Unmanned aerial vehicle direction finding method, device, equipment and computer program product

Abstract

The invention provides an unmanned aerial vehicle direction finding method, device and equipment and a computer program product, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle direction finding method provided by the invention comprises the steps of obtaining a first received signal strength indication value of a directional antenna in a first direction; acquiring a second received signal strength indication value of the omnidirectional antenna in the first direction; obtaining a first signal strength indication difference value of the directional antenna and the omnidirectional antenna in the first direction based on the first received signal strength indication value and the second received signal strength indication value; and determining azimuth information of the unmanned aerial vehicle based on the first signal strength indication difference value.

Description

Technical Field

[0001] This specification relates to the field of drones, and in particular to a drone direction finding method, device, equipment, and computer program product. Background Art

[0002] Directional antennas or omnidirectional antennas can be used for locating radiation sources, including drone direction finding. Equipment used for drone direction finding (such as a handheld detection gun) can include directional antennas or omnidirectional antennas. The drone direction finding equipment can use the amplitude comparison method when implementing direction finding. For example, the drone direction finding equipment can be slowly rotated horizontally for one circle, observing the change in signal strength, and recording the direction in which the antenna points when the signal is strongest. This direction can be considered to be the approximate direction of the signal source (i.e., the radiation source). However, the implementation of the amplitude comparison method requires the operator to rotate the drone direction finding equipment for one circle. Fluctuations in RSSI detection and human jitter during the rotation process may cause errors in the test results, thereby causing inaccuracy in direction finding. Summary of the Invention

[0003] One or more embodiments of the present specification provide a method for direction-finding of an unmanned aerial vehicle (UAV), including: obtaining a first received signal strength indication value of a directional antenna in a first direction; obtaining a second received signal strength indication value of an omnidirectional antenna in the first direction; obtaining a first signal strength indication difference between the directional antenna and the omnidirectional antenna in the first direction based on the first received signal strength indication value and the second received signal strength indication value; and determining the azimuth information of the UAV based on the first signal strength indication difference.

[0004] In some embodiments, the drone direction finding method also includes: obtaining a third received signal strength indication value of the directional antenna in a second direction, where the second direction is located on the first side of the first direction; obtaining a fourth received signal strength indication value of the omnidirectional antenna in the second direction; and obtaining a second signal strength indication difference between the directional antenna and the omnidirectional antenna in the second direction based on the third received signal strength indication value and the fourth received signal strength indication value.

[0005] In some embodiments, determining the position information of the drone based on the first signal strength indication difference includes: determining the position information of the drone based on the first signal strength indication difference and the second signal strength indication difference.

[0006] In some embodiments, the orientation information includes an azimuth angle; determining the orientation information of the UAV based on the first signal strength indication difference and the second signal strength indication difference includes: obtaining a candidate azimuth angle corresponding to the first signal strength indication difference based on the correspondence between the azimuth angle and the signal strength indication difference; and determining the target azimuth angle of the UAV from the candidate azimuth angles based on the size of the second signal strength indication difference relative to the first signal strength indication difference.

[0007] In some embodiments, the candidate azimuth angles are symmetrical based on the first direction; and the target azimuth angle of the UAV is determined from the candidate azimuth angles based on the size of the second signal strength indication difference relative to the first signal strength indication difference, including: if the second signal strength indication difference is greater than the first signal strength indication difference, then the candidate azimuth angle located on the first side of the first direction is determined as the target azimuth angle of the UAV; if the second signal strength indication difference is less than the first signal strength indication difference, then the candidate azimuth angle located on the second side of the first direction is determined as the target azimuth angle of the UAV, and the second side and the first side are respectively located on both sides of the first direction.

[0008] In some embodiments, the drone direction finding method further includes: based on the drone at a preset azimuth angle, obtaining a third signal strength indication difference between the directional antenna and the omnidirectional antenna at the preset azimuth angle to obtain a correspondence between the azimuth angle and the signal strength indication difference.

[0009] In some embodiments, determining the orientation information of the UAV based on the first signal strength indication difference and the second signal strength indication difference includes: if the second signal strength indication difference is greater than the first signal strength indication difference, then determining that the UAV is located within the first angle range corresponding to the first direction and is located on the first side of the first direction; if the second signal strength indication difference is less than the first signal strength indication difference, then determining that the UAV is located within the first angle range corresponding to the first direction and is located on the second side of the first direction, and the second side and the first side are respectively located on both sides of the first direction.

[0010] In some embodiments, when the first signal strength indication difference is greater than the maximum amplitude of the first lobe in the signal strength indication difference field curve, the orientation information of the UAV is determined based on the first signal strength indication difference; wherein, the signal strength indication difference field curve is obtained by difference composite based on the received signal strength indication field curve of the directional antenna and the received signal strength indication field curve of the omnidirectional antenna; the signal strength indication difference field curve includes a main lobe and two first lobes located on both sides of the main lobe, wherein the two first lobes are symmetrical relative to the main lobe.

[0011] In some embodiments, determining the position information of the drone based on the signal strength indication difference includes: when the first signal strength indication difference is a positive value, determining that the drone is located within a first angle range corresponding to the first direction.

[0012] In some embodiments, determining the orientation information of the UAV based on the signal strength indication difference includes: rotating based on the orientation of the directional antenna to obtain the maximum value of the signal strength indication difference; when the first signal strength indication difference is the maximum value, the current pointing direction of the directional antenna is the position direction of the UAV; wherein the current pointing direction of the directional antenna is the first direction corresponding to the maximum value of the first signal strength indication difference.

[0013] In some embodiments, the drone direction finding method further includes: marking the drone to a corresponding position in a graphical user interface based on the position information of the drone.

[0014] In some embodiments, the drone direction finding method further includes: transmitting the orientation information of the drone to an execution end, wherein the execution end includes a drone jamming system.

[0015] One or more embodiments of the present specification also provide a drone direction-finding device, including: a first signal acquisition module, used to obtain a first received signal strength indication value of a directional antenna in a first direction; a second signal acquisition module, used to obtain a second received signal strength indication value of an omnidirectional antenna in the first direction; a difference acquisition module, used to obtain a first signal strength indication difference between the directional antenna and the omnidirectional antenna in the first direction based on the first received signal strength indication value and the second received signal strength indication value; and an orientation information determination module, used to determine the orientation information of the drone based on the first signal strength indication difference.

[0016] One or more embodiments of the present specification also provide a drone direction-finding device, comprising: a directional antenna, an omnidirectional antenna, a processor, and a memory; the directional antenna is used to provide and / or receive a first electromagnetic wave in a first direction; the omnidirectional antenna is used to provide and / or receive a second electromagnetic wave in at least the first direction; the memory is used to store a computer program or computer-executable instructions, and when the computer program or computer-executable instructions are executed by the processor, the aforementioned drone direction-finding method is implemented.

[0017] One or more embodiments of this specification also provide a computer program product, including computer code, which, when at least part of the computer code is executed by a processor, can implement the aforementioned drone direction finding method. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] This specification will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The same numbers in the drawings represent the same structures or steps.

[0019] Figure 1 This is a schematic diagram of an application scenario of the drone direction finding method shown in some embodiments of this specification.

[0020] Figure 2 It is a flowchart of a drone direction finding method according to some embodiments of this specification.

[0021] Figure 3 It is a schematic diagram of a directional antenna pattern curve and an omnidirectional antenna pattern curve according to some embodiments of this specification.

[0022] Figure 4 It is a schematic diagram of received signal strength indication pattern curves and signal strength indication difference pattern curves of a directional antenna and an omnidirectional antenna according to some embodiments of this specification.

[0023] Figure 5 It is a flowchart of a drone direction finding method according to other embodiments of this specification.

[0024] Figure 6 This is a flow chart of determining the drone's position information according to the drone direction finding method shown in some embodiments of this specification.

[0025] Figure 7 3 is a schematic diagram of the maximum amplitude of the first lobe of the signal strength indication difference pattern curve according to some embodiments of this specification.

[0026] Figure 8 This is a schematic diagram of the value selection of the signal strength indication difference field curve shown in some embodiments of this specification.

[0027] Figure 9 Schematic diagram of a drone signal according to a signal strength indication difference field curve shown in some embodiments of this specification.

[0028] Figure 10 This is a schematic diagram of a drone signal rotating counterclockwise according to the signal strength indication difference field curve shown in some embodiments of this specification.

[0029] Figure 11 This is a schematic diagram of a drone signal rotating clockwise according to a signal strength indication difference field curve shown in some embodiments of this specification.

[0030] Figure 12 Schematic diagram of a drone direction-finding device according to some embodiments of this specification.

[0031] Figure 13 Schematic diagram of a drone direction-finding device according to some embodiments of this specification. DETAILED DESCRIPTION

[0032] To more clearly illustrate the technical solutions of the embodiments of this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the following descriptions are some examples or embodiments of this specification, and those skilled in the art can apply the technical solutions or methods disclosed in this specification to other scenarios based on these technical contents without inventive effort.

[0033] It should be understood that the terms "system," "device," "equipment," "portion," and / or "component," "unit," and / or "module" used in this specification are a method for distinguishing different components, elements, parts, portions, or assemblies at different levels. However, if other terms can achieve the same purpose, the terms may be replaced by other expressions.

[0034] Unless otherwise specified, technical terms used in this specification to describe components, elements, and the like do not necessarily refer to the singular but may include the plural. Generally speaking, terms such as "include" and "comprising" only indicate the inclusion of the steps, elements, or components specifically identified, and these steps, elements, and components do not constitute an exclusive list. For example, the method or device being described may also include other steps or components.

[0035] This specification uses flowcharts to illustrate the operational steps performed by the devices or systems of the relevant embodiments. However, unless otherwise specified, the order in which these steps are described should not be construed as limiting the order in which the steps are performed. A person of ordinary skill in the art may adjust the order in which these steps are performed based on the knowledge and information conveyed by the embodiments of this specification. Such adjustments include, but are not limited to, reversing the order of these steps, combining multiple steps, and splitting a step.

[0036] A directional antenna is a type of antenna that transmits or receives electromagnetic waves in a concentrated manner in a specific direction. The energy radiation or receiving range of a directional antenna is constrained to a beam within a narrow angle range (such as a fan-shaped or conical beam), and the signal strength in other directions is significantly weakened or even zero. The energy distribution of a directional antenna is similar to a "flashlight", which can greatly increase the signal strength in the target direction. An omnidirectional antenna is a type of antenna that transmits or receives signals within a 360° range. For example, an omnidirectional antenna can have uniform signal strength on the horizontal plane. The energy distribution of an omnidirectional antenna is similar to a "doughnut" shape (wide horizontal coverage and a certain beam width in the vertical direction), which is suitable for scenarios that require multi-directional coverage.

[0037] In some usage scenarios, directional antennas or omnidirectional antennas can be used for radiation source positioning. In some embodiments, radiation source positioning may include drone direction finding (e.g., obtaining the orientation information of the drone). In some related embodiments, the device for drone direction finding (e.g., a handheld detection gun) may include a directional antenna. In other related embodiments, the device for drone direction finding (e.g., a handheld detection gun) may include an omnidirectional antenna. In some embodiments, the drone direction finding device may use an amplitude comparison method when implementing direction finding. The amplitude comparison method may include determining the orientation information of the drone by comparing the intensity differences of multiple signals from the same signal source received by the antenna. In some embodiments, the induced voltage amplitudes generated by the same signal source in different directions are different. By comparing these amplitude values, the signal wave orientation can be inferred, thereby determining the orientation information of the drone.

[0038] In some related embodiments, implementing the amplitude comparison method may include slowly rotating the drone's direction-finding device horizontally for one revolution and observing the signal strength. The signal strength (e.g., RSSI, Received Signal Strength Indicator) may be displayed on the drone's direction-finding device as a numerical value or as a bar graph. In some embodiments, the drone's direction-finding device may record the direction of the antenna when the signal is strongest; this direction may be considered the approximate direction of the signal source (i.e., the radiation source).

[0039] However, implementing the amplitude comparison method requires the operator to rotate the drone's direction-finding equipment for one rotation. During this rotation, fluctuations in the RSSI detection of the board (instability of the values due to hardware or environmental factors, such as random jumps in the RSSI value during the rotation of the drone's direction-finding equipment, rather than regular fluctuations with direction changes) and human jitter may cause errors in the test results, resulting in inaccurate direction finding.

[0040] To this end, one or more embodiments of the present specification provide a drone direction-finding method, which determines the drone's orientation information based on the difference between the received signal strength indication values of the directional antenna and the omnidirectional antenna, thereby reducing or even eliminating detection fluctuations and / or human jitter to improve the accuracy of direction-finding.

[0041] Figure 1 This is a schematic diagram of an application scenario of the drone direction finding method according to some embodiments of this specification. Figure 1 As shown, in some embodiments, the drone direction-finding device 100 may include: a directional antenna 110, an omnidirectional antenna 120, and a processor.

[0042] In some embodiments, the directional antenna 110 is configured to transmit and / or receive a first electromagnetic wave in a concentrated manner in a specific direction, and the omnidirectional antenna 120 can be configured to transmit and / or receive a second electromagnetic wave at a 360° angle, for example, uniformly transmitting and / or receiving the second electromagnetic wave at a 360° angle in the horizontal direction (e.g., on a plane perpendicular to the direction of gravity). In some embodiments, the processor is configured to process the signals of the first electromagnetic wave received by the directional antenna 110 and the signals of the second electromagnetic wave received by the omnidirectional antenna 120 to obtain the position information of the drone 130.

[0043] Figure 2 It is a flowchart of a drone direction finding method according to some embodiments of this specification. Figure 2 The process shown can be executed by a processing device, for example, process 200 can be executed by Figure 1 In some embodiments, the process 200 may be implemented by a drone direction finding device 1200 deployed on a processing device. Figure 2 As shown, in some embodiments, process 200 may include the following steps.

[0044] Step 210 : Acquire a first received signal strength indicator value of the directional antenna in a first direction. In some embodiments, step 210 may be implemented by the first signal acquisition module 1210 .

[0045] In some embodiments, the directional antenna is configured to rotate based on operator control. In some embodiments, the directional antenna may be mounted on a rotatable base, and rotated based on operator control of the rotatable base. In other embodiments, the directional antenna may be mounted on a handheld device, allowing the operator to rotate the device by hand.

[0046] In some embodiments, the first direction may be the current pointing direction of the directional antenna, which may be the current pointing direction of the main lobe of the directional antenna or the current pointing direction of the field pattern curve of the directional antenna. In some embodiments, the first received signal strength indicator value may be the received signal strength indicator value obtained by the directional antenna when the directional antenna is facing the current pointing direction.

[0047] Figure 3 Schematic diagram of directional antenna pattern curve and omnidirectional antenna pattern curve according to some embodiments of this specification. Figure 3 As shown, in Figure 3 In the polar coordinate system shown, the polar axis is the received signal strength indicator value (such as the RSSI value), the polar coordinate unit is dB (such as -0.5dB, 0dB, 0.5dB, 1dB, etc.), and the polar angle coordinate unit is ° (such as 0°, 30°, 330°, etc.), where the 0° direction is set to the current pointing direction of the directional antenna, and the 0° direction changes with the change of the current pointing direction of the directional antenna, that is, the 0° direction changes with the rotation of the directional antenna.

[0048] exist Figure 3 In the polar coordinate system shown, the blue curve (for example, a curve that forms a main lobe in the 0° direction and whose received signal strength indication values are generally greater than 0 dB) is the field pattern curve of a directional antenna, and the orange curve (a curve that is roughly circular or elliptical at 360°) is the field pattern curve of an omnidirectional antenna.

[0049] For example, see Figure 3 As shown, the current pointing direction of the directional antenna can be set to a first direction. The first direction can be the direction toward the right in the figure, such as the 0° direction in the polar coordinate system. In some embodiments, when the signal source (e.g., a drone) is approximately at the 0° direction, the first received signal strength indicator value is approximately 1 dB when the directional antenna is facing the first direction. In some embodiments, when the signal source is approximately at the 20° direction, the first received signal strength indicator value is approximately 0.71 dB when the directional antenna is facing the first direction.

[0050] Step 220 : Acquire a second received signal strength indicator value of the omnidirectional antenna in the first direction. In some embodiments, step 220 may be implemented by the second signal acquisition module 1220 .

[0051] In some embodiments, the omnidirectional antenna can be configured to rotate with the directional antenna. In some embodiments, the omnidirectional antenna can be mounted on the same rotatable base as the directional antenna, so that the omnidirectional antenna and the directional antenna rotate synchronously and have the same or similar operating environment. In other embodiments, the omnidirectional antenna and the directional antenna can be mounted on the same handheld device, so that the omnidirectional antenna and the directional antenna rotate synchronously and have the same or similar operating environment.

[0052] In some embodiments, the omnidirectional antenna rotates synchronously with the directional antenna, and the second RSSI value may be a RSSI value obtained by the omnidirectional antenna in a state when the directional antenna faces the current pointing direction.

[0053] For example, see Figure 3 As shown, the 0° direction of the polar coordinate system of the directional antenna and the omnidirectional antenna can be rotated to a first direction (i.e., the current pointing direction of the directional antenna is the first direction). For example, the first direction can be the direction facing right in the figure. In some embodiments, when the signal source is approximately located at the 0° direction of the polar coordinate system at this time, the second received signal strength indicator value obtained by the omnidirectional antenna in this state is approximately 0.4 dB. In some embodiments, when the signal source is approximately located at the 20° direction of the polar coordinate system at this time, the second received signal strength indicator value obtained by the omnidirectional antenna in this state is approximately 0.4 dB.

[0054] Step 230 : Based on the first RSSI value and the second RSSI value, obtain a first RSSI difference between the directional antenna and the omnidirectional antenna in the first direction. In some embodiments, step 230 may be implemented by the difference acquisition module 1230 .

[0055] In some embodiments, the first signal strength indicator difference (RSSI 差值 1) is the first received signal strength indicator value (RSSI 定向 1) and the second received signal strength indicator value (RSSI 全向 1) Difference, such as RSSI 差值 1 = RSSI 定向 1 - RSSI omnidirectional 1.

[0056] In some embodiments, the directional antenna and the omnidirectional antenna can be arranged on the same rotatable base or on the same handheld device. When the rotatable base or the handheld device is artificially shaken, the received signal strength indication value obtained by the directional antenna (for example, the first received signal strength indication value) and the received signal strength indication value obtained by the omnidirectional antenna (for example, the second received signal strength indication value) fluctuate synchronously. The fluctuation can be eliminated by calculating the signal strength indication difference (for example, the first signal strength indication difference), thereby avoiding the influence of artificial shake on the accuracy of direction finding.

[0057] In some embodiments, the drone direction-finding device may provide two independent channels for receiving the first received signal strength indication value of the directional antenna and the second received signal strength indication value of the omnidirectional antenna, respectively, to obtain the first received signal strength indication value and the second received signal strength indication value at the same or similar time. In some embodiments, based on the first received signal strength indication value and the second received signal strength indication value at the same or similar time, a first signal strength indication difference in the first direction at that time or within that time range (e.g., within 10 ms or within 100 ms) is obtained.

[0058] Since the directional antenna and the omnidirectional antenna have the same or similar usage environment and obtain the received signal strength indication value at the same time, when the received signal strength indication value fluctuates due to factors such as hardware or environment, the received signal strength indication value obtained by the directional antenna (for example, the first received signal strength indication value) and the received signal strength indication value obtained by the omnidirectional antenna (for example, the second received signal strength indication value) fluctuate synchronously. By calculating the signal strength indication difference (for example, the first signal strength indication difference), the fluctuation can be eliminated, thereby preventing the fluctuation caused by factors such as hardware or environment from affecting the accuracy of direction finding.

[0059] Figure 4 Schematic diagram of the received signal strength indication pattern curve of a directional antenna, the received signal strength indication pattern curve of an omnidirectional antenna, and the signal strength indication difference pattern curve according to some embodiments of this specification. Figure 4 As shown, in Figure 4 In the polar coordinate system shown, the blue curve (for example, a curve forming a main lobe in the 0° direction and having received signal strength indication values substantially greater than 0 dB) is the pattern curve of a directional antenna, the orange curve (a curve roughly circular or elliptical over 360°) is the pattern curve of an omnidirectional antenna, and the khaki curve (for example, a curve forming a main lobe in the 0° direction and having some received signal strength indication values less than 0 dB) is the pattern curve of a signal strength indication difference.

[0060] For example, see Figure 3 、 Figure 4As shown, in some embodiments, when the signal source (such as the reflected signal of the drone) is approximately located at the 0° direction of the polar coordinate system at this time, the first signal strength indicator difference RSSI 差值 1 = RSSI 定向 1 - RSSI 全向 1≈1dB-0.4dB=0.6dB. In some embodiments, when the signal source is approximately located at a 20° direction of the polar coordinate system, the first signal strength indicator difference RSSI 差值 1 = RSSI 定向 1 - RSSI 全向 1≈0.71dB-0.4dB=0.31dB.

[0061] Step 240 : Determine the position information of the UAV based on the first signal strength indicator difference. In some embodiments, step 240 may be implemented by the position information determination module 1240 .

[0062] In some embodiments, the orientation information of the drone may include the approximate position of the drone (e.g., the drone is within a certain angle range) or the position direction (e.g., the drone is in a certain direction). In some embodiments, the orientation information of the drone may include: the drone is within the energy radiation or reception range of the main lobe corresponding to the current pointing direction (e.g., the first direction) of the directional antenna. In some embodiments, the energy radiation or reception range can be determined based on the performance of the directional antenna. For example, the energy radiation or reception range can be an angular range of 30° to 60°, such as a 30° angular range, a 40° angular range, a 45° angular range, a 50° angular range, or a 60° angular range.

[0063] In some embodiments, determining the position information of the drone based on the first signal strength indication difference may include: when the first signal strength indication difference is a positive value, determining that the drone is located within a first angle range corresponding to the first direction.

[0064] In some embodiments, when the first signal strength indicator difference is positive, the first received signal strength indicator value of the directional antenna is greater than the second received signal strength indicator value of the omnidirectional antenna. Because the signal strength in the direction pointed by the main lobe of the directional antenna is greater than the signal strength of the omnidirectional antenna, a positive first signal strength indicator difference indicates that the drone is within the energy radiation or reception range (e.g., the first angular range) of the main lobe of the directional antenna in the current pointing direction (e.g., the first direction).

[0065] Exemplarily, the energy radiation or reception range of the main lobe of the directional antenna may be 330° to 30°, that is, the first angular range may be 330° to 30°. Exemplarily, the energy radiation or reception range of the main lobe of the directional antenna may be 337.5° to 22.5°, that is, the first angular range may be 337.5° to 22.5°.

[0066] For example, see Figure 3 、 Figure 4 As shown, the directional antenna faces the first direction ( Figure 3 、 Figure 4 The first signal strength indicator difference is obtained, which is 0.6dB and is a positive value. It can be determined that the drone is located in the range of 330° to 30° (the actual drone is located at approximately 0°). For example, see Figure 3 、 Figure 4 As shown, the directional antenna faces the first direction ( Figure 3 、 Figure 4 The right direction in the image is obtained, and the first signal strength indication difference is 0.31dB, which is a positive value. It can be determined that the drone is located in the range of 330° to 30° (the actual drone is located at approximately 20°).

[0067] In some embodiments, determining the orientation information of the drone based on the first signal strength indication difference may include: rotating the orientation of the directional antenna to obtain the maximum value of the first signal strength indication difference; when the first signal strength indication difference is the maximum value, the current pointing direction of the directional antenna (for example, the first direction corresponding to the maximum value of the first signal strength indication difference) can be used as the position direction of the drone.

[0068] In some embodiments, the signal strength in the direction pointed by the main lobe of the directional antenna is the greatest, and the signal strength on both sides of the direction pointed by the main lobe of the directional antenna gradually decreases. The signal strength of the directional antenna is mirror-symmetrical along the plane in which the main lobe of the directional antenna is pointed. Since the first signal strength indication difference is the difference between the first received signal strength indication value and the second received signal strength indication value, the signal strength in the direction pointed by the main lobe of the directional antenna also has a maximum value, and the signal strength on both sides of the maximum value also gradually decreases and is mirror-symmetrical. Therefore, when the first signal strength indication difference is at its maximum value, the first direction corresponding to the first signal strength indication difference is the position direction of the drone.

[0069] For example, see Figure 3 、 Figure 4 As shown, the directional antenna and the omnidirectional antenna are oriented toward a first direction ( Figure 3 、 Figure 4The first signal strength indication difference is 0.31dB. The directional antenna and the omnidirectional antenna are rotated counterclockwise, and the obtained signal strength indication difference gradually increases to 0.6dB. The directional antenna and the omnidirectional antenna are continued to be rotated counterclockwise, and the obtained signal strength indication difference begins to decrease. At this time, the directions of the directional antenna and the omnidirectional antenna are adjusted so that the signal strength indication difference is the maximum value, that is, 0.6dB. This determines that the drone is located in the current pointing direction of the directional antenna at this time (for example, the pointing direction when the 0° direction is rotated counterclockwise by about 20°).

[0070] Figure 5 It is a flowchart of a drone direction finding method according to other embodiments of this specification. Figure 5 The process shown can be executed by a processing device, for example, process 500 can be executed by Figure 1 In some embodiments, the process 500 may be implemented by a drone direction finding device 1200 deployed on a processing device. Figure 5 As shown, in some embodiments, process 500 may include the following steps.

[0071] Step 510: Obtain a first received signal strength indicator value of the directional antenna in the first direction. In some embodiments, step 510 may be implemented by the first signal acquisition module 1210. The description of step 510 is similar to that described above, and for details, please refer to the description of step 210 above, which will not be repeated here.

[0072] Step 520: Obtain a second received signal strength indicator value of the omnidirectional antenna in the first direction. In some embodiments, step 520 may be implemented by the second signal acquisition module 1220. The description of step 520 is similar to that described above, and the details can be referred to in the description of step 220 above, which will not be repeated here.

[0073] Step 530: Based on the first RSSI value and the second RSSI value, obtain a first RSSI difference between the directional antenna and the omnidirectional antenna in the first direction. In some embodiments, step 530 may be implemented by difference acquisition module 1230. The description of step 530 is similar to that described above. For details, please refer to the description of step 230 above and will not be repeated here.

[0074] Step 540 : Acquire a third received signal strength indicator value of the directional antenna in a second direction, where the second direction is located on a first side of the first direction. In some embodiments, step 540 may be implemented by the first signal acquisition module 1210 .

[0075] In some embodiments, the directional antenna can be rotated to face a second direction to obtain a signal strength indicator value of the directional antenna in the second direction as the third received signal strength indicator value. In some embodiments, the second direction is at an angle to the first direction. In some embodiments, the angle between the second direction and the first direction is less than the energy radiation or reception range of the directional antenna. In some embodiments, the angle between the second direction and the first direction is less than 60°. In some embodiments, the angle between the second direction and the first direction is less than 30°. This is not limited here.

[0076] In some embodiments, the process of the directional antenna acquiring the third RSSI value is similar to the process of the directional antenna acquiring the first RSSI value in step 210 or step 510, and is not described again here.

[0077] Step 550 : Acquire a fourth received signal strength indicator value of the omnidirectional antenna in the second direction. In some embodiments, step 550 may be implemented by the second signal acquisition module 1220 .

[0078] In some embodiments, the omnidirectional antenna can rotate synchronously with the directional antenna to obtain a signal strength indicator value of the omnidirectional antenna in the aforementioned second direction (i.e., the direction the directional antenna is currently facing) as the fourth received signal strength indicator value. In some embodiments, the omnidirectional antenna and the directional antenna mounted on the handheld device can be rotated synchronously by rotating the handheld device.

[0079] In some embodiments, the process of the omnidirectional antenna acquiring the fourth RSSI value is similar to the process of the omnidirectional antenna acquiring the second RSSI value in step 220 or step 520, and is not described again here.

[0080] Step 560 : Based on the third RSSI value and the fourth RSSI value, obtain a second RSSI difference between the directional antenna and the omnidirectional antenna in the second direction. In some embodiments, step 560 may be implemented by the difference acquisition module 1230 .

[0081] In some embodiments, the second signal strength indicator difference (RSSI 差值 2) is the third received signal strength indicator value (RSSI 定向 2) and the fourth received signal strength indicator value (RSSI 全向 2) Difference, such as RSSI 差值 2 = RSSI 定向 2 - RSSI omnidirectional 2.

[0082] In some embodiments, the directional antenna and the omnidirectional antenna can be arranged on the same rotatable base or on the same handheld device. When the rotatable base or the handheld device is artificially shaken, the received signal strength indication value obtained by the directional antenna (for example, the third received signal strength indication value) and the received signal strength indication value obtained by the omnidirectional antenna (for example, the fourth received signal strength indication value) fluctuate synchronously. The fluctuation can be eliminated by calculating the signal strength indication difference (for example, the second signal strength indication difference), thereby preventing artificial shaking from affecting the accuracy of direction finding.

[0083] In some embodiments, the drone direction-finding device may provide two independent channels for receiving the third RSSI value of the directional antenna and the fourth RSSI value of the omnidirectional antenna, respectively, to obtain the third RSSI value and the fourth RSSI value at the same or similar time. In some embodiments, based on the third RSSI value and the fourth RSSI value at the same or similar time, a second signal strength indicator difference in the second direction at that time or within that time range (e.g., within 10 ms or within 100 ms) is obtained.

[0084] Since the directional antenna and the omnidirectional antenna have the same or similar usage environment and obtain the received signal strength indication value at the same time, when the received signal strength indication value fluctuates due to factors such as hardware or environment, the received signal strength indication value obtained by the directional antenna (for example, the third received signal strength indication value) and the received signal strength indication value obtained by the omnidirectional antenna (for example, the fourth received signal strength indication value) fluctuate synchronously. By calculating the signal strength indication difference (for example, the second signal strength indication difference), the fluctuation can be eliminated, thereby preventing the fluctuation caused by factors such as hardware or environment from affecting the accuracy of direction finding.

[0085] Figure 9 Schematic diagram of a drone signal according to a signal strength indication difference field curve shown in some embodiments of this specification. Figure 10 This is a schematic diagram of a drone signal rotating counterclockwise according to the signal strength indication difference field curve shown in some embodiments of this specification. Figure 11 Schematic diagram of a UAV signal rotating clockwise according to a signal strength indication difference field curve shown in some embodiments of this specification. Figures 9 to 11 As shown, in Figures 9 to 11 The polar coordinate system shown on the left and Figures 9 to 11 In the rectangular coordinate system corresponding to the polar coordinate system shown on the right side, the blue curve is the signal strength indication difference field curve.

[0086] For example, see Figure 9 As shown, the directional antenna is Figure 9The pointing direction in the polar coordinate system (for example, the 0° direction) is the first direction (for example Figure 9 The true direction of the drone is 30° counterclockwise from the current pointing direction of the directional antenna. At this time, the difference in the first signal strength indication between the directional antenna and the omnidirectional antenna in the first direction is approximately 0.0217dB.

[0087] In some embodiments, see Figure 10 As shown, the directional antenna and the omnidirectional antenna are relative to Figure 9 The corresponding direction is rotated counterclockwise, so that the pointing direction of the directional antenna is toward the second direction (for example Figure 10 The true position of the drone does not change, but because the polar coordinate system rotates with the rotation of the directional antenna, the true position of the drone is approximately 20° away from the current pointing direction of the directional antenna. At this time, the difference in the second signal strength indication in the second direction is approximately 0.3129 dB.

[0088] In other embodiments, see Figure 11 As shown, the directional antenna and the omnidirectional antenna are relative to Figure 9 The corresponding direction rotates clockwise, so that the pointing direction of the directional antenna is directed toward another second direction (for example Figure 11 The true position of the drone does not change, but because the polar coordinate system rotates with the rotation of the directional antenna, the true position of the drone is approximately 39° away from the current pointing direction of the directional antenna. At this time, the difference in the second signal strength indication in another second direction is approximately -0.2545dB.

[0089] It should be noted that the order in which steps 510 , 520 , 530 , 540 , 550 and 560 are described should not be construed as limiting the order in which the steps are executed.

[0090] Step 570 : Determine the position information of the UAV based on the first signal strength indicator difference. In some embodiments, step 570 may be implemented by the position information determination module 1240 .

[0091] In some embodiments, determining the position information of the drone based on the first signal strength indication difference includes: determining the position information of the drone based on the first signal strength indication difference and the second signal strength indication difference. In some embodiments, the position information of the drone may include the azimuth angle of the drone. In some embodiments, the azimuth angle of the drone may be a polar coordinate system (e.g., a polar coordinate system) displayed by the device with the current pointing direction of the directional antenna as 0°. Figure 3 、 Figure 4 Polar coordinates in Figures 9 to 11 Polar angle in the polar coordinate system in .

[0092] Figure 6 The flowchart of the method for determining the position information of a drone according to some embodiments of the present specification is as follows. In some embodiments, the position information of the drone can be determined based on the difference between the first signal strength indication and the second signal strength indication. Figure 6 The process 600 is implemented as follows. Figure 6 As shown, in some embodiments, process 600 may include the following steps.

[0093] Step 610 : Based on the correspondence between the azimuth and the signal strength indicator difference, obtain a candidate azimuth corresponding to the first signal strength indicator difference. In some embodiments, step 610 may be implemented by the azimuth information determination module 1240 .

[0094] In some embodiments, there is a corresponding relationship between the azimuth angle and the signal strength indicator difference. Figure 9 As shown, for the same direction-finding device (for example, the same handheld direction-finding device with a directional antenna and an omnidirectional antenna), there is a corresponding relationship between the true direction of the drone and the difference in the signal strength indication received by the direction-finding device.

[0095] For example, see Figure 9 As shown, the directional antenna of the direction-finding device points in the 0° direction of the polar coordinate system, and the polar coordinate system rotates with the rotation of the directional antenna of the direction-finding device. The omnidirectional antenna of the direction-finding device rotates with the rotation of the directional antenna of the direction-finding device. When the drone is located at 30° to the direction-finding device, the first signal strength indication difference obtained by the direction-finding device is approximately 0.0217dB; when the drone is located at approximately 20° to the direction-finding device, the first signal strength indication difference obtained by the direction-finding device is approximately 0.3129dB; when the drone is located at 0° to the direction-finding device, the first signal strength indication difference obtained by the direction-finding device is approximately 0.6dB; and when the drone is located at -30° to the direction-finding device (i.e., 330°), the first signal strength indication difference obtained by the direction-finding device is approximately 0.0217dB.

[0096] Therefore, after the direction-finding device obtains the first signal strength indication difference, it can obtain a candidate azimuth angle corresponding to the first signal strength indication difference based on the correspondence between the azimuth angle and the signal strength indication difference. In some embodiments, because the signal strength indication difference field curve is symmetrical and radially symmetrical relative to the orientation direction of the directional antenna of the direction-finding device (i.e., the 0° direction in the polar coordinate system), the same signal strength indication difference may correspond to one or more candidate azimuth angles. In some embodiments, the same signal strength indication difference may correspond to two candidate azimuth angles, and the two candidate azimuth angles are symmetrical relative to the first direction (i.e., the direction in which the directional antenna was facing when the first signal strength indication difference was obtained).

[0097] For example, when the first signal strength indication difference obtained by the direction-finding device is 0.6dB, the candidate azimuth angle is the 0° direction of the current pointing direction of the directional antenna of the direction-finding device. Since there is only one candidate azimuth angle at this time, it can be determined that the candidate azimuth angle is the target azimuth angle of the UAV.

[0098] Exemplarily, when the first signal strength indication difference obtained by the direction-finding device is 0.0217 dB, the candidate azimuth angle is a 30° direction or a -30° direction (ie, a 330° direction) of the current pointing direction of the directional antenna of the direction-finding device.

[0099] In some embodiments, the correspondence between the azimuth angle and the signal strength indicator difference value includes a correspondence list between the azimuth angle and the signal strength indicator difference value. In some embodiments, referring to Table 1, Table 1 shows the correspondence between some azimuth angles and signal strength indicator differences of a certain direction finding device.

[0100] Exemplarily, when the first signal strength indication difference obtained by the direction finding device corresponding to Table 1 is 0.3873 dB, the candidate azimuth angle is 17° or -17° (ie, 343°) of the current pointing direction of the directional antenna of the direction finding device.

[0101] Exemplarily, when the first signal strength indication difference obtained by the direction finding device corresponding to Table 1 is -0.1641 dB, the candidate azimuth angle is 36° or -36° (ie, 324°) of the current pointing direction of the directional antenna of the direction finding device. Table 1: Corresponding table of azimuth and signal strength indication difference of direction finding equipment

[0102] In some embodiments, the correspondence between the azimuth angle and the signal strength indication difference can be obtained by the following steps: based on the drone at a preset azimuth angle, obtain the third signal strength indication difference between the directional antenna and the omnidirectional antenna at the preset azimuth angle to obtain the correspondence between the azimuth angle and the signal strength indication difference.

[0103] In some embodiments, the preset azimuth angle can be any angle in the circumferential direction, such as any angle between 0° and 360°. In some embodiments, based on drones with multiple preset azimuth angles, the corresponding third signal strength indication difference of the directional antenna and the omnidirectional antenna of the same device at each preset azimuth angle can be obtained to obtain the corresponding relationship between the azimuth angle and the signal strength indication difference of the device. In some embodiments, the angular difference between two adjacent preset azimuth angles can be the same or different. In some embodiments, the angular difference between two adjacent preset azimuth angles can be 2°, 1.5°, 1°, 0.5°, 0.1°, etc. In some embodiments, the smaller the angular difference between two adjacent preset azimuth angles, the higher the measurement accuracy of the drone direction-finding device or the drone direction-finding device.

[0104] In some embodiments, continuing with the direction finding device as an example, a drone can be deployed in the 10° direction of the direction finding device, and the third signal strength indicator difference RSSI of the directional antenna and the omnidirectional antenna in the 10° direction is obtained through the direction finding device. 差值3 =0.5232dB, record the angle and the third signal strength indicator difference corresponding to the angle; place the drone in the 11° direction of the direction finding device, and use the direction finding device to obtain the third signal strength indicator difference RSSI of the directional antenna and the omnidirectional antenna in the 11° direction. 差值3 =0.5075dB, record the angle and the third signal strength indicator difference corresponding to the angle; and so on, thereby obtaining a corresponding list of azimuth angles and signal strength indicator differences of the direction-finding device (such as a part shown in Table 1).

[0105] In some embodiments, continuing with the direction-finding device as an example, a drone can be deployed at a preset azimuth angle of the direction-finding device, and multiple third signal strength indication differences of the directional antenna and the omnidirectional antenna at the preset azimuth angle are obtained through the direction-finding device. The average value of the multiple third signal strength indication differences is taken as the signal strength indication difference corresponding to the preset azimuth angle, thereby obtaining a corresponding list of azimuth angles and signal strength indication differences of the direction-finding device.

[0106] Step 620 : Determine the target azimuth of the drone from the candidate azimuths based on the magnitude of the second signal strength indicator difference relative to the first signal strength indicator difference. In some embodiments, step 620 may be implemented by the azimuth information determination module 1240 .

[0107] In some embodiments, the first signal strength indication difference value is obtained in a first direction, and the second signal strength indication difference value is obtained in a second direction, wherein the second direction is located on a first side of the first direction.

[0108] Since the signal strength indication difference pattern curve is obtained by performing a composite difference calculation based on the received signal strength indication pattern curve of the directional antenna and the received signal strength indication pattern curve of the omnidirectional antenna, and the received signal strength indication pattern curve of the directional antenna and the received signal strength indication pattern curve of the omnidirectional antenna are both symmetrical, the signal strength indication difference pattern curve is also symmetrical. In some embodiments, see Figure 7 、 Figure 8 The signal strength indicator difference pattern curves in polar and rectangular coordinate systems show that the signal strength indicator difference pattern curves are mirror-symmetric with respect to the 0° direction and have a maximum value at 0°. Therefore, the magnitude of the second signal strength indicator difference relative to the first signal strength indicator difference can be used to infer whether the directional antenna's rotation toward the first side has brought the directional antenna's 0° direction closer to the drone or further away from the drone.

[0109] In some embodiments, if the second signal strength indication difference is greater than the first signal strength indication difference, it can be determined that after the directional antenna is rotated toward the first side, the 0° direction of the directional antenna is closer to the drone, and the candidate azimuth angle located on the first side of the two candidate azimuth angles corresponds to the actual position of the drone, so the candidate azimuth angle located on the first side of the first direction can be determined as the target azimuth angle of the drone.

[0110] In some embodiments, if the second signal strength indicator difference is less than the first signal strength indicator difference, it can be determined that after rotating the directional antenna toward the first side, the 0° direction of the directional antenna is away from the drone, and the candidate azimuth angle located on the second side of the two candidate azimuth angles corresponds to the actual position of the drone. Therefore, the candidate azimuth angle located on the second side of the first direction can be determined as the target azimuth angle of the drone. In some embodiments, the second side and the first side are located on opposite sides of the first direction, respectively.

[0111] In some embodiments, see Figure 9 、 Figure 10 As shown, Figure 9 The directional antenna is oriented toward a first direction (for example, the 0° direction of the polar coordinate system of the directional antenna is set as the first direction), Figure 10 The directional antenna is rotated toward the first side (eg, toward Figure 10 ) to face the second direction, which is located on the first side of the first direction (i.e. Figure 9 (upper right in the middle).

[0112] In this embodiment, the difference in the first signal strength indication between the directional antenna and the omnidirectional antenna in the first direction is approximately 0.0217dB. Based on the correspondence between the azimuth angle and the signal strength indication difference, the candidate azimuth angles of the drone when the first signal strength indication difference is approximately 0.0217dB are 30° and -30°. The directional antenna rotates to one side (for example, toward Figure 10 counterclockwise in the direction of rotation, or for example towards Figure 9 The difference between the second signal strength indications of the directional antenna and the omnidirectional antenna in the second direction is about 0.3129 dB. Since the difference between the second signal strength indications is greater than the difference between the first signal strength indications, it can be inferred that the directional antenna is turned toward Figure 9 After the 30° direction is rotated, the 0° direction of the directional antenna is closer to the drone, so that the target azimuth angle of the drone can be determined to be the 30° direction of the polar coordinate system when the directional antenna is facing the first direction.

[0113] In other embodiments, see Figure 9 、 Figure 11 As shown, Figure 9 The directional antenna is oriented toward a first direction (for example, the 0° direction of the polar coordinate system of the directional antenna is set as the first direction), Figure 11 Rotate the directional antenna to the other side (for example, toward Figure 11 ) to face the second direction, which is located on the first side of the first direction (i.e. Figure 9 in the lower right corner).

[0114] In this embodiment, the first signal strength indication difference in the first direction is approximately 0.0217dB. Based on the correspondence between the azimuth angle and the signal strength indication difference, the candidate azimuth angles of the drone when the first signal strength indication difference is approximately 0.0217dB are 30° and -30°. The directional antenna rotates toward the first side (for example, toward Figure 11 Clockwise rotation in , or for example towards Figure 9 The second signal strength indicator difference in the second direction is about -0.2545dB. Since the second signal strength indicator difference is less than the first signal strength indicator difference, it can be inferred that the directional antenna is turned toward Figure 9 After the -30° direction is rotated, the 0° direction of the directional antenna is away from the UAV, so that the target azimuth angle of the UAV can be determined to be the 30° direction of the first direction.

[0115] In one or more embodiments of the present specification, when the first signal strength indication difference is greater than the maximum amplitude of the first lobe in the signal strength indication difference pattern curve, the position information of the drone can be determined based on the first signal strength indication difference. In some embodiments, when the first signal strength indication difference is greater than the maximum amplitude of the first lobe in the signal strength indication difference pattern curve, the position information of the drone can be determined based on the first signal strength indication difference and the second signal strength indication difference.

[0116] In some embodiments, the signal strength indicator difference pattern curve is obtained by performing a composite difference calculation based on the received signal strength indicator pattern curve of the directional antenna and the received signal strength indicator pattern curve of the omnidirectional antenna. Figure 7 、 Figure 8 As shown, the signal strength indication difference pattern curve includes a main lobe (eg Figure 7 the right side of the , or Figure 8 near the highest peaks at the left and right ends of the main lobe) and the two first lobes on both sides of the main lobe (e.g. Figure 7 the upper and lower parts of Figure 8 ), wherein the two first lobes are symmetrical with respect to the main lobe.

[0117] In some embodiments, see Figure 7 、 Figure 8 As shown, the peak of the main lobe forms the maximum amplitude (e.g. Figure 7 The maximum amplitude of the right part is about 0.6dB or Figure 8 In some embodiments, the side lobes may include a first lobe, the peak of which forms a second large amplitude (e.g., Figure 7 The upper part of the Figure 8 The second peak portion near the left end of the graph shows a second large amplitude of about -0.2 dB, for example Figure 7 The lower part of the Figure 8 The second peak portion near the right end shows a second large amplitude of about -0.2dB). In some embodiments, the side lobes may also include a second lobe, a third lobe, etc., which are not shown in the figure. The peak values of the second lobe and the third lobe are both smaller than the peak value of the first lobe. In some embodiments, see Figure 8 As shown, if the signal strength indication difference is less than the peak value of the first lobe, it is possible to obtain multiple candidate azimuth angles corresponding to the first signal strength indication difference (for example, more than two candidate azimuth angles, for example Figure 8In some embodiments, more than two candidate azimuth angles are not conducive to determining the target azimuth angle. Therefore, when the first signal strength indicator difference is greater than the maximum amplitude of the first lobe in the signal strength indicator difference pattern curve, the azimuth information of the drone is determined based on the first signal strength indicator difference, thereby obtaining two or fewer candidate azimuth angles to facilitate determining the target azimuth angle.

[0118] In one or more embodiments of the present specification, determining the position information of the drone based on the first signal strength indication difference and the second signal strength indication difference can also be achieved according to the following steps.

[0119] In some embodiments, the directional antenna and the omnidirectional antenna are oriented toward a first direction to obtain a first signal strength indication difference, and the directional antenna and the omnidirectional antenna are rotated toward a first side of the first direction so as to be oriented toward a second direction to obtain a second signal strength indication difference. In some embodiments, if the second signal strength indication difference is greater than the first signal strength indication difference, it can be determined that the drone is located within a first angular range corresponding to the first direction (the first angular range can be determined based on the energy radiation or reception range of the main lobe of the directional antenna) and is located on the first side of the first direction. In some embodiments, if the second signal strength indication difference is less than the first signal strength indication difference, it can be determined that the drone is located within a first angular range corresponding to the first direction and is located on the second side of the first direction, with the second side and the first side being located on either side of the first direction, respectively.

[0120] In some embodiments, the first angular range corresponding to the first direction may be the energy radiation or reception range of the directional antenna when it is facing the first direction. Exemplarily, the energy radiation or reception range of the main lobe of the directional antenna may be a 60° angular range, for example, 330° to 30° in the polar coordinate system corresponding to the directional antenna, that is, the first angular range may be 330° (i.e., -30°) to 30°. Exemplarily, the energy radiation or reception range of the main lobe of the directional antenna may be 337.5° to 22.5°, that is, the first angular range may be 337.5° (i.e., -22.5°) to 22.5°.

[0121] In some embodiments, the first angular range corresponding to the first direction may be symmetrical with respect to the first direction. In some embodiments, the first angular range corresponding to the first direction may include an area on the first side of the first direction and an area on the second side of the first direction, wherein the first side area and the second side area are located on both sides of the first direction. Exemplarily, the first angular range corresponding to the first direction may include 330° to 0° (area on the first side of the first direction) and 0° to 30° (area on the second side of the first direction). Exemplarily, the first angular range corresponding to the first direction may include 337.5° to 0° (area on the first side of the first direction) and 0° to 22.5° (area on the second side of the first direction).

[0122] In some embodiments, see Figure 9 、 Figure 10 As shown, Figure 9 The directional antenna is oriented toward a first direction (for example, the 0° direction of the polar coordinate system of the directional antenna is set as the first direction), Figure 10 The directional antenna rotates toward the first side (eg, toward Figure 10 ) to face the second direction, which is located on the first side of the first direction (i.e. Figure 9 in the upper right corner).

[0123] In this embodiment, the first angle range of the directional antenna is 330° to 30°. The first signal strength indication difference in the first direction is about 0.1 dB. The directional antenna rotates toward the first side (for example, toward Figure 10 counterclockwise in the direction of rotation, or for example towards Figure 9 The directional antenna is rotated in the direction of 30° in the first direction to face the second direction. The second signal strength indication difference in the second direction is about 0.42dB. Since the second signal strength indication difference is greater than the first signal strength indication difference, it can be inferred that the directional antenna is facing Figure 9 After the 30° direction is rotated, the 0° direction of the directional antenna is closer to the drone, thereby determining that the drone is within the range of 330° to 30°, and specifically within the range of 0° to 30°.

[0124] In other embodiments, see Figure 9 、 Figure 11 As shown, Figure 9 The directional antenna is oriented toward a first direction (for example, the 0° direction of the polar coordinate system of the directional antenna is set as the first direction), Figure 11 The directional antenna rotates toward the first side (eg, toward Figure 11 ) to face the second direction, which is located on the first side of the first direction (i.e. Figure 9 in the lower right corner).

[0125] In this embodiment, the first angle range of the directional antenna is 330° to 30°. The first signal strength indication difference in the first direction is about 0.1 dB. The directional antenna rotates toward the first side (for example, toward Figure 11 Clockwise rotation in , or for example towards Figure 9 The second signal strength indicator difference in the second direction is about -0.08dB. Since the second signal strength indicator difference is less than the first signal strength indicator difference, it can be inferred that the directional antenna is turned toward Figure 9 After the -30° direction is rotated, the 0° direction of the directional antenna is away from the drone, thereby determining that the drone is within the range of 330° to 30°, and specifically within the range of 0° to 30°.

[0126] In one or more embodiments of the present specification, the drone direction finding method may further include: marking the drone to a corresponding position in a graphical user interface based on the position information of the drone.

[0127] In some embodiments, the graphical user interface of the drone direction-finding device may include a display of the current location of a handheld device equipped with a directional antenna and an omnidirectional antenna. In some embodiments, the graphical user interface of the drone direction-finding device may include a display of the drone's position relative to the handheld device. In some embodiments, the graphical user interface of the drone direction-finding device may include a display of a geographic information system (e.g., a map) to display the drone's location in geographic information, such as providing the drone's latitude and longitude.

[0128] In some embodiments, the graphical user interface may use icons (e.g., drone symbols), color coding (e.g., red indicates a threat target), or dynamic labels (displaying the drone ID and the azimuth corresponding to the ID, etc.).

[0129] In some embodiments, the graphical user interface can provide location information for multiple drones at different times or time periods. In some embodiments, the graphical user interface can optionally display historical drone location information (e.g., dotted paths) to illustrate drone movement trends and help operators analyze drone flight intentions.

[0130] In one or more embodiments of this specification, the drone direction finding method may further include: transmitting the orientation information of the drone to an execution end, and the execution end may include a drone jamming system.

[0131] In some embodiments, drone jamming systems can be used to implement targeted strikes. Based on received azimuth information (e.g., the drone's target azimuth), the drone jamming system can adjust the beam of a directional antenna (e.g., a phased array radar) toward the drone and emit electromagnetic pulses (e.g., 2.4GHz / 5.8GHz bands to interfere with GPS or remote control signals). In some embodiments, drone jamming systems can be used to send signals to force a drone to hover or return, jam communication links to cause it to land, and / or activate high-energy microwaves to damage the drone's electronic components.

[0132] Some embodiments of this specification also provide a drone direction-finding device. Figure 12 Schematic diagram of a drone direction finding device according to some embodiments of this specification. Figure 12 As shown, in some embodiments, the drone direction finding device 1200 may include a first signal acquisition module 1210 , a second signal acquisition module 1220 , a difference acquisition module 1230 , and an orientation information determination module 1240 .

[0133] In some embodiments, the first signal acquisition module 1210 may be configured to acquire a signal strength indicator value of a directional antenna. In some embodiments, the first signal acquisition module 1210 may be configured to acquire a first received signal strength indicator value of the directional antenna in a first direction. In some embodiments, the first signal acquisition module 1210 may be configured to acquire a third received signal strength indicator value of the directional antenna in a second direction.

[0134] In some embodiments, the second signal acquisition module 1220 may be configured to acquire a signal strength indicator value for the omnidirectional antenna. In some embodiments, the second signal acquisition module 1220 may be configured to acquire a second received signal strength indicator value for the omnidirectional antenna in a first direction. In some embodiments, the second signal acquisition module 1220 may be configured to acquire a fourth received signal strength indicator value for the omnidirectional antenna in a second direction.

[0135] In some embodiments, the difference acquisition module 1230 may be configured to acquire a difference in signal strength indication values between the directional antenna and the omnidirectional antenna. In some embodiments, the difference acquisition module 1230 may be configured to acquire a first signal strength indication difference between the directional antenna and the omnidirectional antenna in a first direction based on the first received signal strength indication value and the second received signal strength indication value. In some embodiments, the difference acquisition module 1230 may be configured to acquire a second signal strength indication difference between the directional antenna and the omnidirectional antenna in a second direction based on the third received signal strength indication value and the fourth received signal strength indication value.

[0136] In some embodiments, the position information determination module 1240 may be configured to determine the position information of the drone. In some embodiments, the position information determination module 1240 may be configured to determine the position information of the drone based on the first signal strength indicator difference. In some embodiments, the position information determination module 1240 may determine the position information of the drone based on the first signal strength indicator difference and the second signal strength indicator difference.

[0137] For more information about each module, see Figures 1 to 11 The relevant description of will not be repeated here. It should be understood that Figure 12 The devices and modules shown can be implemented in various ways. For example, in some embodiments, the system and its modules can be implemented by hardware, software, or a combination of software and hardware. Among them, the hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above methods and systems can be implemented using computer-executable instructions and / or control codes contained in a processor, such as a carrier medium such as a disk, CD or DVD-ROM, or a memory of a programmable device. Such codes are provided. The system and its modules of this specification can not only be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., but can also be implemented by software executed by various types of processors, or by a combination of the above hardware circuits and software (for example, firmware).

[0138] It should be noted that the above description of the system and its modules is for convenience only and does not limit this specification to the scope of the illustrated embodiments. It is understood that those skilled in the art, after understanding the principles of the system, may, without departing from these principles, arbitrarily combine the modules to form subsystems connected to other modules. Alternatively, they may split certain modules to obtain more modules or multiple units within a module. Such variations are within the scope of this specification.

[0139] Some embodiments of this specification also provide a drone direction-finding device. Figure 13 is a schematic diagram of a drone direction finding device according to some embodiments of this specification. Figure 13 As shown, in some embodiments, the drone direction-finding device 1300 may include a directional antenna 1310 , an omnidirectional antenna 1320 , a processor 1330 , and a memory 1340 .

[0140] In some embodiments, directional antenna 1310 may be used to provide a first electromagnetic wave. In some embodiments, directional antenna 1310 may be used to provide and / or receive a first electromagnetic wave in a first direction.

[0141] In some embodiments, the omnidirectional antenna 1320 may be used to provide the second electromagnetic wave. In some embodiments, the omnidirectional antenna 1320 may be used to provide and / or receive the second electromagnetic wave in at least a first direction.

[0142] In some embodiments, the memory 1340 is used to store computer programs or computer executable instructions. When the computer programs or computer executable instructions are executed by the processor 1330, the above-mentioned drone direction finding method is implemented.

[0143] Some embodiments of this specification also provide a computer program product, which may include computer instructions or computer code. When at least a portion of the computer instructions or computer code is executed by a processor, it can implement the above-mentioned drone direction-finding method. In some embodiments, the computer program product may only include computer instructions or computer code, which may be carried by a storage medium or processing device. In other embodiments, the computer program product may also be a storage medium or processing device containing the aforementioned computer instructions or computer code. The processing device may include one or more processors and a storage medium.

[0144] In some embodiments, the processor may be a combination of one or more of the following processors: a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic device (PLD), a programmable logic controller (PLC), a reduced instruction set computer (RISC), and a microprocessor.

[0145] In some embodiments, the storage medium may include one or more of the following combinations: mass storage, removable storage, volatile read-write memory, read-only memory (ROM). Exemplary mass storage may include a magnetic disk, an optical disk, a solid-state hard disk, etc. Exemplary removable storage may include a flash drive, a floppy disk, an optical disk, a memory card, a compressed hard disk, a magnetic tape, etc. Exemplary volatile read-write memory may include a random access memory (RAM). Exemplary random access memory may include a dynamic random access memory (DRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), a static random access memory (SRAM), a thyristor random access memory (T-RAM), and a zero-capacitance random access memory (Z-RAM). Exemplary read-only memory may include a masked read-only memory (MROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disk read-only memory (CD-ROM), and a digital versatile hard disk read-only memory, etc.

[0146] The beneficial effects that may be brought about by the embodiments of this specification include but are not limited to: (1) by obtaining the received signal strength indication difference between the directional antenna and the omnidirectional antenna, the fluctuation of RSSI detection and the measurement error caused by human jitter are eliminated, thereby improving the accuracy of direction finding; (2) by obtaining the received signal strength indication difference between the directional antenna and the omnidirectional antenna in different directions, more accurate azimuth information of the UAV can be obtained based on the comparison of the signal strength indication difference in different directions; (3) by obtaining the candidate azimuth angle through the correspondence between the azimuth angle and the signal strength indication difference, and by comparing the size of the signal strength indication difference between the directional antenna and the omnidirectional antenna in different directions, the target azimuth angle is determined from the candidate azimuth angles, thereby obtaining the accurate azimuth information of the UAV; (4) by establishing the corresponding relationship between the azimuth angle and the signal strength indication difference of the direction finding device through the UAV of the preset azimuth and the corresponding signal strength indication difference, so as to facilitate the search and determination of the candidate azimuth angle; (5) the UAV tagging in the graphical user interface can be realized; (6) the application can be associated with execution systems including UAV jamming systems.

[0147] While the basic concepts have been described above, it will be apparent to those skilled in the art that the detailed disclosure is merely illustrative and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are taught in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

Claims

1. A method for direction finding of an unmanned aerial vehicle, characterized in that: include: Obtaining a first received signal strength indicator value of the directional antenna in a first direction; Obtaining a second received signal strength indicator value of the omnidirectional antenna in the first direction; Obtaining a first signal strength indication difference between the directional antenna and the omnidirectional antenna in the first direction based on the first received signal strength indication value and the second received signal strength indication value; The position information of the UAV is determined based on the first signal strength indication difference.

2. The UAV direction finding method according to claim 1, characterized in that: Also includes: Obtaining a third received signal strength indicator value of the directional antenna in a second direction, where the second direction is located on a first side of the first direction; Obtaining a fourth received signal strength indicator value of the omnidirectional antenna in the second direction; A second signal strength indication difference between the directional antenna and the omnidirectional antenna in the second direction is obtained based on the third received signal strength indication value and the fourth received signal strength indication value.

3. The UAV direction finding method according to claim 2, characterized in that: Determining the position information of the UAV based on the first signal strength indication difference includes: determining the position information of the UAV based on the first signal strength indication difference and the second signal strength indication difference.

4. The UAV direction finding method according to claim 3, characterized in that: The orientation information includes an azimuth angle; The determining the position information of the UAV based on the first signal strength indication difference and the second signal strength indication difference includes: Based on the correspondence between the azimuth angle and the signal strength indication difference value, obtaining a candidate azimuth angle corresponding to the first signal strength indication difference value; Based on a magnitude of the second signal strength indication difference relative to the first signal strength indication difference, a target azimuth of the UAV is determined from the candidate azimuths.

5. The UAV direction finding method according to claim 4, characterized in that: The candidate azimuth angles are symmetric based on the first direction; The determining the target azimuth of the UAV from the candidate azimuths based on a magnitude of the second signal strength indication difference relative to the first signal strength indication difference includes: If the second signal strength indicator difference is greater than the first signal strength indicator difference, determining the candidate azimuth angle located on the first side of the first direction as the target azimuth angle of the UAV; If the second signal strength indication difference is less than the first signal strength indication difference, the candidate azimuth located on the second side of the first direction is determined as the target azimuth of the UAV, and the second side and the first side are respectively located on both sides of the first direction.

6. The UAV direction finding method according to claim 4 or 5, characterized in that: Also includes: Based on the UAV at a preset azimuth angle, a third signal strength indication difference between the directional antenna and the omnidirectional antenna at the preset azimuth angle is obtained to obtain a corresponding relationship between the azimuth angle and the signal strength indication difference.

7. The UAV direction finding method according to claim 3, characterized in that: The determining the position information of the UAV based on the first signal strength indication difference and the second signal strength indication difference includes: If the second signal strength indicator difference is greater than the first signal strength indicator difference, it is determined that the drone is located within a first angle range corresponding to the first direction and is located on the first side of the first direction; If the second signal strength indication difference is less than the first signal strength indication difference, it is determined that the drone is located within the first angle range corresponding to the first direction and is located on the second side of the first direction, and the second side and the first side are respectively located on both sides of the first direction.

8. The UAV direction finding method according to any one of claims 1 to 5 and claim 7, characterized in that: When the first signal strength indication difference is greater than the maximum amplitude of the first lobe in the signal strength indication difference pattern curve, determining the orientation information of the UAV based on the first signal strength indication difference; The signal strength indication difference pattern curve is obtained by performing difference compounding on the received signal strength indication pattern curve of the directional antenna and the received signal strength indication pattern curve of the omnidirectional antenna; The signal strength indication difference pattern curve includes a main lobe and two first lobes located on both sides of the main lobe, wherein the two first lobes are symmetrical with respect to the main lobe.

9. The UAV direction finding method according to any one of claims 1 to 5 and claim 7, characterized in that: Also includes: Based on the position information of the drone, the drone is marked at a corresponding position in a graphical user interface.

10. The UAV direction finding method according to any one of claims 1 to 5 and claim 7, characterized in that: Also includes: The position information of the UAV is transmitted to an execution end, which includes a UAV jamming system.

11. A UAV direction finding device, characterized in that: include: A first signal acquisition module is used to obtain a first received signal strength indicator value of the directional antenna in a first direction; A second signal acquisition module is used to obtain a second received signal strength indicator value of the omnidirectional antenna in the first direction; a difference acquisition module, configured to obtain a first signal strength indication difference between the directional antenna and the omnidirectional antenna in the first direction based on the first received signal strength indication value and the second received signal strength indication value; A position information determination module is used to determine the position information of the drone based on the first signal strength indication difference.

12. A UAV direction-finding device, characterized in that: Including: directional antenna, omnidirectional antenna, processor and memory; The directional antenna is configured to provide and / or receive a first electromagnetic wave in a first direction; The omnidirectional antenna is configured to provide and / or receive a second electromagnetic wave at least in the first direction; The memory is used to store a computer program or a computer executable instruction. When the computer program or the computer executable instruction is executed by the processor, the drone direction finding method according to any one of claims 1 to 10 is implemented.

13. A computer program product comprising computer codes, which, when at least part of the computer codes is executed by a processor, can implement the drone direction finding method according to any one of claims 1 to 10.

Images