A method, apparatus, device and computer program product for unmanned aerial vehicle direction finding

Abstract

This disclosure provides a method, apparatus, device, and computer program product for determining the direction of an unmanned aerial vehicle (UAV), relating to the technical field of UAVs. The UAV direction-finding method provided by this disclosure includes: acquiring a first received signal strength indication value of a directional antenna in a first direction; acquiring 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 and second received signal strength indication values; and determining the azimuth information of the UAV based on the first signal strength indication difference.

Description

Technical Field

[0001] This specification relates to the field of unmanned aerial vehicles (UAVs), and in particular to a UAV direction finding method, apparatus, equipment, and computer program product. Background Technology

[0002] Directional or omnidirectional antennas can be used for radiation source localization, including UAV direction finding. Equipment used for UAV direction finding (such as handheld detection guns) can include directional or omnidirectional antennas. UAV direction finding equipment can employ the amplitude comparison method, for example, slowly rotating the UAV direction finding equipment horizontally one full circle, observing the change in signal strength, and recording the direction the antenna points when the signal is strongest. This direction can be considered the approximate direction of the signal source (i.e., the radiation source). However, implementing the amplitude comparison method requires the operator to rotate the UAV direction finding equipment one full circle. Fluctuations in RSSI detection during rotation and human jitter can introduce errors into the test results, leading to inaccurate direction finding. Summary of the Invention

[0003] This specification provides one or more embodiments of a UAV direction finding method, including: acquiring a first received signal strength indication value of a directional antenna in a first direction; acquiring 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 UAV direction finding method further includes: acquiring a third received signal strength indication value of the directional antenna in a second direction, wherein the second direction is located on a first side of the first direction; acquiring 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 location information of the UAV based on the first signal strength indication difference includes: determining the location information of the UAV based on the first signal strength indication difference and the second signal strength indication difference.

[0006] In some embodiments, the azimuth information includes azimuth angles; determining the azimuth information of the UAV based on the first signal strength indication difference and the second signal strength indication difference includes: obtaining candidate azimuth angles corresponding to the first signal strength indication difference based on the correspondence between azimuth angles and signal strength indication difference; and determining the target azimuth angle of the UAV from the candidate azimuth angles based on the magnitude 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 about the first direction; determining the target azimuth angle of the UAV from the candidate azimuth angles based on the magnitude of the second signal strength indication difference relative to the first signal strength indication difference includes: 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, wherein the second side and the first side are respectively located on opposite sides of the first direction.

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

[0009] In some embodiments, determining the location 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 it is determined that the UAV 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, then it is determined that the UAV is located within a first angle range corresponding to the first direction and is located on the second side of the first direction, wherein 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 pattern curve, the azimuth information of the UAV is determined based on the first signal strength indication difference; wherein, the signal strength indication difference field pattern curve is obtained by differential composite of the received signal strength indication field pattern curve of the directional antenna and the received signal strength indication field pattern curve of the omnidirectional antenna; the signal strength indication difference field 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.

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

[0012] In some embodiments, determining the location information of the UAV based on the signal strength indication difference includes: rotating 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 location 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 UAV orientation finding method further includes: marking the UAV at a corresponding location in a graphical user interface based on the UAV's orientation information.

[0014] In some embodiments, the UAV orientation finding method further includes: transmitting the UAV's orientation information to an execution terminal, the execution terminal including a UAV jamming system.

[0015] One or more embodiments of this specification also provide a UAV direction finding device, comprising: a first signal acquisition module for acquiring a first received signal strength indication value of a directional antenna in a first direction; a second signal acquisition module for acquiring a second received signal strength indication value of an omnidirectional antenna in the first direction; a difference acquisition module for 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 a azimuth information determination module for determining the azimuth information of the UAV based on the first signal strength indication difference.

[0016] One or more embodiments of this specification also provide a UAV direction finding device, including: 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 at least in the first direction; the memory is used to store a computer program or computer-executable instructions, which, when executed by the processor, implement the aforementioned UAV direction finding method.

[0017] One or more embodiments of this specification also provide a computer program product, including computer code, which, when at least a portion of the computer code is executed by a processor, enables the aforementioned UAV direction finding method. Attached Figure Description

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

[0019] Figure 1 This is a schematic diagram illustrating an application scenario of the UAV direction-finding method according to some embodiments of this specification.

[0020] Figure 2 This is a flowchart illustrating a UAV direction-finding method according to some embodiments of this specification.

[0021] Figure 3 These are schematic diagrams of directional antenna field shape curves and omnidirectional antenna field shape curves according to some embodiments of this specification.

[0022] Figure 4 These are schematic diagrams of the received signal strength indication field pattern curves and signal strength indication difference field pattern curves of directional antennas and omnidirectional antennas according to some embodiments of this specification.

[0023] Figure 5 This is a flowchart illustrating a UAV direction finding method according to other embodiments of this specification.

[0024] Figure 6 This is a flowchart illustrating the process of determining the location information of a UAV using a UAV orientation-finding method according to some embodiments of this specification.

[0025] Figure 7 This is a schematic diagram of the maximum amplitude of the first lobe of the signal strength indication difference field pattern curve shown in some embodiments of this specification.

[0026] Figure 8 This is a schematic diagram showing the values ​​of the signal strength indication difference field pattern curve according to some embodiments of this specification.

[0027] Figure 9 This is a schematic diagram of a UAV signal based on the signal strength indication difference field pattern curve shown in some embodiments of this specification.

[0028] Figure 10 This is a schematic diagram of a UAV signal with the signal strength indication difference field pattern curve rotating counterclockwise, as shown in some embodiments of this specification.

[0029] Figure 11 This is a schematic diagram of a UAV signal with the signal strength indication difference field pattern curve rotating clockwise, as shown in some embodiments of this specification.

[0030] Figure 12 This is a schematic diagram of a UAV direction-finding device according to some embodiments of this specification.

[0031] Figure 13 This is a schematic diagram of a UAV direction-finding device according to some embodiments of this specification. Detailed Implementation

[0032] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

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

[0034] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0035] This specification uses flowcharts to illustrate the operational steps performed by the apparatus or system of related embodiments. However, unless otherwise specified, the order in which these steps are described should not be construed as a limitation on the order of execution. Those skilled in the art can adjust the order of these steps based on the knowledge and information conveyed by the embodiments in this specification. Such adjustments include, but are not limited to, reversing the order of steps, merging multiple steps, and splitting a step.

[0036] A directional antenna is a type of antenna that concentrates the transmission or reception of electromagnetic waves in a specific direction. The energy radiation or reception range of a directional antenna is confined to a narrow angular beam (such as a fan-shaped or cone-shaped beam), with signal strength significantly reduced or even zero in other directions. The energy distribution of a directional antenna is similar to a "flashlight," greatly enhancing signal strength in the target direction. An omnidirectional antenna, on the other hand, transmits or receives signals within a 360° range. For example, an omnidirectional antenna can have uniform signal strength on a horizontal plane. The energy distribution of an omnidirectional antenna is similar to a "donut" shape (wide horizontal coverage and a certain beamwidth in the vertical direction), making it suitable for scenarios requiring multi-directional coverage.

[0037] In some use cases, directional or omnidirectional antennas can be used for radiation source localization. In some embodiments, radiation source localization may include drone direction finding (e.g., acquiring drone azimuth information). 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 employ an amplitude comparison method when performing direction finding. The amplitude comparison method may include determining the drone's azimuth information 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 azimuth can be deduced, thereby determining the drone's azimuth information.

[0038] In some related embodiments, implementing the amplitude comparison method may include slowly rotating the UAV direction-finding device horizontally one full circle and observing the signal strength. The signal strength (e.g., RSSI, Received Signal Strength Indicator) may be displayed on the UAV direction-finding device as a numerical value or as a bar. In some embodiments, the UAV direction-finding device may record the direction pointed to by the antenna when the signal is strongest, which can 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 UAV direction finding equipment once. During the rotation, fluctuations in the RSSI detection of the board (numerical instability caused by hardware or environmental factors, such as random jumps in RSSI value during the rotation of the UAV direction finding equipment, rather than regular fluctuations with direction change) and human shaking may cause errors in the test results, resulting in inaccurate direction finding.

[0040] Therefore, one or more embodiments of this specification provide a UAV direction finding method that determines the UAV's azimuth information based on the difference between the received signal strength indication values ​​of a directional antenna and an omnidirectional antenna, thereby reducing or even eliminating detection fluctuations and / or human jitter to improve the accuracy of direction finding.

[0041] Figure 1 These are schematic diagrams illustrating application scenarios of the UAV direction-finding method according to some embodiments of this specification. For example... Figure 1 As shown, in some embodiments, the UAV 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 used to transmit and / or receive a first electromagnetic wave in a specific direction, and the omnidirectional antenna 120 can be used to transmit and / or receive a second electromagnetic wave at 360°, for example, uniformly transmitting and / or receiving the second electromagnetic wave at 360° in a horizontal direction (e.g., on a plane perpendicular to the direction of gravity). In some embodiments, the processor is used 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 azimuth information of the UAV 130.

[0043] Figure 2 This is a flowchart illustrating a UAV 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 The unmanned aerial vehicle (UAV) direction-finding device 100 shown executes this process. In some embodiments, process 200 may be implemented by a UAV direction-finding device 1200 deployed on a processing device. See also Figure 2 As shown, in some embodiments, process 200 may include the following steps.

[0044] Step 210: Obtain a first received signal strength indication 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 input. 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 so that the operator can rotate it 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 indication value may be the received signal strength indication value acquired by the directional antenna when the directional antenna is pointing in the current pointing direction.

[0047] Figure 3 These are schematic diagrams of directional antenna field shape curves and omnidirectional antenna field shape curves according to some embodiments of this specification. See also Figure 3 As shown, in Figure 3 In the polar coordinate system shown, the polar axis represents the received signal strength indication value (e.g., RSSI value), the polar radius coordinate unit is dB (e.g., -0.5dB, 0dB, 0.5dB, 1dB, etc.), and the polar angle coordinate unit is ° (e.g., 0°, 30°, 330°, etc.). The 0° direction is set as 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 (e.g., a curve that forms a main lobe in the 0° direction and whose received signal strength indication value is generally greater than 0dB) is the field shape curve of a directional antenna, and the orange curve (a curve that is roughly circular or elliptical in 360°) is the field shape 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, which can be the direction to 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 located at the 0° direction, the first received signal strength indication value when the directional antenna is pointing in the first direction is approximately 1 dB. In some embodiments, when the signal source is approximately located at the 20° direction, the first received signal strength indication value when the directional antenna is pointing in the first direction is approximately 0.71 dB.

[0050] Step 220: Obtain a second received signal strength indication 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 along 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 rotates synchronously with the directional antenna and has the same or similar operating environment. In other embodiments, the omnidirectional antenna can be mounted on the same handheld device as the directional antenna so that the omnidirectional antenna rotates synchronously with the directional antenna and has the same or similar operating environment.

[0052] In some embodiments, the omnidirectional antenna rotates synchronously with the directional antenna, and the second received signal strength indication value can be the received signal strength indication value obtained by the omnidirectional antenna in the current pointing direction when the directional antenna is pointing in the current pointing direction.

[0053] For example, see [link to previous article] 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 towards the 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 indication 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 indication value obtained by the omnidirectional antenna in this state is approximately 0.4 dB.

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

[0055] In some embodiments, the first signal strength indication difference (RSSI) 差值 1) is the first received signal strength indication value (RSSI). 定向 1) and the second Received Signal Strength Indication (RSSI) value 全向 1) The difference, for example, 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 the same handheld device. When the rotatable base or the handheld device is shaken by human intervention, the received signal strength indication value (e.g., the first received signal strength indication value) acquired by the directional antenna and the received signal strength indication value (e.g., the second received signal strength indication value) acquired by the omnidirectional antenna fluctuate synchronously. This fluctuation can be eliminated by calculating the signal strength indication difference (e.g., the first signal strength indication difference), thereby avoiding the impact of human intervention on the accuracy of direction finding.

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

[0058] Since directional antennas and omnidirectional antennas have the same or similar operating environment and acquire received signal strength indication values ​​at the same time, when the received signal strength indication value fluctuates due to hardware or environmental factors, the received signal strength indication value acquired by the directional antenna (e.g., the first received signal strength indication value) and the received signal strength indication value acquired by the omnidirectional antenna (e.g., the second received signal strength indication value) fluctuate synchronously. This fluctuation can be eliminated by calculating the signal strength indication difference (e.g., the first signal strength indication difference), thus avoiding the impact of fluctuations caused by hardware or environmental factors on the accuracy of direction finding.

[0059] Figure 4 This is a schematic diagram illustrating the received signal strength indication pattern curves of a directional antenna, the received signal strength indication pattern curves of an omnidirectional antenna, and the signal strength indication difference pattern curves according to some embodiments of this specification. See also Figure 4 As shown, in Figure 4 In the polar coordinate system shown, the blue curve (e.g., a curve that forms a main lobe in the 0° direction and whose received signal strength indication value is generally greater than 0dB) is the field shape curve of a directional antenna, the orange curve (a curve that is roughly circular or elliptical in 360°) is the field shape curve of an omnidirectional antenna, and the tan curve (e.g., a curve that forms a main lobe in the 0° direction and has some received signal strength indication values ​​less than 0dB) is the field shape curve of the signal strength indication difference.

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

[0061] Step 240: Determine the UAV's orientation information based on the first signal strength indication difference. In some embodiments, step 240 can be implemented by the orientation information determination module 1240.

[0062] In some embodiments, the drone's location information may include the drone's approximate position (e.g., the drone is within a certain angular range) or its orientation (e.g., the drone is in a certain direction). In some embodiments, the drone's location information may include: the drone is within the energy radiation or reception range of the main lobe corresponding to the current pointing direction (e.g., a first direction) of the directional antenna. In some embodiments, the energy radiation or reception range may be determined based on the performance of the directional antenna; for example, the energy radiation or reception range may be a 30° angular range to a 60° angular range, 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 location information of a drone based on a first signal strength indication difference may include: when the first signal strength indication difference is positive, determining that the drone is located within a first angle range corresponding to a first direction.

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

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

[0066] For example, see Figure 3 , Figure 4 As shown, the directional antenna is oriented in the first direction ( Figure 3 , Figure 4 (In the right direction of the image), a first signal strength indication difference is obtained, which is 0.6 dB. This positive value indicates that the drone is located within the range of 330° to 30° (the actual drone is located approximately at 0°). For example, see [link to example]. Figure 3 , Figure 4 As shown, the directional antenna is oriented in the first direction ( Figure 3 , Figure 4 (in the right direction of the image), the first signal strength indication difference is obtained, which is 0.31dB. This value is positive, which can also determine that the drone is located in the range of 330° to 30° (the actual drone is located at about 20°).

[0067] In some embodiments, determining the location information of the UAV 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 (e.g., the first direction corresponding to the maximum value of the first signal strength indication difference) may be used as the location direction of the UAV.

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

[0069] For example, see Figure 3 , Figure 4 As shown, the directional antenna and the omnidirectional antenna are oriented in the first direction ( Figure 3 , Figure 4(In the right direction of the image), obtain the first signal strength indication difference, which is 0.31dB. Rotate the directional antenna and omnidirectional antenna counterclockwise, and the obtained signal strength indication difference gradually increases to 0.6dB. Continue to rotate the directional antenna and omnidirectional antenna counterclockwise, and the obtained signal strength indication difference begins to decrease. At this time, adjust the direction of the directional antenna and omnidirectional antenna to make the signal strength indication difference reach its maximum value of 0.6dB. This determines the current pointing direction of the directional antenna of the UAV at this time (for example, the pointing direction when rotating counterclockwise about 20° from 0°).

[0070] Figure 5 This is a flowchart illustrating a UAV 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 The UAV direction-finding device 100 shown is used for this purpose. In some embodiments, process 500 can be implemented by a UAV direction-finding device 1200 deployed on a processing device. See also Figure 5 As shown, in some embodiments, process 500 may include the following steps.

[0071] Step 510: Obtain a first received signal strength indication 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 above, and can be found in the description of step 210 above, which will not be repeated here.

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

[0073] Step 530: Based on the first received signal strength indication value and the second received signal strength indication value, obtain a first signal strength indication difference between the directional antenna and the omnidirectional antenna in the first direction. In some embodiments, step 530 can be implemented by the difference acquisition module 1230. The description of step 530 is similar to that above, and can be found in the description of step 230 above, which will not be repeated here.

[0074] Step 540: Obtain 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. In some embodiments, step 540 can be implemented by the first signal acquisition module 1210.

[0075] In some embodiments, by rotating the directional antenna, the directional antenna can be oriented towards a second direction to obtain a signal strength indication value of the directional antenna in that second direction, which serves as a third received signal strength indication value. In some embodiments, there is an angle between the second direction and 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°. No limitations are imposed here.

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

[0077] Step 550: Obtain the fourth received signal strength indication 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 be rotated synchronously relative to the directional antenna to obtain a signal strength indication value of the omnidirectional antenna in the aforementioned second direction (i.e., the current orientation direction of the directional antenna), as a fourth received signal strength indication 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 received signal strength indication value is similar to the process of the omnidirectional antenna acquiring the second received signal strength indication value in step 220 or step 520, and will not be described again here.

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

[0081] In some embodiments, the second signal strength indication difference (RSSI) 差值 2) The third Received Signal Strength Indication value (RSSI) 定向 2) Compared with the fourth Received Signal Strength Indication (RSSI) value 全向 2) The difference, for example, 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 the same handheld device. When the rotatable base or the handheld device is shaken by human intervention, the received signal strength indication value (e.g., the third received signal strength indication value) acquired by the directional antenna and the received signal strength indication value (e.g., the fourth received signal strength indication value) acquired by the omnidirectional antenna fluctuate synchronously. This fluctuation can be eliminated by calculating the signal strength indication difference (e.g., the second signal strength indication difference), thus avoiding the impact of human intervention on the accuracy of direction finding.

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

[0084] Since directional and omnidirectional antennas have the same or similar operating environment and acquire received signal strength indication values ​​at the same time, when the received signal strength indication value fluctuates due to hardware or environmental factors, the received signal strength indication value acquired by the directional antenna (e.g., the third received signal strength indication value) and the received signal strength indication value acquired by the omnidirectional antenna (e.g., the fourth received signal strength indication value) fluctuate synchronously. This fluctuation can be eliminated by calculating the signal strength indication difference (e.g., the second signal strength indication difference), thus avoiding the impact of fluctuations caused by hardware or environmental factors on the accuracy of direction finding.

[0085] Figure 9 This is a schematic diagram of a UAV signal based on the signal strength indication difference field pattern curve shown in some embodiments of this specification. Figure 10 This is a schematic diagram of a UAV signal with the signal strength indication difference field pattern curve rotating counterclockwise, as shown in some embodiments of this specification. Figure 11 This is a schematic diagram of a UAV signal with the signal strength indication difference field pattern curve rotated clockwise, according to some embodiments of this specification. See also Figures 9 to 11 As shown, in Figures 9 to 11 The polar coordinate system shown on the left and Figures 9 to 11 The right side shows a rectangular coordinate system corresponding to the polar coordinate system, where the blue curve represents the signal strength indication difference field pattern curve.

[0086] For example, see Figure 9 As shown, the directional antenna is in Figure 9The pointing direction in the coordinate system (e.g., the 0° direction in polar coordinates) is the first direction (e.g.) Figure 9 (directly to the right of the center), the drone's true location 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 orientation is rotated counterclockwise, causing the directional antenna to point in the second direction (e.g., Figure 10 (In the upper right direction of the antenna), the actual orientation of the drone remains unchanged. However, since the polar coordinate system rotates with the rotation of the directional antenna, the actual orientation of the drone is located at approximately 20° in 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 orientation is rotated clockwise, causing the directional antenna to point in a second direction (e.g., ...). Figure 11 (in the lower right direction of the antenna), the actual orientation of the drone remains unchanged. However, since the polar coordinate system rotates with the rotation of the directional antenna, the actual orientation of the drone is located at approximately 39° in 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 of description used in steps 510, 520, 530, 540, 550 and 560 should not be interpreted as a restriction on the order of execution of the steps.

[0090] Step 570: Determine the UAV's location information based on the first signal strength indication difference. In some embodiments, step 570 can be implemented by the location information determination module 1240.

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

[0092] Figure 6 This is a schematic flowchart illustrating the method for determining the location information of a UAV according to some embodiments of this specification. In some embodiments, the location information of the UAV is determined based on a first signal strength indication difference and a second signal strength indication difference, which can be done according to... Figure 6 The process 600 is implemented. For example... Figure 6 As shown, in some embodiments, process 600 may include the following steps.

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

[0094] In some embodiments, there is a correspondence between the azimuth angle and the signal strength indication difference. See also Figure 9 As shown, for the same direction finding device (e.g., the same handheld direction finding device with directional and omnidirectional antennas), there is a corresponding relationship between the actual location of the UAV and the difference in 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, which rotates with the rotation of the directional antenna. The omnidirectional antenna of the direction finding device rotates with the rotation of the directional antenna. When the UAV is located at 30° of the direction finding device, the first signal strength indication difference obtained by the direction finding device is approximately 0.0217 dB; when the UAV is located at approximately 20° of the direction finding device, the first signal strength indication difference obtained by the direction finding device is approximately 0.3129 dB; when the UAV is located at 0° of the direction finding device, the first signal strength indication difference obtained by the direction finding device is approximately 0.6 dB; when the UAV is located at -30° of the direction finding device (i.e., 330°), the first signal strength indication difference obtained by the direction finding device is approximately 0.0217 dB.

[0096] Therefore, after the direction finding device acquires the first signal strength indication difference, it can obtain candidate azimuth angles 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, since the signal strength indication difference field pattern curve is symmetrical, it is radially symmetrical with respect to the orientation direction of the directional antenna of the direction finding device (i.e., the 0° direction in the polar coordinate system). Therefore, 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 with respect to the first direction (i.e., the direction in which the directional antenna is oriented when the first signal strength indication difference is acquired).

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

[0099] In some embodiments, the correspondence between azimuth angle and signal strength indication difference includes a list of corresponding azimuth angle and signal strength indication difference values. In some embodiments, see Table 1, which shows a portion of the correspondence between azimuth angle and signal strength indication difference values ​​for a direction-finding device.

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

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

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

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

[0104] In some embodiments, continuing with the direction-finding device as an example, a UAV can be deployed at a 10° angle to the direction-finding device, and the direction-finding device can be used to obtain the third signal strength indication difference (RSSI) between the directional antenna and the omnidirectional antenna at a 10° angle. 差值3 =0.5232dB, record this angle and the corresponding third signal strength indication difference; deploy the UAV at 11° direction of the direction finding device, and obtain the third signal strength indication difference (RSSI) between the directional antenna and the omnidirectional antenna at 11° direction through the direction finding device. 差值3 =0.5075dB, record the angle and the corresponding third signal strength indication difference; and so on, to obtain a list of the azimuth angle and signal strength indication difference of the direction finding device (for example, 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. The direction finding device can obtain multiple third signal strength indication differences between the directional antenna and the omnidirectional antenna at the preset azimuth angle. 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 list of the correspondence between the azimuth angle and the signal strength indication difference of the direction finding device.

[0106] Step 620: Based on the magnitude of the second signal strength indication difference relative to the first signal strength indication difference, determine the target azimuth angle of the UAV from the candidate azimuth angles. In some embodiments, step 620 can be implemented by the azimuth information determination module 1240.

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

[0108] Since the signal strength indication difference pattern curve is obtained by combining the received signal strength indication pattern curves of a directional antenna and an omnidirectional antenna, and both the received signal strength indication pattern curves of a directional antenna and an omnidirectional antenna are symmetrical, the signal strength indication difference pattern curve is also symmetrical. In some embodiments, see... Figure 7 , Figure 8 As shown in the polar and rectangular coordinate systems, the signal strength indication difference field pattern curves are mirror-symmetrical with respect to the 0° direction and have a maximum value in the 0° direction. Therefore, the magnitude of the second signal strength indication difference relative to the first signal strength indication difference can be used to infer whether the rotation of the directional antenna toward the first side brings the directional antenna's 0° direction closer to the drone or moves it 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 rotating the directional antenna toward the first side, the 0° direction of the directional antenna is closer to the UAV. The candidate azimuth angle located on the first side of the two candidate azimuth angles corresponds to the actual position of the UAV. Therefore, the candidate azimuth angle located on the first side of the first direction can be determined as the target azimuth angle of the UAV.

[0110] In some embodiments, if the second signal strength indication difference is less than the first signal strength indication 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 UAV, and the candidate azimuth angle located on the second side of the two candidate azimuth angles corresponds to the actual position of the UAV. Therefore, the candidate azimuth angle located on the second side of the first direction can be determined as the target azimuth angle of the UAV. In some embodiments, the second side and the first side are located on opposite sides of the first direction.

[0111] In some embodiments, see Figure 9 , Figure 10 As shown, Figure 9 The directional antenna is oriented in a first direction (for example, the 0° direction in the polar coordinate system of the directional antenna is set as the first direction). Figure 10 The directional antenna is rotated to the first side (e.g., towards the first direction). Figure 10 (rotating counterclockwise) towards the second direction, the second direction being located on the first side of the first direction (i.e.) Figure 9 (Top right side of the middle).

[0112] In this embodiment, the first signal strength indication difference between the directional antenna and the omnidirectional antenna in the first direction is approximately 0.0217 dB. Based on the correspondence between azimuth angle and signal strength indication difference, the candidate azimuth angles of the UAV when the first signal strength indication difference is approximately 0.0217 dB are 30° and -30°. The directional antenna is rotated to one side (e.g., towards...). Figure 10 Rotate counterclockwise, or for example towards Figure 9 The directional antenna and the omnidirectional antenna, when rotated 30° in one direction to face the second direction, show a second signal strength indication difference of approximately 0.3129 dB in the second direction. Since the second signal strength indication difference is greater than the first signal strength indication difference, it can be inferred that the directional antenna was rotated 30° in one direction to face the second direction. Figure 9 After rotating the directional antenna by 30°, the 0° direction of the directional antenna is closer to the UAV, thus the target azimuth angle of the UAV can be determined as 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 in a first direction (for example, the 0° direction in the polar coordinate system of the directional antenna is set as the first direction). Figure 11 The directional antenna is rotated to the other side (e.g., towards) Figure 11 (rotating clockwise) to face the second direction, the second direction being located on the first side of the first direction (i.e.) Figure 9 (The bottom right side of the middle).

[0114] In this embodiment, the first signal strength indication difference in the first direction is approximately 0.0217 dB. Based on the correspondence between azimuth angle and signal strength indication difference, the candidate azimuth angles of the UAV when the first signal strength indication difference is approximately 0.0217 dB are 30° and -30°. The directional antenna is rotated towards the first side (e.g., towards...). Figure 11 Rotate clockwise, or for example towards Figure 9 The directional antenna is rotated (30° in the first direction) to face the second direction, where the second signal strength indication difference is approximately -0.2545 dB. Since the second signal strength indication difference is less than the first signal strength indication difference, it can be inferred that the directional antenna is being oriented towards... Figure 9 After rotating the antenna in the -30° direction, the 0° direction of the directional antenna moves away from the drone, thus determining the target azimuth angle of the drone as the 30° direction of the first direction.

[0115] In one or more embodiments of this specification, when the first signal strength indication difference is greater than the maximum amplitude of the first lobe in the signal strength indication difference field pattern curve, the azimuth information of the UAV 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 field pattern curve, the azimuth information of the UAV 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 indication difference pattern curve is obtained by differentially combining the received signal strength indication pattern curve of the directional antenna and the received signal strength indication pattern curve of the omnidirectional antenna. See also [link to related documentation] in some embodiments. Figure 7 , Figure 8 As shown, the signal strength indication difference field pattern curve includes the main lobe (e.g., Figure 7 The right side of the middle, or Figure 8 The highest peak values ​​at both ends of the main lobe (near the left and right ends) and the two first lobes located on either side of the main lobe (e.g. Figure 7 The upper and lower parts of the middle, or Figure 8 (near the second highest peaks on the left and right sides of the main lobe), where 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 value of the main lobe forms the maximum amplitude (e.g., Figure 7 The maximum amplitude of the right-hand portion is approximately 0.6 dB or Figure 8 The maximum amplitude of the highest peaks at both ends of the image is approximately 0.6 dB. In some embodiments, the sidelobes may include a first lobe, the peak value of which forms the second amplitude (e.g., ...). Figure 7 The upper part of the middle or Figure 8 The secondary peak near the left end of the image shows a second large value of approximately -0.2 dB, for example. Figure 7 The lower part of the middle or Figure 8 The secondary peak near the right end of the middle section shows a second amplitude value of approximately -0.2 dB. In some embodiments, the sidelobes may further include a second lobe, a third lobe (not shown in the figure), etc., where 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, multiple candidate azimuth angles corresponding to the first signal strength indication difference may be obtained (e.g., more than two candidate azimuth angles, for example...). Figure 8(Eight candidate azimuth angles are shown in the figure). In some embodiments, more than two candidate azimuth angles are not conducive to determining the target azimuth angle. Therefore, when the first signal strength indication difference is greater than the maximum amplitude of the first lobe in the signal strength indication difference field pattern curve, the azimuth information of the UAV is determined based on the first signal strength indication difference, thereby obtaining two or fewer candidate azimuth angles to facilitate the determination of the target azimuth angle.

[0118] In one or more embodiments of this specification, determining the location information of the UAV based on the first signal strength indication difference and the second signal strength indication difference can also be achieved by following these steps.

[0119] In some embodiments, a directional antenna and an omnidirectional antenna are oriented towards a first direction to obtain a first signal strength indication difference. The directional antenna and the omnidirectional antenna are then rotated towards a first side of the first direction to oriented towards 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 UAV 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 a 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 UAV is located within the first angular range corresponding to the first direction and is located on a second side of the first direction, with the second side and the first side located on opposite sides of the first direction.

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

[0121] In some embodiments, the first angle range corresponding to the first direction may be symmetrical with respect to the first direction. In some embodiments, the first angle range corresponding to the first direction may include a region on a first side of the first direction and a region on a second side of the first direction, wherein the first side region and the second side region are located on opposite sides of the first direction. For example, the first angle range corresponding to the first direction may include 330° to 0° (the region on the first side of the first direction) and 0° to 30° (the region on the second side of the first direction). For example, the first angle range corresponding to the first direction may include 337.5° to 0° (the region on the first side of the first direction) and 0° to 22.5° (the region 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 in a first direction (for example, the 0° direction in the polar coordinate system of the directional antenna is set as the first direction). Figure 10 The directional antenna rotates towards the first side (e.g., towards) Figure 10 (rotating counterclockwise) towards the second direction, the second direction being located on the first side of the first direction (i.e.) Figure 9 (Top right side of the middle).

[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 approximately 0.1 dB. The directional antenna is rotated towards the first side (e.g., towards...). Figure 10 Rotate counterclockwise, or for example towards Figure 9 The directional antenna is rotated 30° in one direction to face the second direction, where the second signal strength indication difference is approximately 0.42 dB. 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 being oriented towards... Figure 9 After rotating the antenna 30°, the 0° direction of the directional antenna is closer to the drone, thus determining that the drone is located within the range of 330° to 30°, 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 in a first direction (for example, the 0° direction in the polar coordinate system of the directional antenna is set as the first direction). Figure 11 The directional antenna rotates towards the first side (e.g., toward the first side). Figure 11 (rotating clockwise) to face the second direction, the second direction being located on the first side of the first direction (i.e.) Figure 9 (The bottom right side of the middle).

[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 approximately 0.1 dB. The directional antenna is rotated towards the first side (e.g., towards...). Figure 11 Rotate clockwise, or for example towards Figure 9 The antenna is rotated (30° in the first direction) to face the second direction, where the second signal strength indication difference is approximately -0.08 dB. Since the second signal strength indication difference is smaller than the first signal strength indication difference, it can be inferred that the directional antenna is being oriented towards... Figure 9 After rotating the directional antenna in the -30° direction, the 0° direction moves away from the drone, thus determining that the drone is located within the range of 330° to 30°, specifically within the range of 0° to 30°.

[0126] In one or more embodiments of this specification, the UAV orientation finding method may further include: marking the UAV at a corresponding location in the graphical user interface based on the UAV's orientation information.

[0127] In some embodiments, the graphical user interface (GUI) of the UAV 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 GUI of the UAV direction-finding device may include a display of the UAV's orientation information relative to the handheld device. In some embodiments, the GUI of the UAV direction-finding device may include a geographic information system (e.g., a map) to display the UAV's location in geographic information, such as providing the UAV's latitude and longitude.

[0128] In some embodiments, the graphical user interface may use icons (e.g., drone symbols), color coding (e.g., red to indicate a threat target), or dynamic labels (displaying the drone ID and the corresponding azimuth angle, 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 may optionally display historical location information of the drones (e.g., dashed paths) to show the drone movement trends and help the operator analyze the drones' flight intentions.

[0130] In one or more embodiments of this specification, the UAV orientation finding method may further include: transmitting the UAV's orientation information to an execution terminal, which may include a UAV jamming system.

[0131] In some embodiments, drone jamming systems can be used to carry out targeted strikes. Based on received location information (e.g., the target azimuth angle of the drone), the drone jamming system can adjust the beam of a directional antenna (such as a phased array radar) to point at the drone, and emit electromagnetic pulses (e.g., jamming GPS or remote control signals in the 2.4 GHz / 5.8 GHz band). In some embodiments, drone jamming systems can be used to send signals to force drones to hover or return, block communication links to cause drones to land, and / or activate high-energy microwaves to damage the electronic components of drones.

[0132] Some embodiments of this specification also provide a direction-finding device for unmanned aerial vehicles (UAVs). Figure 12 This is a schematic diagram of a UAV direction-finding device according to some embodiments of this specification. See also Figure 12 As shown, in some embodiments, the UAV direction finding device 1200 may include a first signal acquisition module 1210, a second signal acquisition module 1220, a difference acquisition module 1230, and a azimuth information determination module 1240.

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

[0134] In some embodiments, the second signal acquisition module 1220 can be used to acquire a signal strength indication value of the omnidirectional antenna. In some embodiments, the second signal acquisition module 1220 can be used to acquire a second received signal strength indication value of the omnidirectional antenna in a first direction. In some embodiments, the second signal acquisition module 1220 can acquire a fourth received signal strength indication value of the omnidirectional antenna in a second direction.

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

[0136] In some embodiments, the orientation information determination module 1240 can be used to determine the orientation information of the UAV. In some embodiments, the orientation information determination module 1240 can be used to determine the orientation information of the UAV based on a first signal strength indication difference. In some embodiments, the orientation information determination module 1240 can determine the orientation information of the UAV based on a first signal strength indication difference and a second signal strength indication difference.

[0137] For more information on each module, please refer to [link / reference]. Figures 1 to 11 The relevant explanations will not be repeated here. It should be understood that... Figure 12 The apparatus and modules shown can be implemented in various ways. For example, in some embodiments, the system and modules can be implemented in hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in 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 methods and systems described above can be implemented using computer-executable instructions and / or included in the control code of a processor, such as on a media such as a disk, CD, or DVD-ROM, or in the memory of a programmable device. The systems and modules of this specification can be implemented not only with hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips and transistors, or programmable hardware devices such as field-programmable gate arrays and programmable logic devices, but also with software, for example, executed by various types of processors, or with a combination of the aforementioned hardware circuits and software (e.g., firmware).

[0138] It should be noted that the above description of the system and its modules is for convenience only and should not be construed as limiting this specification to the embodiments described. It is understood that those skilled in the art, after understanding the principles of this system, may arbitrarily combine the various modules without departing from these principles to form subsystems connected to other modules. Alternatively, some modules may be split to obtain more modules or multiple units under a single module. Such modifications are all within the scope of this specification.

[0139] Some embodiments of this specification also provide a direction-finding device for unmanned aerial vehicles (UAVs). Figure 13 This is a schematic diagram of a UAV direction-finding device according to some embodiments of this specification. See also Figure 13 As shown, in some embodiments, the UAV 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, the directional antenna 1310 may be used to provide a first electromagnetic wave. In some embodiments, the directional antenna 1310 may be used to provide and / or receive the first electromagnetic wave in a first direction.

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

[0142] In some embodiments, the memory 1340 is used to store a computer program or computer-executable instructions, which, when executed by the processor 1330, implement the above-described UAV direction finding method.

[0143] Some embodiments of this specification also provide a computer program product that may include computer instructions or computer code, which, when at least a portion of the computer instructions or computer code is executed by a processor, enables the implementation of the aforementioned UAV direction-finding method. In some embodiments, the computer program product may involve only computer instructions or computer code, and may be carried on 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: central processing unit (CPU), application-specific integrated circuit (ASIC), application-specific instruction set processor (ASIP), graphics processing unit (GPU), physical processing unit (PPU), digital signal processor (DSP), field-programmable gate array (FPGA), programmable logic device (PLD), programmable logic controller (PLC), reduced instruction set computer (RISC), and microprocessor.

[0145] In some embodiments, the storage medium may include one or more combinations of the following: mass storage, removable storage, volatile read-write memory, and read-only memory (ROM). Exemplary mass storage may include disks, optical disks, solid-state drives, etc. Exemplary removable storage may include flash drives, floppy disks, optical disks, memory cards, compressed hard disks, magnetic tapes, etc. Exemplary volatile read-write memory may include random access memory (RAM). Exemplary RAM may include dynamic random access memory (DRAM), dual data rate synchronous dynamic random access memory (DDRSDRAM), static random access memory (SRAM), silicon controlled retrieval memory (T-RAM), and zero-capacitance memory (Z-RAM), etc. Exemplary read-only memory may include masked read-only memory (MROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), compressed hard disk read-only memory (CD-ROM), and digital multifunction hard disk read-only memory, etc.

[0146] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) by obtaining the difference in received signal strength indication between the directional antenna and the omnidirectional antenna, the fluctuation of RSSI detection and the measurement error caused by human jitter can be eliminated, thereby improving the accuracy of direction finding; (2) by obtaining the difference in received signal strength indication between the directional antenna and the omnidirectional antenna in different directions, the UAV's more accurate azimuth information 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 magnitude of the signal strength indication difference between the directional antenna and the omnidirectional antenna in different directions, the target azimuth angle can be determined from the candidate azimuth angle, thereby obtaining the UAV's accurate azimuth information; (4) by establishing the correspondence between the azimuth angle and the signal strength indication difference of the direction finding device through the UAV with the preset azimuth and the corresponding signal strength indication difference, so as to find and determine the candidate azimuth angle; (5) the UAV marking in the graphical user interface can be realized; (6) the application can be associated with execution systems including UAV jamming systems.

[0147] The basic concepts have been described above. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are taught in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. A direction-finding method for unmanned aerial vehicles (UAVs), characterized in that, include: Obtain the first received signal strength indication value of the directional antenna in the first direction; Obtain the second received signal strength indication value of 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 first signal strength indication difference between the directional antenna and the omnidirectional antenna in the first direction is obtained; Obtain a third received signal strength indication value of the directional antenna in a second direction, wherein the second direction is located on a first side of the first direction; Obtain the fourth received signal strength indication value of the omnidirectional antenna in the second direction; Based on the third received signal strength indication value and the fourth received signal strength indication value, a second signal strength indication difference between the directional antenna and the omnidirectional antenna in the second direction is obtained; Based on the correspondence between azimuth angle and signal strength indication difference, candidate azimuth angles corresponding to the first signal strength indication difference are obtained; The target azimuth of the UAV is determined from the candidate azimuth angles based on the magnitude of the second signal strength indication difference relative to the first signal strength indication difference.

2. The UAV direction finding method according to claim 1, characterized in that, The candidate azimuth angle is symmetrical about the first direction; The step of determining the target azimuth angle of the UAV from the candidate azimuth angles based on the magnitude of the second signal strength indication difference relative to the first signal strength indication difference includes: If the second signal strength indication difference is greater than the first signal strength indication difference, then the candidate azimuth angle of the first side located in 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, with the second side and the first side located on opposite sides of the first direction.

3. The UAV direction finding method according to claim 1, characterized in that, Also includes: Based on a preset azimuth angle, the UAV obtains the third signal strength indication difference between the directional antenna and the omnidirectional antenna at the preset azimuth angle, so as to obtain the correspondence between the azimuth angle and the signal strength indication difference.

4. The UAV direction finding method according to any one of claims 1 to 3, 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 field pattern curve, the azimuth information of the UAV is determined based on the first signal strength indication difference. The signal strength indication difference field pattern curve is obtained by combining the received signal strength indication field pattern curve of the directional antenna and the received signal strength indication field pattern curve of the omnidirectional antenna by difference. The signal strength indication difference field 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.

5. The UAV direction finding method according to any one of claims 1 to 3, characterized in that, Also includes: Based on the drone's location information, the drone is marked at the corresponding location in the graphical user interface.

6. The UAV direction finding method according to any one of claims 1 to 3, characterized in that, Also includes: The location information of the UAV is transmitted to the execution terminal, which includes a UAV jamming system.

7. A direction-finding device for unmanned aerial vehicles (UAVs), characterized in that, include: The first signal acquisition module is used to acquire a first received signal strength indication value of the directional antenna in a first direction and a third received signal strength indication value of the directional antenna in a second direction; The second signal acquisition module is used to acquire a second received signal strength indication value of the omnidirectional antenna in the first direction and a fourth received signal strength indication value of the omnidirectional antenna in the second direction. The difference acquisition module is 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 to obtain 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. The azimuth information determination module is used to obtain candidate azimuth angles corresponding to the first signal strength indication difference based on the correspondence between azimuth angles and signal strength indication difference values, and to determine the target azimuth angle of the UAV from the candidate azimuth angles based on the magnitude of the second signal strength indication difference value relative to the first signal strength indication difference value.

8. A direction-finding device for unmanned aerial vehicles (UAVs), characterized in that, Includes: directional antenna, omnidirectional antenna, processor, and 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 at least in the first direction; The memory is used to store computer programs or computer-executable instructions, which, when executed by the processor, implement the UAV direction finding method according to any one of claims 1 to 6.

9. A computer program product comprising computer code, which, when at least a portion of the computer code is executed by a processor, enables the implementation of the UAV direction finding method as described in any one of claims 1 to 6.

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