are the same and will not be described in detail here. The difference from the above embodiment is that in this embodiment, S23 is added after S22.

[0102] S23 specifically includes: based on the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal, using the TDOA algorithm to perform coordinate logic verification on the 5G-A positioning result in the direction of the reflected signal. If there is a 5G-A positioning result that conforms to the coordinate logic, then the 5G-A positioning result is the UAV positioning result.

[0103] In this embodiment, based on the verification result of S22, the 5G-A positioning result can be preliminarily eliminated for false alarms, eliminating some false alarm targets. However, false alarms may still exist in the 5G-A positioning result in this direction. Combined with the in-depth false alarm elimination of S23, possible false alarms are further eliminated, thereby further improving the accuracy of the 5G-A positioning result.

[0104] The following combination Figure 4-Figure 5 Expand the description of coordinate logic verification:

[0105] Please refer to Figure 4 , coordinate logic verification specifically includes:

[0106] S231: Perform a cross-correlation operation based on the 5G-A original signal x1(t) and the 5G-A reflected signal x2(t) in the reflected signal direction (i.e., the most correlated 5G-A reflected signal). The specific expression is:

[0107]

[0108] Among them, the 5G-A original signal is expressed as: x1(t) = as(t-τ1) + n1(t); the 5G-A reflected signal in the reflected signal direction is expressed as: x2(t) = bs(t-τ2) + n2(t); s(t) represents the signal sent by the 5G-A base station, τ1 and τ2 represent the time delays for the first site to receive the 5G-A original signal and the second site to receive the 5G-A reflected signal in the reflected signal direction, respectively, a and b represent the attenuation coefficients of the 5G-A original signal reaching the first site and the 5G-A reflected signal in the reflected signal direction reaching the second site, respectively, n1(t) and n2(t) represent noise, respectively; τ is the time delay variable, τ 12 =τ2-τ1, R ss (τ-τ 12 ) represents the cross-correlation sequence of s(t-τ1) and s(t-τ2), Represents the cross-correlation operation of n1(t) and n2(t). Cross-correlation sequence R ss (τ-τ 12 ) reaches its peak value, the corresponding τ is the estimated arrival time difference;

[0109] S232: Based on the coordinates of the 5G-A base station, the coordinates of the first site, the coordinates of the second site, and the coordinates of the 5G-A positioning result in the direction of the reflected signal, calculate the coordinate logical distance difference of the two signals.

[0110] Please refer to Figure 5 , l1, l2, and l3 represent the distances between the 5G-A base station and the first site, the 5G-A base station and the target to be measured, and the target to be measured and the second site, respectively. The coordinates of the 5G-A base station, the first site, and the second site are all known. The coordinates of the target to be measured are given by the 5G-A base station, i.e., the 5G-A positioning result. The coordinate logical distance difference can be obtained as:

[0111] Δl=l2+l3-l1;

[0112] in, (x0, y0) are the coordinates of the 5G-A base station, (x1, y1) are the coordinates of the first site, (x2, y2) are the coordinates of the target to be measured, and (x3, y3) are the coordinates of the second site.

[0113] S233: The coordinate logic verification of the 5G-A positioning result can be performed based on the estimated arrival time difference and the coordinate logic distance difference.

[0114] As an implementation method, the estimated arrival time difference can be converted into an estimated distance difference, that is, τ·c, where c represents the speed of light; then a judgment is made as to whether it is consistent with the coordinate logical distance difference. If not, it indicates that the 5G-A positioning result is a false positioning result (that is, not a drone positioning result); if consistent, it indicates that the 5G-A positioning result is a drone positioning result.

[0115] As another implementation method, the coordinate logical distance difference can be converted into the coordinate logical arrival time difference, that is, Δl / c, and then it is determined whether it is consistent with the estimated arrival time difference. If it is inconsistent, it means that the 5G-A positioning result is a false positioning result. If it is consistent, it means that the 5G-A positioning result is a drone positioning result.

[0116] Please refer to Figure 6 In another embodiment, a method for positioning a drone is provided, comprising:

[0117] S31: Detect and locate the target based on the 5G-A base station.

[0118] S32: Detect and verify the target based on the first site and the second site to preliminarily eliminate false alarms in the 5G-A positioning results.

[0119] Among them, S31, S32 and Figure 1-Figure 2 S11 and S12 in the illustrated embodiment are the same and will not be described in detail here.

[0120] S33: Perform in-depth false alarm elimination on the 5G-A positioning results based on the first site and the second site.

[0121] Among them, S33 and Figure 3-Figure 4 S23 in the illustrated embodiment is the same and will not be described in detail here.

[0122] S34: There are multiple second sites. Based on the first site and the multiple second sites, the target to be measured is detected, and the target to be measured is located using a TDOA algorithm.

[0123] S35: If, after coordinate logic verification, there is a drone positioning result (i.e., a determined and accurate 5G-A positioning result), the drone positioning result is sent to the first site and multiple second sites.

[0124] S36: After receiving the UAV positioning result, the first site and multiple second sites verify the deviation between it and the TDOA positioning result near their own UAV positioning result. If there is a deviation, their own clocks are calibrated.

[0125] It should be understood that S31, S32 and S34 can be performed simultaneously in any order.

[0126] In one embodiment, calibrating the clock in S36 specifically includes:

[0127] Based on the coordinates of its own site, the coordinates of the site with consistent positioning results, and the coordinates of the drone positioning results, the calibrated time difference of arrival of the received signals at the two sites is calculated; the site with consistent positioning results refers to the site where the TDOA positioning results are consistent with the drone positioning results, that is, the clock of the site with accurate positioning results is calibrated according to the clock of the site with positioning deviation;

[0128] The site with the deviation adjusts its own clock so that the actual signal arrival time difference between the two sites is consistent with the calibrated arrival time difference.

[0129] In this embodiment, the 5G-A base station's 5G-A positioning results are falsely detected based on the first and second sites, resulting in accurate 5G-A positioning results. Based on the accurate 5G-A positioning results, the clocks of the first and second sites are calibrated to achieve better clock synchronization, thereby further improving the accuracy of their TDOA positioning results. The 5G-A base station, the first and second sites complement each other.

[0130] Please continue to refer to Figure 5 In one embodiment, a drone positioning device is provided, comprising:

[0131] A 5G-A base station 11 is used to detect and locate a target 14;

[0132] The first site 12 is configured to receive a 5G-A original signal sent by a 5G-A base station;

[0133] At least one second site 13 is configured to: receive a 5G-A original signal transmitted by the first site; and perform a multi-angle search for a 5G-A reflected signal transmitted by the 5G-A base station and reflected by the target to be measured; wherein the distance between the first site and the 5G-A base station is less than the distance between the second site and the 5G-A base station;

[0134] The second site is also used for:

[0135] After searching for the 5G-A reflected signal, determine the direction of the reflected signal;

[0136] After determining the direction of the reflected signal, the target to be measured in the direction of the reflected signal is verified to verify whether there is a drone in the direction of the reflected signal, so as to preliminarily eliminate false alarms in the 5G-A positioning results of the 5G-A base station.

[0137] In another embodiment, the second site is further used to perform in-depth false alarm elimination on the 5G-A positioning results. Specifically, based on the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal, the TDOA algorithm is used to perform coordinate logic verification on the 5G-A positioning result in the direction of the reflected signal. If a 5G-A positioning result that meets the coordinate logic is found, the 5G-A positioning result is the drone positioning result.

[0138] In another embodiment, there are multiple second stations. The first station and the second station are further configured to detect the target to be detected and locate the target to be detected using a TDOA algorithm.

[0139] Furthermore, the 5G-A base station is also used to: if after coordinate logic verification, there is a drone positioning result (that is, a determined and accurate 5G-A positioning result), the drone positioning result is sent to the first site and multiple second sites.

[0140] Correspondingly, the first site and multiple second sites are also used to: after receiving the drone positioning result, verify the deviation between it and the TDOA positioning result near its own drone positioning result, and if there is a deviation, calibrate its own clock.

[0141] The drone positioning method and device provided by some of the above embodiments of the present invention detect and locate the target to be measured through a 5G-A base station; and, by receiving the signal sent by 5G-A through a first site, the 5G-A reflected signal reflected by the target to be measured is received through a second site, the direction of the reflected signal is determined, and it is verified whether there is a drone among the targets to be measured in the direction, false targets are eliminated, and direction information is utilized, that is, the AOA technology is combined to perform preliminary false alarm elimination on the 5G-A positioning results. Compared with single 5G-A positioning, the positioning is more accurate.

[0142] In other embodiments, after preliminary false alarm elimination, an estimated time difference of arrival (TDOA) of the two signals is derived based on the signals received by the first and second sites. This estimated TDOA is then used to perform coordinate logic verification on the 5G-A positioning results, eliminating false positioning results. This TDOA information is then used, combining TDOA technology to further eliminate false alarms in the 5G-A positioning results. After preliminary and in-depth false alarm elimination, the combined constraints of the AOA and TDOA algorithms help 5G-A eliminate false alarms. This further improves positioning accuracy by integrating AOA, TDOA, and 5G-A.

[0143] In some other embodiments, there are multiple second sites, and TDOA positioning is performed based on the first site and multiple second sites. The clocks of the first site and multiple second sites are calibrated using the 5G-A drone positioning results, making the TDOA positioning results more accurate and achieving a complementary effect with 5G-A positioning.

[0144] Please refer to Figure 7 In one embodiment, an electronic device is also provided. At the hardware level, the device includes a processor 21, an internal bus 22, a network interface 23, a memory 24, and a storage 25. Of course, it may also include hardware required for other services. One or more embodiments of the present invention can be implemented based on software, such as the processor 21 reading the corresponding computer program from the storage 25 into the memory 24 and then running it. Of course, in addition to software implementation, one or more embodiments of the present invention do not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0145] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email transceiver, game console, tablet computer, wearable device, or any combination of these devices.

[0146] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0147] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0148] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0149] The foregoing description describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0150] Throughout this specification, references to terms such as "one embodiment," "an example," "a specific implementation," or "an example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0151] It should be understood that although the terms first, second, third, etc. may be used to describe various information in one or more embodiments of the present invention, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0152] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for positioning a drone, characterized in that: include: Detect and locate the target based on the 5G-A base station; Detecting and verifying the target to be measured based on a first site and a second site; wherein the distance between the first site and the 5G-A base station is less than the distance between the second site and the 5G-A base station; specifically comprising: Receiving, based on the first site, a 5G-A original signal sent by the 5G-A base station; The second site receives the 5G-A original signal sent by the first site; and searches for a 5G-A reflected signal sent by the 5G-A base station and reflected by the target at multiple angles; After searching for the 5G-A reflected signal, determine the direction of the reflected signal; After determining the direction of the reflected signal, the target to be measured in the direction of the reflected signal is verified to verify whether there is a drone in the direction of the reflected signal, so as to preliminarily eliminate false alarms in the 5G-A positioning result of the 5G-A base station.

2. The method for positioning a UAV according to claim 1, wherein: Determining the direction of the reflected signal specifically includes: The 5G-A reflected signal most correlated with the 5G-A original signal among the 5G-A reflected signals searched from multiple angles is screened, and the incoming direction of the 5G-A reflected signal is the direction of the reflected signal.

3. The method for positioning a UAV according to claim 2, wherein: The screening of the 5G-A reflected signals obtained through the multi-angle search that are most correlated with the 5G-A original signal, wherein the direction of arrival of the 5G-A reflected signal is the direction of the reflected signal, specifically includes: Performing cross-correlation operations on the 5G-A reflected signal from the multi-angle search and the 5G-A original signal to obtain multiple cross-correlation peaks; Multiple cross-correlation peaks are compared, and the direction of arrival of the 5G-A reflected signal corresponding to the highest cross-correlation peak is the direction of the reflected signal.

4. The method for positioning a UAV according to claim 1, wherein: The verifying of the target to be detected in the direction of the reflected signal to verify whether a drone exists in the direction specifically includes: Based on the second site, a search is performed for an image transmission signal sent by the target to be measured near the direction of the reflected signal; if the image transmission signal is not found, it indicates that there is no drone in that direction; if the image transmission signal is found, it indicates that there is a drone in that direction.

5. The UAV positioning method according to any one of claims 1 to 4, characterized in that: After detecting and verifying the target based on the first site and the second site, the method further includes: Performing in-depth false alarm elimination on the 5G-A positioning result of the 5G-A base station based on the first site and the second site, specifically including: Based on the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal, an estimated arrival time difference between the two signals is obtained. According to the estimated arrival time difference, the 5G-A positioning result located in the direction of the reflected signal is subjected to coordinate logic verification. If there is a 5G-A positioning result that conforms to the coordinate logic, then the 5G-A positioning result is the UAV positioning result.

6. The method for positioning a UAV according to claim 5, wherein: Determining an estimated arrival time difference between the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal based on the two signals, and performing coordinate logic verification on the 5G-A positioning result in the direction of the reflected signal according to the estimated arrival time difference, specifically includes: Performing a cross-correlation operation on the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal to obtain an estimated arrival time difference between the two signals corresponding to a cross-correlation peak; Calculate the coordinate logical distance difference between the two signal propagation paths based on the coordinates of the 5G-A base station, the coordinates of the first site, the coordinates of the second site, and the coordinates of the 5G-A positioning result in the direction of the reflected signal; According to the estimated arrival time difference, the estimated distance difference of the two signal propagation paths is obtained, and it is judged whether the estimated distance difference is consistent with the coordinate logical distance difference. If they are inconsistent, it means that the 5G-A positioning result is a false positioning result. If they are consistent, it means that the 5G-A positioning result is the UAV positioning result; or; according to the coordinate logical distance difference, the coordinate logical arrival time difference of the two signals is obtained, and it is judged whether the estimated arrival time difference is consistent with the coordinate logical arrival time difference. If they are inconsistent, it means that the 5G-A positioning result is a false positioning result. If they are consistent, it means that the 5G-A positioning result is the UAV positioning result.

7. The method for positioning a UAV according to claim 6, wherein: The cross-correlation operation is performed based on the 5G-A original signal and the 5G-A reflected signal in the direction of the reflected signal. The specific expression is: Among them, the 5G-A original signal is expressed as: x1(t)=as(t-τ1)+n1(t); the 5G-A reflected signal in the direction of the reflected signal is expressed as: x2(t)=bs(t-τ2)+n2(t); s(t) represents the signal sent by the 5G-A base station, τ1 and τ2 respectively represent the time delay for the first site to receive the 5G-A original signal and the second site to receive the 5G-A reflected signal in the direction of the reflected signal, a and b respectively represent the attenuation coefficients of the 5G-A original signal reaching the first site and the 5G-A reflected signal in the direction of the reflected signal reaching the second site, n1(t) and n2(t) respectively represent noise; τ is the time delay variable, τ 12 =τ2-τ1, R ss (τ-τ 12 ) represents the cross-correlation sequence of s(t-τ1) and s(t-τ2), represents the cross-correlation operation between n1(t) and n2(t); The τ corresponding to when the cross-correlation sequence reaches a peak value is the estimated arrival time difference.

8. The method for positioning a UAV according to claim 5, wherein: There are multiple second sites, and the method further includes: Based on the first site and the plurality of second sites, detecting the target to be measured, and locating the target to be measured using a TDOA algorithm; If the coordinate logic verification shows that the drone positioning result exists, the drone positioning result is sent to the first site and the plurality of second sites; After receiving the UAV positioning result, the first site and multiple second sites verify the deviation between the result and the TDOA positioning result near their own UAV positioning result. If there is a deviation, their own clocks are calibrated.

9. The method for positioning a UAV according to claim 8, wherein: The calibrating of the clock itself specifically includes: Calculate the calibrated time difference of arrival of the received signals at the two sites based on the coordinates of the site itself, the coordinates of the site with the consistent positioning result, and the coordinates of the UAV positioning result; wherein the site with the consistent positioning result refers to the site where the TDOA positioning result is consistent with the UAV positioning result; Adjust its own clock so that the actual signal arrival time difference between the two stations is consistent with the calibrated arrival time difference.

10. A UAV positioning device, characterized in that: include: 5G-A base station, used to detect and locate the target; The first site is configured to receive a 5G-A original signal sent by a 5G-A base station; At least one second site is configured to: receive the 5G-A original signal sent by the first site; and perform a multi-angle search for a 5G-A reflected signal sent by the 5G-A base station and reflected by the target to be measured; wherein the distance between the first site and the 5G-A base station is less than the distance between the second site and the 5G-A base station; The second site is also used for: After searching for the 5G-A reflected signal, determine the direction of the reflected signal; After determining the direction of the reflected signal, the target to be measured in the direction of the reflected signal is verified to verify whether there is a drone in the direction of the reflected signal, so as to preliminarily eliminate false alarms in the 5G-A positioning result of the 5G-A base station.

11. An electronic device, characterized in that: include: processor; and, a memory for storing processor-executable instructions; The processor implements the steps of the method according to any one of claims 1 to 9 by running the executable instructions.

12. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 9 are implemented.

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