Signal optimization method, device and equipment

Abstract

The embodiment of the present invention discloses a method, device and equipment for signal optimization, which automatically screens out the frequency bands that are too close and may cause adjacent frequency interference - the first adjacent signal frequency band data - by comparing the first signal frequency band data and the second signal frequency band data, and based on the preset adjacent frequency threshold. The identified adjacent interference frequency band is removed from the second signal frequency band available to the drone to obtain the first signal communication frequency band. Finally, the system selects the generated first signal communication frequency band to establish a dedicated communication channel between the drone and the remote control to ensure the reliable transmission of control instructions and telemetry data. By real-time collection of the occupancy of all signals in the base station and the environment, and calculating the adjacent threshold filtering, the drone communication frequency point is sufficiently isolated from the nearby high-power signals, significantly reducing the probability of co-frequency and adjacent frequency interference. It is conducive to the real-time transmission of high-frequency data, thereby improving the timeliness and accuracy of indoor navigation and obstacle avoidance.

Description

Technical Field

[0001] The present invention relates to the field of drone signal transmission technology, and in particular to a signal optimization method, device, and equipment. Background Art

[0002] With the rapid development of drone technology, precise positioning and navigation in indoor environments have become critical for drone flight. For outdoor flight, drones typically rely on the Global Positioning System (GPS) to obtain location information. However, GPS signals are severely attenuated indoors, making them inadequate for positioning. To address this, the industry has proposed visual positioning, ultrasonic / infrared ranging, and positioning solutions based on UWB (ultra-wideband) base stations, hoping to overcome GPS blind spots and achieve centimeter-level accuracy for indoor navigation.

[0003] Visual positioning requires the use of a camera to capture images, which are then combined with image processing for navigation and positioning. However, the image processing process requires huge computing power to support it, which affects the battery life of the camera. At the same time, it also requires high-precision chips to support it.

[0004] Ultrasonic and infrared ranging are based on the reflection of sound waves or light waves in a fixed frequency band to make judgments. Remote controls for indoor electrical appliances often use these two methods. Receiving such signals during the flight of a drone will lead to misjudgment and affect the flight of the drone.

[0005] Among these, positioning solutions based on UWB base stations were once considered the most promising approach due to their high-bandwidth pulse signals and excellent resistance to multipath interference. However, in indoor environments, various IoT terminals, security equipment, remote controls, and other devices often communicate using frequency bands close to or overlapping with UWB. When drones enter the transmit / receive range of such devices, UWB pulse signals are susceptible to interference, causing inaccuracies in time difference of arrival (TDOA) or angle of arrival (AOA) calculations, and even leading to a disconnection between the base station and the drone, seriously affecting positioning accuracy and increasing the risk of collision. This, in turn, causes co-channel interference, where signals from other devices interfere with the signal transmission between the drone and the remote control, preventing effective drone control.

[0006] Secondly, in the adjacent signal frequency bands used by drones, if there are adjacent signal frequency bands that are reflected or superimposed, some signals will be the same as the signal frequency bands used by the drone. During the transmission process, the superimposed or similar signal frequency bands will cause the drone to lose data or have data anomalies in the process of receiving or sending signals, seriously affecting the flight safety of the drone. Summary of the Invention

[0007] Based on this, it is necessary to propose a signal optimization method, device and equipment to address the above problems.

[0008] The present invention proposes a signal optimization method, which includes:

[0009] Obtain usage records of all signal frequency bands within the UWB base station range to generate first signal frequency band data;

[0010] Obtain all signal frequency bands of the drone and generate data for the second signal frequency band;

[0011] generating first adjacent signal frequency band data according to the first signal frequency band data and the second signal frequency band data;

[0012] Subtracting the first adjacent signal frequency band data from the second signal frequency band data to obtain a first signal communication frequency band;

[0013] A signal communication channel is established between the drone and the corresponding remote controller according to the first signal communication frequency band.

[0014] In at least one embodiment of the present application, the step of generating first adjacent signal frequency band data based on the first signal frequency band data and the second signal frequency band data further includes:

[0015] Obtaining the preset adjacent signal threshold range value;

[0016] Calculate each signal frequency band in the first signal frequency band data and a signal threshold range value to generate the first adjacent signal frequency band data.

[0017] In at least one embodiment of the present application, the signal optimization method further includes:

[0018] detecting whether there is an available signal frequency band in the first signal communication frequency band;

[0019] If so, a signal communication channel is established between the drone and the corresponding remote controller according to the first signal communication frequency band.

[0020] In at least one embodiment of the present application, the signal optimization method further includes:

[0021] If not, obtain all signal ranges within the UWB base station range to generate first signal range data;

[0022] establishing a first interference map based on the first signal range data;

[0023] Obtaining coordinate data of the UAV within the first interference map to generate first coordinates;

[0024] generating signal frequency band data that can be used in the area corresponding to the first coordinates according to the first coordinates, the first interference map, and the first signal range data, and generating a second signal communication frequency band;

[0025] A signal communication channel is established between the drone and the corresponding remote controller according to the second signal communication frequency band.

[0026] In at least one embodiment of the present application, the specific steps of generating signal frequency band data that can be used in the area corresponding to the first coordinate based on the first coordinate, the first interference map, and the first signal range data, and generating the second signal communication frequency band include:

[0027] Marking the first coordinate area within the first interference map as an active area;

[0028] Acquire a signal frequency band currently being used by the UWB base station in the active area to generate third signal frequency band data;

[0029] The second signal communication frequency band is generated according to the second signal frequency band data, the third signal frequency band data and the adjacent signal threshold range data.

[0030] In at least one embodiment of the present application, the signal optimization method further includes:

[0031] Obtaining a signal frequency band currently being used by a UWB base station in an area adjacent to the active area, and generating fourth signal frequency band data;

[0032] The second signal communication frequency band is generated according to the second signal frequency band data, the third signal frequency band data, the fourth signal frequency band data, and the adjacent signal threshold range data.

[0033] In at least one embodiment of the present application, the signal optimization method further includes:

[0034] Obtaining an area of ​​the activity area based on an adjacent area in the first interference map, and marking the area as an adjacent area;

[0035] Acquire a signal overlapping area between the adjacent area and the active area to obtain a signal overlapping area;

[0036] Acquire all signal frequency bands in the adjacent area and the active area to generate fifth signal frequency band data;

[0037] generating avoidance signal frequency band data from the first signal frequency band data, the fifth signal frequency band data, and the adjacent signal threshold range data;

[0038] A signal communication channel is established between the UAV and the corresponding remote controller based on the avoidance signal frequency band data.

[0039] In at least one embodiment of the present application, when the drone is located in a signal overlapping area, the third signal frequency band data is compared with the fifth signal frequency band data, and a signal frequency band in the third signal frequency band data that is not within the fifth signal frequency band data is filtered out to obtain relay signal frequency band data;

[0040] and filtering out signal frequency bands that are not located in the signal overlapping area from the relay signal frequency band data to obtain intermediate signal frequency band data;

[0041] Obtaining signal frequency band data currently being used by a UWB base station in a next area in the UAV's flight direction, and generating sixth signal frequency band data;

[0042] generating next-region signal frequency band data from the sixth signal frequency band data, the second signal frequency band data, and the adjacent signal threshold range data;

[0043] Selecting a signal frequency band from the next-region signal frequency band data as a next-region signal frequency band;

[0044] generating next-area signal data according to the frequency band used by the next-area signal;

[0045] Sending the next area signal data to the drone via the intermediate signal frequency band data;

[0046] After receiving the next area signal data, the drone establishes a communication channel with the corresponding remote controller through the frequency band used by the next area signal.

[0047] A signal optimization device, applied to any one of the above signal optimization methods, comprising:

[0048] A data acquisition module, configured to acquire first signal frequency band data and second signal frequency band data;

[0049] an adjacent signal frequency band generating module, which generates first adjacent signal frequency band data according to the first signal frequency band data and the second signal frequency band data;

[0050] a signal communication frequency band generating module, generating a first signal communication frequency band based on the second signal frequency band data and the first adjacent signal frequency band data;

[0051] The signal communication channel generation module establishes a signal communication channel between the drone and the corresponding remote controller according to the first signal communication frequency band.

[0052] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0053] Obtain usage records of all signal frequency bands within the UWB base station range to generate first signal frequency band data;

[0054] Obtain all signal frequency bands of the drone and generate data for the second signal frequency band;

[0055] generating first adjacent signal frequency band data according to the first signal frequency band data and the second signal frequency band data;

[0056] Subtracting the first adjacent signal frequency band data from the second signal frequency band data to obtain a first signal communication frequency band;

[0057] A signal communication channel is established between the drone and the corresponding remote controller according to the first signal communication frequency band.

[0058] The signal optimization method, apparatus, and device implemented in this embodiment will have at least the following beneficial effects:

[0059] The signal optimization method, device and equipment provided above perform spectrum scanning in the UWB base station coverage area where the drone is located, record all the signal frequency bands in use and their occupancy in the area, and form first signal frequency band data.

[0060] At the same time, all communication frequency bands supported by the drone and its remote controller are queried, and these candidate frequencies are organized into second signal frequency band data.

[0061] By comparing the first signal frequency band data and the second signal frequency band data, and based on the preset adjacent frequency threshold, the frequency band set that is too close to the ambient signal frequency band and may cause adjacent frequency interference is automatically screened out - the first adjacent signal frequency band data.

[0062] The identified adjacent interference frequency band is removed from the second signal frequency band available to the drone, and the remaining frequency band that is not adjacent to any environmental signal is the first signal communication frequency band.

[0063] Finally, the system selects the generated first signal communication frequency band to establish a dedicated communication channel between the drone and the remote controller, ensuring the reliable transmission of control commands and telemetry data.

[0064] By eliminating all frequency bands close to environmental signals, the drone communication link avoids adjacent frequency crosstalk and the overall interference level is significantly reduced.

[0065] It reduces the risk of loss of control due to signal loss or misjudgment, effectively preventing collisions or deviation from the planned route, and is particularly suitable for indoor environments with narrow spaces or interference from multiple devices.

[0066] By collecting the occupancy status of all signals in the base station and the environment in real time and calculating adjacent threshold filtering, the drone communication frequency is sufficiently isolated from nearby high-power signals, significantly reducing the probability of co-frequency and adjacent frequency interference.

[0067] With the reduction of communication interference, the remote control and telemetry links of the drone are more stable, which facilitates the real-time transmission of high-frequency data (including positioning, attitude, sensor information, etc.), thereby improving the timeliness and accuracy of indoor navigation and obstacle avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0069] in:

[0070] Figure 1 A flowchart of a method for signal optimization in one embodiment;

[0071] Figure 2 for Figure 1 A flowchart of a method for signal optimization in another embodiment;

[0072] Figure 3 A flowchart of a signal optimization method according to another embodiment;

[0073] Figure 4 A flowchart of a method for signal optimization in yet another embodiment;

[0074] Figure 5 A flow chart of a method for signal optimization for a UAV located in a signal overlap region;

[0075] Figure 6 is a structural block diagram of a signal optimization device in one embodiment;

[0076] Figure 7 FIG. 1 is a structural block diagram of a computer device in one embodiment.

[0077] in:

[0078] 100. Signal optimization device; 110. Data acquisition module; 120. Adjacent signal frequency band generation module; 130. Signal communication channel generation module; 140. Signal communication frequency band generation module. DETAILED DESCRIPTION

[0079] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0080] The present invention proposes a signal optimization method, which includes:

[0081] S101. Obtain usage records of all signal frequency bands within a UWB base station range to generate first signal frequency band data;

[0082] S102: Acquire all signal frequency bands of the drone and generate second signal frequency band data;

[0083] S103: Generate first adjacent signal frequency band data according to the first signal frequency band data and the second signal frequency band data;

[0084] S104, removing the first adjacent signal frequency band data from the second signal frequency band data to obtain a first signal communication frequency band;

[0085] S105: Establish a signal communication channel between the drone and the corresponding remote controller according to the first signal communication frequency band.

[0086] Please refer to Figure 1 In this embodiment, the system performs spectrum scanning in the UWB base station coverage area where the drone is located, records all the signal frequency bands in use and their occupancy status in this area, and forms the first signal frequency band data.

[0087] At the same time, all communication frequency bands supported by the drone and its remote controller are queried, and these candidate frequencies are organized into second signal frequency band data.

[0088] By comparing the first signal frequency band data and the second signal frequency band data, and based on the preset adjacent frequency threshold, the frequency band set that is too close to the ambient signal frequency band and may cause adjacent frequency interference is automatically screened out - the first adjacent signal frequency band data.

[0089] The identified adjacent interference frequency band is removed from the second signal frequency band available to the drone, and the remaining frequency band that is not adjacent to any environmental signal is the first signal communication frequency band.

[0090] Finally, the system selects the generated first signal communication frequency band to establish a dedicated communication channel between the drone and the remote controller, ensuring the reliable transmission of control commands and telemetry data.

[0091] By eliminating all frequency bands close to environmental signals, the drone communication link avoids adjacent frequency crosstalk and the overall interference level is significantly reduced.

[0092] It reduces the risk of loss of control due to signal loss or misjudgment, effectively preventing collisions or deviation from the planned route, and is particularly suitable for indoor environments with narrow spaces or interference from multiple devices.

[0093] By collecting the occupancy status of all signals in the base station and the environment in real time and calculating adjacent threshold filtering, the drone communication frequency band is sufficiently isolated from nearby high-power signals, significantly reducing the probability of co-frequency and adjacent frequency interference.

[0094] With the reduction of communication interference, the remote control and telemetry links of the drone are more stable, which facilitates the real-time transmission of high-frequency data (including positioning, attitude, sensor information, etc.), thereby improving the timeliness and accuracy of indoor navigation and obstacle avoidance.

[0095] In at least one embodiment of the present application, the step of generating first adjacent signal frequency band data based on the first signal frequency band data and the second signal frequency band data further includes:

[0096] S201, obtaining a preset adjacent signal threshold range value;

[0097] S202: Calculate each signal frequency band in the first signal frequency band data and a signal threshold range value to generate the first adjacent signal frequency band data.

[0098] Please refer to Figure 1-Figure 2 In this embodiment, the system first determines an adjacent signal threshold range value Δf (e.g., 5MHz) during the configuration phase based on hardware characteristics and environmental requirements. When the drone enters the UWB base station coverage area, the system will traverse each occupied frequency band f1 recorded in the environment and compare it with each candidate frequency band f2 in the drone's available frequency band list: as long as , it determines that there is a risk of adjacent-frequency interference between f2 and the ambient signal, and collects this information into the first adjacent signal frequency band data. Through this simple yet precise threshold matching operation, the system can quickly identify all candidate frequency bands that may cause crosstalk or intermodulation, laying the foundation for the next step of eliminating interfering frequency bands and establishing a clean communication channel.

[0099] Only one threshold parameter and several frequency difference calculations are required to quickly identify all adjacent frequency interference risks, without the need for complex spectrum analysis or machine learning models, greatly reducing system design and operating costs.

[0100] When the system covers multiple UWB base stations or requires zoned management, it is only necessary to merge the environmental frequency band data of each area or base station into the first signal frequency band data, and then process it according to the same threshold logic to achieve large-scale, distributed adjacent frequency interference identification.

[0101] On the one hand, relying only on a single threshold setting and frequency difference calculation, a comprehensive screening of adjacent-channel interference risks in the entire spectrum environment can be completed, without the need for complex spectrum analysis equipment or deep learning models. On the other hand, the threshold Δf can be flexibly adjusted according to different scenarios (such as device power, regulatory requirements, or spatial multipath characteristics), allowing the system to strictly isolate potential noise in high-density interference environments while retaining more available frequency bands in less-interference environments, thus achieving adaptive support for various indoor deployment modes.

[0102] In at least one embodiment of the present application, the signal optimization method further includes:

[0103] S203, detecting whether there is an available signal frequency band in the first signal communication frequency band;

[0104] S204: If so, establish a signal communication channel between the drone and the corresponding remote controller according to the first signal communication frequency band.

[0105] Please refer to Figure 1-Figure 2 In this embodiment, after eliminating adjacent interfering frequency bands and obtaining the first signal communication frequency band, the system immediately performs an availability check on this set of frequency bands: it rapidly transmits and receives test signals on each candidate frequency band, evaluating key metrics such as noise floor, bit error rate, and link latency. As long as at least one frequency band meets the requirements of low interference, low packet loss, and stable latency, the system deems it available. It then selects the optimal frequency or set of frequencies and, through software-defined radio or firmware configuration, sets the transmit / receive parameters for the drone and remote controller, quickly establishing a dedicated communication channel. This ensures a reliable and stable transmission link for control commands and telemetry data from the outset of flight while avoiding the risk of interruption or packet loss caused by blindly using poor-quality channels. Furthermore, because the more in-depth interference map redrawing and frequency band reselection processes are only activated when necessary, the entire process is highly efficient and energy-efficient, providing a solid guarantee for the drone's real-time response and operational safety.

[0106] Verification before establishing a communication channel can minimize the use of interfered or poor-quality frequency bands, fundamentally reducing the risk of flight accidents or deviations caused by unstable control links.

[0107] In at least one embodiment of the present application, the signal optimization method further includes:

[0108] S205. If not, obtain all signal ranges within the UWB base station range and generate first signal range data;

[0109] S206. Establish a first interference map based on the first signal range data;

[0110] S207: Obtain coordinate data of the UAV within the first interference map to generate first coordinates;

[0111] S208: Generate signal frequency band data that can be used in the area corresponding to the first coordinate based on the first coordinate, the first interference map, and the first signal range data, and generate a second signal communication frequency band;

[0112] S209: Establish a signal communication channel between the drone and the corresponding remote controller according to the second signal communication frequency band.

[0113] Please refer to Figure 1-Figure 2 In this implementation, the system first scans all wireless signal transmitters within the entire UWB (ultra-wideband base station) coverage area, recording not only their center frequencies but also the spatial coverage of each signal, generating the first signal range data. This step captures both the signal's spectral characteristics and its impact boundaries at different locations.

[0114] Using the first signal range data, the system draws a first interference map in a three-dimensional or planar coordinate system: the coverage area of ​​each frequency band signal is marked on the map, and the overlapping areas are also superimposed and presented, thereby intuitively reflecting the interference intensity distribution in the entire base station area.

[0115] The real-time coordinates of the drone on the interference map are obtained through sensors (such as inertial navigation, vision, or UWB localization) and recorded as the first coordinate. This coordinate corresponds to an active area on the map, which is the interference hotspot that needs to be avoided the most.

[0116] Using the first coordinate as the center, the system combines the coverage of each signal on the interference map to determine which frequency bands around that location are occupied or in high-interference areas, and which are unaffected. Based on this information, the system selects available and isolated frequency bands in the area from the available spectrum pool for drones to form the second signal communication band.

[0117] After acquiring the second signal communication frequency band, the system immediately dynamically configures the wireless parameters for the drone and remote controller on these frequency bands, establishing a new communication channel. This channel is optimized for the interference environment at the current location, ensuring reliable transmission of the control and telemetry links.

[0118] Combining the spatial coverage of the signal with spectrum data not only identifies which frequency bands are occupied, but also accurately knows the impact boundaries of these interference sources in space, providing an accurate basis for frequency band selection.

[0119] This process can still discover available frequency bands within a segmented area through local interference maps and current location analysis, significantly improving anti-interference capabilities.

[0120] As the drone moves, interference conditions vary from location to location. This method can reconstruct the interference map and reselect the frequency band at any time, ensuring that the communication channel always matches the drone's current location and an uninterrupted flight control link.

[0121] Through the deep integration of spatial positioning and interference prediction, even in indoor scenarios with dense multiple signal sources, it is possible to avoid intersection with high-intensity signals, minimizing communication interruptions caused by frequency band congestion or sudden interference.

[0122] In at least one embodiment of the present application, the specific steps of generating signal frequency band data that can be used in the area corresponding to the first coordinate based on the first coordinate, the first interference map, and the first signal range data, and generating the second signal communication frequency band include:

[0123] Marking the first coordinate area within the first interference map as an active area;

[0124] Acquire a signal frequency band currently being used by the UWB base station in the active area to generate third signal frequency band data;

[0125] The second signal communication frequency band is generated according to the second signal frequency band data, the third signal frequency band data and the adjacent signal threshold range data.

[0126] Please refer to Figure 1-Figure 2 In this embodiment, the system first marks a small area (such as a circle or square with a radius of several meters) where the first coordinates of the drone are currently located on the constructed first interference map as an activity area.

[0127] For an active area, the system queries the signal frequency bands used by all UWB base stations in the area and aggregates them into the third signal frequency band data. The frequency band of the third signal frequency band data represents the most direct and strongest potential interference source at the current location of the drone.

[0128] The system compares each frequency band in the second signal frequency band data with all frequency bands in the third signal frequency band data against a threshold. Any frequency band whose frequency difference with any occupied band in the active area is less than or equal to the threshold is considered to pose a risk of adjacent frequency interference and needs to be eliminated. The remaining frequency bands constitute the second signal communication frequency band. This set of frequency bands avoids adjacent interference in the global environment while focusing on avoiding the strongest local interference at the current location.

[0129] Finally, the system dynamically configures communication parameters between the drone and remote controller based on the acquired second signal's frequency band, establishing a dedicated wireless link. This channel ensures spectrum isolation from the global environment while also optimally avoiding local interference at the current location, enabling refined spectrum management.

[0130] The activity area system not only eliminates adjacent frequency interference globally, but also focuses on filtering the most direct interference source at the drone's current location, ensuring that the communication frequency band is optimally isolated in both space and spectrum.

[0131] Since the strongest interference and all adjacent frequency interference in the active area are eliminated, the second signal communication frequency band selected in this embodiment has a lower noise floor and bit error rate, thereby providing a more stable guarantee for the transmission of control instructions and telemetry data.

[0132] Limiting the screening range to the active area not only reduces the number of interference sources to be processed, but also shortens the calculation delay. For drones, a system with extremely high real-time requirements, frequency band reselection and channel reconstruction can be completed in the shortest time.

[0133] As the drone moves, the activity area will be updated in real time. This step can be repeated continuously, so that spectrum management always keeps pace with changes in the flight trajectory and surrounding environment, avoiding the time lag caused by two levels of screening: global first and then local.

[0134] In at least one embodiment of the present application, the signal optimization method further includes:

[0135] S301. Obtain a signal frequency band currently being used by a UWB base station in an area adjacent to the active area, and generate fourth signal frequency band data;

[0136] S302: Generate the second signal communication frequency band according to the second signal frequency band data, the third signal frequency band data, the fourth signal frequency band data, and adjacent signal threshold range data.

[0137] Please refer to Figure 1-Figure 3In this implementation, after eliminating interference from the drone's activity area and its surrounding environment, the system further identifies one or more adjacent areas directly adjacent to the activity area. These areas represent the space the drone may enter next, allowing for proactive interference avoidance.

[0138] The communication activities of the UWB base stations in these adjacent areas are scanned, and all the signal frequency bands they are using are recorded. The results are summarized into the fourth signal frequency band data, thereby obtaining interference sources that the drone has not yet arrived but may enter soon.

[0139] Eliminate from the second signal frequency band any frequency band that differs by ≤Δf from any frequency band in the third signal frequency band, and then eliminate the frequency band that differs by ≤Δf from any frequency band in the fourth signal frequency band. After completing two rounds of threshold filtering, the remaining frequency band set is the safer and more stable second signal communication frequency band.

[0140] The system establishes a primary communication channel between the drone and the remote controller based on the selected second signal communication frequency band. At the same time, the wireless module can preset alternate frequency bands for adjacent areas to enable seamless frequency switching when the drone enters an adjacent area.

[0141] By introducing spectrum information from adjacent areas, not only can the interference within the current activity area be cleared, but potential noise sources in the area about to enter can also be eliminated in advance, significantly reducing the risk of sudden communication interruptions caused by route movement.

[0142] In addition to the main channel, alternative frequency bands in adjacent areas are preset, which can be quickly switched when the drone flies across areas, avoiding the delay caused by rescanning and re-screening throughout the process, and ensuring the continuous transmission of commands and telemetry data.

[0143] Multiple rounds of refined elimination avoid all known and potential interference while retaining the maximum margin of available frequency bands, enabling the system to flexibly select the optimal channel in a high-density signal environment, thereby improving spectrum resource utilization.

[0144] Combining the dual interference information of the current active area and the adjacent area, the system has a stronger adaptability to sudden signal sources or base station switching in the adjacent area, and can respond quickly even if the environment changes suddenly, thereby enhancing the robustness of the overall communication link.

[0145] In at least one embodiment of the present application, the signal optimization method further includes:

[0146] S401, obtaining an area of ​​the activity area based on an adjacent area in the first interference map, and marking the area as an adjacent area;

[0147] S402: Acquire a signal overlapping area between the adjacent area and the active area to obtain a signal overlapping area;

[0148] S403: Acquire all signal frequency bands in the adjacent area and the active area to generate fifth signal frequency band data;

[0149] S404: Generate avoidance signal frequency band data based on the first signal frequency band data, the fifth signal frequency band data, and the adjacent signal threshold range data;

[0150] S405: Establish a signal communication channel between the UAV and the corresponding remote controller according to the avoidance signal frequency band data.

[0151] Please refer to Figure 4 In this embodiment, based on the active area, the system automatically identifies one or more adjacent areas along the area directly adjacent to it in the first interference map and marks them on the map.

[0152] The system calculates the overlap between the active area and adjacent areas in two dimensions or three dimensions to obtain the signal overlap area. This area is affected by both the signals within the active area and the signals in adjacent areas, making it a key area of ​​concern for spectrum management.

[0153] Scan the wireless transmitters in the signal overlap area and collect all the signal frequency bands used by them to form the fifth signal frequency band data. At the same time, retain the first signal frequency band data obtained from the previous full-area environment scan.

[0154] Using the first and fifth signal frequency band data as input and combined with the preset adjacent signal threshold Δf, the system performs a threshold match. Any candidate frequency point with a difference of ≤Δf from the first or fifth signal frequency band data is considered a high-risk interference. After eliminating these high-risk frequency points, the remaining frequency bands constitute the avoidance signal frequency band data.

[0155] Ultimately, the system selects the optimal frequency point in the avoidance signal frequency band data, dynamically configures the wireless parameters for the drone and remote control, and builds a dedicated avoidance signal communication channel to ensure that the control link can maintain high-quality transmission even in overlapping interference areas.

[0156] By performing a specialized analysis of the overlapping signals between the active area and the adjacent areas, this method can accurately identify and eliminate the frequency bands most likely to cause crosstalk, significantly improving the link's anti-interference capability.

[0157] During the flight, as the position of the drone changes, the active area and adjacent areas will be updated in real time. The system does not need to rebuild the global map, but only makes local avoidance in the overlapping area to continuously maintain a clean communication channel.

[0158] In at least one embodiment of the present application, the signal optimization method further includes:

[0159] S501: When the drone is located in a signal overlapping area, compare the third signal frequency band data with the fifth signal frequency band data, filter out signal frequency bands in the third signal frequency band data that are not within the fifth signal frequency band data, and obtain relay signal frequency band data;

[0160] S502, filtering out signal frequency bands that are not located in the signal overlapping area from the relay signal frequency band data to obtain intermediate signal frequency band data;

[0161] S503: Acquire signal frequency band data currently being used by the UWB base station in the next area in the flight direction of the UAV, and generate sixth signal frequency band data;

[0162] S504: Generate next-region signal frequency band data from the sixth signal frequency band data, the second signal frequency band data, and the adjacent signal threshold range data;

[0163] S505: Filter out a signal frequency band from the next-region signal frequency band data as a next-region signal frequency band;

[0164] S506, generating next-region signal data according to the frequency band used by the next-region signal;

[0165] S507, sending the next area signal data to the drone via the intermediate signal frequency band data;

[0166] S508: After receiving the next area signal data, the drone establishes a communication channel with the corresponding remote controller via the frequency band used by the next area signal.

[0167] Please refer to Figure 5 In this embodiment, when the drone enters the signal overlapping area, the system first compares the third signal frequency band data with the fifth signal frequency band data in the area, and filters out the frequency band that belongs to the active area but not in the overlapping area - the relay signal frequency band, which can be used to transfer the communication data of the next area in the overlapping area.

[0168] Next, the relay signal frequency bands that may still be subject to interference in the overlapping area are further removed, leaving the remaining intermediate signal frequency band data. These frequency bands are relatively clean in the overlapping area and can serve as data relay channels.

[0169] The system predicts the drone's flight direction and scans all frequency bands being used by UWB base stations in its next area, forming sixth signal frequency band data to evaluate the spectrum environment in the area.

[0170] The sixth signal frequency band data is screened together with the second signal frequency band data and a preset adjacent threshold value to eliminate all frequency points that may cause adjacent frequency interference, and finally the signal frequency band data of the next area is obtained.

[0171] In the signal frequency band data of the next area, the system selects an optimal frequency point based on channel quality (such as low noise, link delay, etc.) as the signal frequency band for the next area.

[0172] The system packages the communication parameters, encryption keys or configuration information to be used in the next area into the next area signal data, and sends it to the drone in the current overlapping area through the previously obtained intermediate signal frequency band data.

[0173] After the drone receives the signal data of the next area, it can immediately switch to the predetermined signal frequency band when flying out of the overlapping area and entering the next area, and establish a new communication channel with the remote control to achieve seamless connection.

[0174] Through relaying and pre-configuration, the communication parameters of the next area are conveyed to the drone in advance, eliminating the frequency band reselection and channel establishment delays when flying across areas, and ensuring the continuity of the control link.

[0175] In the overlapping areas with the most severe interference, the system uses specially selected relay signal frequency bands to carry transit data, avoiding high-intensity interference in the overlapping areas while paving the way for switching to the next area.

[0176] Pre-scan the spectrum in the next area and complete frequency band allocation in the overlapping area, so that the drone is ready before entering the new environment, significantly reducing command lag or loss caused by environmental changes.

[0177] In complex indoor or multi-base station environments, this method can dynamically build relay and target channels. Even if a new interference source suddenly appears, it can quickly switch to a safer frequency band through the relay channel, minimizing the risk of loss of control.

[0178] Since the switching process is completed within the overlapping area, only one pre-scan and local screening are required, avoiding the high computational and energy consumption overhead of global spectrum rescanning and improving the overall efficiency of the system.

[0179] The relay and pre-configuration mechanism can serve multiple drones in parallel. During cluster flight, each drone can pre-acquire the parameters of the next area according to its route, achieving collaborative optimization and interference isolation.

[0180] A signal optimization device 100, applied to any one of the above signal optimization methods, includes:

[0181] A data acquisition module 110 is configured to acquire first signal frequency band data and second signal frequency band data;

[0182] An adjacent signal frequency band generating module 120 generates first adjacent signal frequency band data according to the first signal frequency band data and the second signal frequency band data;

[0183] The signal communication frequency band generating module 140 generates a first signal communication frequency band based on the second signal frequency band data and the first adjacent signal frequency band data;

[0184] The signal communication channel generating module 130 establishes a signal communication channel between the UAV and the corresponding remote controller according to the first signal communication frequency band.

[0185] Please refer to Figure 6 In this embodiment, the signal optimization device 100 obtains the UWB base station coverage area where the drone is located through the data acquisition module 110 to perform spectrum scanning, and records all the signal frequency bands in use and their occupancy status in this area to form the first signal frequency band data.

[0186] The signal optimization device 100 obtains all communication frequency bands supported by the query drone and its remote controller through the data acquisition module 110, and organizes these candidate frequencies into second signal frequency band data.

[0187] The signal optimization device 100 compares the first signal frequency band data and the second signal frequency band data through the adjacent signal frequency band generation module 120, and automatically screens out the frequency band set that is too close to the ambient signal frequency band and may cause adjacent frequency interference based on the preset adjacent frequency threshold - the first adjacent signal frequency band data.

[0188] The signal optimization device 100 removes the identified adjacent interference frequency band from the second signal frequency band available to the drone through the signal communication frequency band generation module 140, and the remaining frequency band that is not adjacent to any environmental signal is the first signal communication frequency band.

[0189] The signal optimization device 100 selects the first signal communication frequency band generated by the signal communication channel generation module 130 to establish a dedicated communication channel between the drone and the remote controller, ensuring reliable transmission of control commands and telemetry data.

[0190] By eliminating all frequency bands close to environmental signals, the drone communication link avoids adjacent frequency crosstalk and the overall interference level is significantly reduced.

[0191] It reduces the risk of loss of control due to signal loss or misjudgment, effectively preventing collisions or deviation from the planned route, and is particularly suitable for indoor environments with narrow spaces or interference from multiple devices.

[0192] By collecting the occupancy status of all signals in the base station and the environment in real time and calculating adjacent threshold filtering, the drone communication frequency band is sufficiently isolated from nearby high-power signals, significantly reducing the probability of co-frequency and adjacent frequency interference.

[0193] With the reduction of communication interference, the remote control and telemetry links of the drone are more stable, which facilitates the real-time transmission of high-frequency data (including positioning, attitude, sensor information, etc.), thereby improving the timeliness and accuracy of indoor navigation and obstacle avoidance.

[0194] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0195] Obtain usage records of all signal frequency bands within the UWB base station range to generate first signal frequency band data;

[0196] Obtain all signal frequency bands of the drone and generate data for the second signal frequency band;

[0197] generating first adjacent signal frequency band data according to the first signal frequency band data and the second signal frequency band data;

[0198] Subtracting the first adjacent signal frequency band data from the second signal frequency band data to obtain a first signal communication frequency band;

[0199] A signal communication channel is established between the drone and the corresponding remote controller according to the first signal communication frequency band.

[0200] In this embodiment, the signal optimization device 100 obtains the UWB base station coverage area where the drone is located through the data acquisition module 110 to perform spectrum scanning, and records all the signal frequency bands in use and their occupancy status in this area to form first signal frequency band data.

[0201] The signal optimization device 100 obtains all communication frequency bands supported by the query drone and its remote controller through the data acquisition module 110, and organizes these candidate frequencies into second signal frequency band data.

[0202] The signal optimization device 100 compares the first signal frequency band data and the second signal frequency band data through the adjacent signal frequency band generation module 120, and automatically screens out the frequency band set that is too close to the ambient signal frequency band and may cause adjacent frequency interference based on the preset adjacent frequency threshold - the first adjacent signal frequency band data.

[0203] The signal optimization device 100 removes the identified adjacent interference frequency band from the second signal frequency band available to the drone through the signal communication frequency band generation module, and the remaining frequency band that is not adjacent to any environmental signal is the first signal communication frequency band.

[0204] The signal optimization device 100 selects the first signal communication frequency band generated by the signal communication channel generation module 130 to establish a dedicated communication channel between the drone and the remote controller, ensuring reliable transmission of control commands and telemetry data.

[0205] By eliminating all frequency bands close to environmental signals, the drone communication link avoids adjacent frequency crosstalk and the overall interference level is significantly reduced.

[0206] It reduces the risk of loss of control due to signal loss or misjudgment, effectively preventing collisions or deviation from the planned route, and is particularly suitable for indoor environments with narrow spaces or interference from multiple devices.

[0207] By collecting the occupancy status of all signals in the base station and the environment in real time and calculating adjacent threshold filtering, the drone communication frequency band is sufficiently isolated from nearby high-power signals, significantly reducing the probability of co-frequency and adjacent frequency interference.

[0208] With the reduction of communication interference, the remote control and telemetry links of the drone are more stable, which facilitates the real-time transmission of high-frequency data (including positioning, attitude, sensor information, etc.), thereby improving the timeliness and accuracy of indoor navigation and obstacle avoidance.

[0209] Figure 7 FIG1 shows an internal structure diagram of a computer device in an embodiment. The computer device can be a terminal or a server. Figure 7 As shown, the computer device includes a processor, a memory, and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the signal optimization method. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can implement the signal optimization method. It will be understood by those skilled in the art that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0210] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0211] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A signal optimization method, characterized in that: The signal optimization method comprises: Obtain usage records of all signal frequency bands within the UWB base station range to generate first signal frequency band data; Obtain all signal frequency bands of the drone and generate data for the second signal frequency band; generating first adjacent signal frequency band data according to the first signal frequency band data and the second signal frequency band data; Subtracting the first adjacent signal frequency band data from the second signal frequency band data to obtain a first signal communication frequency band; Establishing a signal communication channel between the drone and the corresponding remote controller according to the first signal communication frequency band; The signal optimization method further includes: detecting whether there is an available signal frequency band in the first signal communication frequency band; If so, a signal communication channel is established between the drone and the corresponding remote controller according to the first signal communication frequency band; If not, obtain all signal ranges within the UWB base station range to generate first signal range data; establishing a first interference map based on the first signal range data; Obtaining coordinate data of the UAV within the first interference map to generate first coordinates; generating signal frequency band data that can be used in the area corresponding to the first coordinates according to the first coordinates, the first interference map, and the first signal range data, and generating a second signal communication frequency band; A signal communication channel is established between the drone and the corresponding remote controller according to the second signal communication frequency band.

2. The signal optimization method according to claim 1, characterized in that: The step of generating first adjacent signal frequency band data based on the first signal frequency band data and the second signal frequency band data further includes: Obtaining the preset adjacent signal threshold range value; Calculate each signal frequency band in the first signal frequency band data and a signal threshold range value to generate the first adjacent signal frequency band data.

3. The signal optimization method according to claim 1, characterized in that: The specific steps of generating the signal frequency band data that can be used in the area corresponding to the first coordinate according to the first coordinate, the first interference map and the first signal range data, and generating the second signal communication frequency band include: Marking the first coordinate area in the first interference map as an active area; Acquire a signal frequency band currently being used by the UWB base station in the active area to generate third signal frequency band data; The second signal communication frequency band is generated according to the second signal frequency band data, the third signal frequency band data and the adjacent signal threshold range data.

4. The signal optimization method according to claim 3, characterized in that: The signal optimization method further includes: Obtaining a signal frequency band currently being used by a UWB base station in an area adjacent to the active area, and generating fourth signal frequency band data; The second signal communication frequency band is generated according to the second signal frequency band data, the third signal frequency band data, the fourth signal frequency band data, and the adjacent signal threshold range data.

5. The signal optimization method according to claim 4, characterized in that: The signal optimization method further includes: Obtaining an area of ​​the activity area based on an adjacent area in the first interference map, and marking the area as an adjacent area; Acquire a signal overlapping area between the adjacent area and the active area to obtain a signal overlapping area; Acquire all signal frequency bands in the adjacent area and the active area to generate fifth signal frequency band data; generating avoidance signal frequency band data from the first signal frequency band data, the fifth signal frequency band data, and the adjacent signal threshold range data; A signal communication channel is established between the UAV and the corresponding remote controller based on the avoidance signal frequency band data.

6. The signal optimization method according to claim 5, characterized in that: When the drone is located in the signal overlapping area, the third signal frequency band data is compared with the fifth signal frequency band data, and the signal frequency band in the third signal frequency band data that is not within the fifth signal frequency band data is filtered out to obtain the relay signal frequency band data; and filtering out signal frequency bands that are not located in the signal overlapping area from the relay signal frequency band data to obtain intermediate signal frequency band data; Obtaining signal frequency band data currently being used by a UWB base station in a next area in the UAV's flight direction, and generating sixth signal frequency band data; generating next-region signal frequency band data from the sixth signal frequency band data, the second signal frequency band data, and the adjacent signal threshold range data; Selecting a signal frequency band from the next-region signal frequency band data as a next-region signal frequency band; generating next-area signal data according to the frequency band used by the next-area signal; Sending the next area signal data to the drone via the intermediate signal frequency band data; After receiving the next area signal data, the drone establishes a communication channel with the corresponding remote controller through the frequency band used by the next area signal.

7. A signal optimization device, used in the signal optimization method according to any one of claims 1 to 6, characterized in that: The signal optimization device comprises: A data acquisition module, configured to acquire first signal frequency band data and second signal frequency band data; an adjacent signal frequency band generating module, which generates first adjacent signal frequency band data according to the first signal frequency band data and the second signal frequency band data; a signal communication frequency band generating module, generating a first signal communication frequency band based on the second signal frequency band data and the first adjacent signal frequency band data; The signal communication channel generation module establishes a signal communication channel between the drone and the corresponding remote controller according to the first signal communication frequency band.

8. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the signal optimization method according to any one of claims 1 to 6.

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