A method, apparatus, device, and medium for receiving space-based telemetry data

Abstract

The application discloses a method, device, equipment and medium for receiving space-based telemetry data, and relates to the technical field of communication. The method comprises the following steps: acquiring a planned flight trajectory of an aircraft and a data receiving range of an aerial receiving platform, determining a first longitude and latitude and a first height of the receiving platform, discretizing trajectory points and determining the longitude and latitude by selecting the farthest point projection according to a coverage radius, and calculating the minimum height in combination with the line-of-sight propagation. Then, a test instruction containing a target position is sent to the aerial receiving platform to receive the test data of the aircraft, an omnidirectional antenna in the receiving platform determines the target direction of the aircraft, and a directional antenna accurately tracks according to the actual flight trajectory. A processing device performs joint time-domain and frequency-domain analysis on the received test data, identifies and removes abnormal data affected by the multipath effect, and then performs weighted summation on the remaining data, so that the target test data is finally obtained. The method can receive telemetry data without consuming a large amount of manpower and material resources.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a method, apparatus, device and medium for receiving space-based telemetry data. Background Technology

[0002] As a crucial infrastructure support for test missions, the construction of test ranges has one of its core objectives: acquiring measurement data during flight. Telemetry stations, as essential equipment for receiving downlink telemetry data from test missions, play an irreplaceable role in the test range's data acquisition system. Currently, the test range's demand for telemetry data aims for full coverage throughout the entire flight, requiring telemetry equipment to receive data in real-time and stably from the start to the end of the flight, providing crucial information for mission analysis and evaluation.

[0003] Currently, data reception is achieved by setting up ground telemetry stations. The test range needs to develop an implementation plan based on mission requirements, including station location selection, on-site reconnaissance, and mission support procedures. In the initial area, fixed telemetry equipment is deployed as the basic node for data reception, while the flight and landing areas mainly use mobile stations, including mobile telemetry stations, vehicle-mounted telemetry stations, or portable telemetry stations. Operators need to carry the equipment and drive it to the designated location to carry out the mission.

[0004] However, for test missions with a range of less than 2,000 km, multiple mobile stations need to be set up in the flight area and landing area; for long-range missions, the stations need to be on standby 2 to 3 days in advance, and each mobile station needs to be equipped with at least 2 personnel. Therefore, a lot of manpower and resources are required in the process of receiving telemetry data. Summary of the Invention

[0005] This application provides a method, apparatus, device, and medium for receiving space-based telemetry data, which can receive telemetry data without consuming a large amount of manpower and material resources.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] In a first aspect, this application provides a method for receiving space-based telemetry data, including:

[0008] Obtain the planned flight trajectory of the aircraft to be tested;

[0009] Obtain the data reception range of the airborne receiving platform;

[0010] Based on the aircraft's planned flight trajectory and the data reception range of the airborne receiving platform, determine the first latitude, longitude, and first altitude of the required airborne receiving platform;

[0011] sending a test instruction carrying a corresponding first longitude and latitude and a first height to each aerial receiving platform, the test instruction being used to instruct the aerial receiving platform to fly according to the first longitude and latitude and the first height, so that the aerial receiving platform receives test data sent by the aircraft;

[0012] receiving the test data forwarded by the aerial receiving platform.

[0013] Optionally, the first longitude and latitude of the aerial receiving platform are determined in the following manner:

[0014] discretizing a planned flight trajectory of the aircraft into a plurality of points, finding, from a starting point of the trajectory, a farthest trajectory point that is within a coverage radius of the starting point according to a receiving data range radius of the aerial receiving platform, and determining a ground projection position of the farthest trajectory point as the first longitude and latitude of the aerial receiving platform.

[0015] Optionally, the first height of the aerial receiving platform is determined in the following manner:

[0016] determining the first height of the aerial receiving platform according to the receiving data range radius and an antenna height from the ground before takeoff of the aircraft.

[0017] Optionally, the first height of the aerial receiving platform is determined in the following manner:

[0018] calculating a minimum height that satisfies a line-of-sight propagation condition according to a height of the farthest trajectory point, a first horizontal distance, and a minimum elevation angle required to ensure signal quality, and determining the minimum height as the first height of the aerial receiving platform, the first horizontal distance being a horizontal distance between the aerial receiving platform and the planned aircraft.

[0019] Optionally, the aerial receiving platform comprises an omnidirectional antenna and a directional antenna.

[0020] the omnidirectional antenna is configured to determine a target direction of the aircraft, the target direction comprising a plurality of continuous directions.

[0021] the directional antenna is configured to track the aircraft based on a target direction in the plurality of continuous directions.

[0022] Optionally, the directional antenna is specifically configured to receive an actual flight trajectory of the aircraft transmitted by the omnidirectional antenna, the actual flight trajectory comprising a second longitude and latitude and a second height.

[0023] determining the target direction from the plurality of continuous directions according to the second longitude and latitude, the second height, the first longitude and latitude, and the first height.

[0024] Optionally, the method further comprises:

[0025] The processing device performs time domain and frequency domain joint analysis on the test data forwarded by each air receiving platform to obtain abnormal data affected by multipath effect, removes the abnormal data, and obtains residual data forwarded by each air receiving platform.

[0026] According to the residual data forwarded by each air receiving platform and the respective corresponding weight factor, weighted summation is performed to obtain target test data.

[0027] In a second aspect, the present application provides a device for receiving air-based telemetry data, comprising:

[0028] The acquisition module is configured to acquire a planned flight trajectory of the aircraft to be tested, and further configured to acquire a receiving data range of the air receiving platform.

[0029] The determination module is configured to determine a first longitude and latitude and a first height of the required air receiving platform according to the planned flight trajectory of the aircraft and the receiving data range of the air receiving platform.

[0030] The receiving module is configured to send a test instruction carrying the respective corresponding first longitude and latitude and first height to each air receiving platform, the test instruction being used to instruct the air receiving platform to fly according to the first longitude and latitude and the first height, so that the air receiving platform receives the test data sent by the aircraft, and further configured to receive the test data forwarded by the air receiving platform.

[0031] In a third aspect, the present application provides a computing device comprising a memory and a processor.

[0032] The memory stores one or more computer programs, and the one or more computer programs comprise instructions; when the instructions are executed by the processor, the computing device performs the method according to any one of the first aspect.

[0033] In a fourth aspect, the present application provides a computer readable storage medium for storing a computer program, the computer program being used to perform the method according to any one of the first aspect.

[0034] According to the above technical solution, the present application has at least the following beneficial effects:

[0035] In the present application, the first longitude and latitude and the first height of the air receiving platform are accurately determined by acquiring the planned flight trajectory of the aircraft and the receiving data range of the air receiving platform. The planned flight trajectory of the aircraft is discretely processed to determine the first longitude and latitude, and the first height is determined in combination with the receiving data range radius and the related height factor. This way can make the air receiving platform reasonably distributed in the effective receiving range, reduce resource waste, avoid receiving blind area, greatly improve the coverage efficiency of the test data of the aircraft, and ensure the integrity of the data reception.

[0036] Meanwhile, the aerial receiving platform is equipped with an omnidirectional antenna and a directional antenna. The omnidirectional antenna can determine the target direction of the aircraft, the directional antenna can track based on the target direction, and the directional antenna can dynamically adjust the tracking direction according to the actual flight trajectory. This design can effectively cope with the direction change of the aircraft during flight, ensure the continuity and stability of data reception, and avoid data loss or reception interruption caused by changes in the attitude of the aircraft.

[0037] Finally, the processing device performs joint time and frequency domain analysis on the received data, can accurately identify abnormal data affected by multipath effect, and remove it, and then obtains the target test data through weighted summation. This series of data processing operations effectively improves the accuracy and reliability of the data, provides a high-quality data basis for subsequent analysis and decision-making based on the test data, and enhances the effectiveness of the application of the air-based telemetry data.

[0038] It should be understood that the description of technical features, technical solutions, beneficial effects or similar language in this application does not imply that all features and advantages can be achieved in any single embodiment. On the contrary, it can be understood that the description of a feature or beneficial effect means that the specific technical feature, technical solution or beneficial effect is included in at least one embodiment. Therefore, the description of technical features, technical solutions or beneficial effects in this specification does not necessarily refer to the same embodiment. Further, the technical features, technical solutions and beneficial effects described in this embodiment can be combined in any appropriate manner. Those skilled in the art will understand that the embodiments can be implemented without one or more specific technical features, technical solutions or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects can be identified in specific embodiments that do not embody all embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present application;

[0040] Figure 2 A flowchart of a method for receiving air-based telemetry data provided by an embodiment of the present application;

[0041] Figure 3 A schematic diagram of a method for determining a first latitude and longitude and height provided by an embodiment of the present application;

[0042] Figure 4 A schematic diagram of a device for receiving air-based telemetry data provided by an embodiment of the present application;

[0043] Figure 5 A schematic diagram of a computing device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0044] The terms “first”, “second”, and “third” and the like in the specification and the drawings of the present application are used to distinguish different objects, rather than to define a particular order.

[0045] In the embodiments of the present application, the words “exemplary” or “for example” are used to mean serving as an example, instance, or illustration, and not necessarily to imply any preference or superiority. In other words, the use of “exemplary” or “for example” is not to be construed as preferring or favoring any embodiment or design over another. Rather, the words “exemplary” or “for example” are used to present concepts in a particular, concrete, and comprehensive manner.

[0046] In order to make the description of the following embodiments clear and simple, first, a brief introduction of the related art is given:

[0047] Airborne telemetry data refers to data obtained by an airborne receiving platform (such as a drone, a balloon, etc.) for remote measurement of a target object. Among them, airborne emphasizes that the platform on which data collection relies is in the air, which is different from ground-based (ground equipment) and space-based (spacecraft); telemetry means remote measurement, using sensing technology, communication technology, etc., to measure various parameters (such as position, speed, temperature, pressure, working state, etc.) of the target object without directly contacting the target object, and transmit the measurement data to the receiving end.

[0048] These data play an important role in many fields such as aerospace research and development testing, aircraft flight state monitoring, atmospheric environment monitoring, disaster warning, etc. By analyzing airborne telemetry data, researchers can understand the performance and operating conditions of the aircraft in real time, determine whether the aircraft has failed or is abnormal, and provide strong data support for the optimized design and safe flight of the aircraft.

[0049] Currently, data reception is achieved by erecting a ground receiving platform, that is, a ground telemetry station. For test tasks within a range of 2000Km, multiple flight areas and landing area mobile stations need to be arranged; for long-range tasks, 2-3 days in advance are needed to standby at the station site, and each mobile station is equipped with at least 2 personnel, so a large amount of manpower and resources are needed in the process of receiving telemetry data at one time.

[0050] Therefore, the embodiments of the present application provide a method for receiving airborne telemetry data, which can be executed by a processing device. The processing device can be a terminal or a server. The terminal includes, but is not limited to, a smart phone, a tablet computer, a notebook computer, a personal digital assistant, or a smart wearable device, etc. The server can be a cloud server, for example, a central server in a central cloud computing cluster, or an edge server in an edge cloud computing cluster. Of course, the server can also be a server in a local data center. The local data center refers to a data center directly controlled by the user.

[0051] The method considers that a large amount of manpower and material resources are consumed for receiving data by a traditional ground telemetry station, and it is difficult to achieve full-time coverage of a high-dynamic and large-range flight target due to the limitation of the earth curvature and terrain shielding, so the telemetry station is arranged on an aerial platform such as a UAV.

[0052] The method accurately determines the first longitude and latitude and the first height of the aerial receiving platform by acquiring the planned flight trajectory of the aircraft and the receiving data range of the aerial receiving platform. The planned flight trajectory of the aircraft is discretely processed to determine the first longitude and latitude, and the first height is determined in combination with the radius of the receiving data range and the related height factors. In this way, the aerial receiving platform can be reasonably distributed in the effective receiving range, resource waste can be reduced, the receiving blind area can be avoided, the coverage efficiency of the test data of the aircraft can be greatly improved, and the integrity of the data reception can be ensured.

[0053] Meanwhile, the aerial receiving platform is equipped with an omnidirectional antenna and a directional antenna. The omnidirectional antenna can determine the target direction of the aircraft, the directional antenna can track based on the target direction, and the directional antenna can dynamically adjust the tracking direction according to the actual flight trajectory. This design can effectively cope with the direction change of the aircraft during flight, ensure the continuity and stability of data reception, and avoid data loss or reception interruption caused by changes in the attitude of the aircraft.

[0054] Finally, the processing device performs joint analysis in the time domain and the frequency domain on the received data, can identify abnormal data affected by the multipath effect, and removes the abnormal data. Then, the target test data is obtained by weighted summation.

[0055] In order to make the technical solutions of the present application clearer and easier to understand, the application scenarios of the technical solutions of the present application are introduced below with reference to the accompanying drawings. As shown in the figure, the figure is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1

[0056] The application scenario is a schematic diagram of receiving air-based telemetry data, in which the aerial receiving platform is a UAV in the Figure 1 , the aircraft is a flying machine, and the telemetry station is carried on the UAV. The telemetry station includes a directional antenna and an omnidirectional antenna.

[0057] In order to better receive telemetry data, the telemetry station usually selects a circularly polarized directional antenna. In this application scenario, if the aircraft does not fly according to the predetermined trajectory, the beam angle of the directional antenna is small and will not be in the predetermined window, so it will be difficult to receive data. At this time, the omnidirectional antenna is used to receive telemetry data as a guide for the directional antenna to complete the test task. Therefore, the two channels of the telemetry station are fully utilized in the design. One group of channels receives the directional antenna, and the other group of channels receives the directional antenna.

[0058] ​The omni-directional antenna is vertically fixed and installed. Considering the aerodynamic shape of the unmanned aerial vehicle and the action distance of the antenna, a 6dB rod-shaped antenna is selected, which is vertically linearly polarized, has a length of not more than 60cm, a beam width of 15° and an action distance of not less than 15km.

[0059] The directional antenna has a small beam angle and large gain, and needs a certain directivity. In order to increase the coverage range of the telemetry data reception, the directional antenna is installed on a two-axis turntable (180° pitch, 360° horizontal). The Beidou + electronic compass module determines the position of the platform and the direction relative to the north. The industrial computer analyzes the telemetry data and positioning information, and controls the direction and angle of the directional antenna. The directional antenna is selected as a 16dB short backfire antenna, which is circularly polarized, has a diameter of 60cm, a beam width of 22° and an action distance of not less than 50km.

[0060] The main task of the telemetry station is to obtain telemetry data. The flight time of each task is several minutes to several hours, and the range is several tens of kilometers to thousands of kilometers. In order to quickly capture telemetry data, multiple nodes use the same zero time reference. Each node controls the directional antenna to point according to the predetermined trajectory. When telemetry data is received within the predetermined time, the directional antenna is automatically tracked according to the predetermined trajectory. The omni-directional antenna is used as a pre-tracking data capture.

[0061] In order to ensure the working state of the system, the air-based telemetry station is installed online through a wireless HDMI screen transmission device for remote monitoring, including telemetry state monitoring, telemetry data storage state monitoring and data transmission communication state monitoring.

[0062] The telemetry station receives electromagnetic waves through the omni-directional antenna and the directional antenna, filters and amplifies them through the low-noise amplifier module, receives and decodes them by the telemetry station, and transmits the data to the industrial computer. The industrial computer transmits the desktop through the HDMI interface and then transmits it to the ground end through the video transmitter for real-time display. At the same time, the telemetry station and the mesh radio access a group of industrial computers for broadcast networking, relaying and forwarding data.

[0063] There are four kinds of radio frequency devices in the system. The telemetry station has a frequency band of 2.2~2.3G, the Beidou module has a frequency band of 1.2~1.6G, the data transmission radio has a frequency band of 1.3~1.5G, and the wireless HDMI same frequency transmission has a frequency band of 2.4G. The receiving equipment is telemetry and Beidou, and the two-way communication equipment is data transmission radio and wireless screen transmission. The frequencies of the telemetry station and the Beidou are fixed, the power of the wireless same frequency transmission is small, the data transmission radio uses MIMO technology in the L frequency band, and the frequencies of the various devices are far apart, so there is no same frequency interference and no electromagnetic interference.

[0064] In the method, according to the planned flight trajectory of the flight machine and the telemetry receiving range of the unmanned aerial vehicle, the longitude and latitude and the height h of each unmanned aerial vehicle required can be determined, after the longitude and latitude and the height of each unmanned aerial vehicle are determined, the processing device sends the test instruction carrying the corresponding longitude and latitude and height to each unmanned aerial vehicle, instructing it to fly at the position to receive the test data sent by the flight machine, after the unmanned aerial vehicle receives the data, it forwards the data to the processing device, the processing device performs time domain and frequency domain joint analysis on the data forwarded by each unmanned aerial vehicle, identifies and removes abnormal data affected by the multipath effect, and then performs weighted summation according to the weight factor corresponding to each unmanned aerial vehicle data to obtain the target test data. In this process, the unmanned aerial vehicle determines the target direction of the flight machine through the omnidirectional antenna, the directional antenna tracks the flight machine based on the target direction, and the directional antenna receives the actual flight trajectory of the flight machine transmitted by the omnidirectional antenna, thereby determining the target direction from multiple continuous directions to realize dynamic tracking of the flight machine, and ensure the continuity and stability of data reception.

[0065] In order to make the technical solutions of the present application clearer and easier to understand, the following application scenarios are introduced. As shown in Figure 2 The figure is a flowchart of a method for receiving air-based telemetry data provided by an embodiment of the present application.

[0066] S201, the processing device obtains the planned flight trajectory of the aircraft to be tested.

[0067] The aircraft to be tested refers to the aircraft that is about to be tested by flight, and its performance, parameters, etc. need to be verified by actual flight. The planned flight trajectory is the flight path planned in advance according to the test target and the characteristics of the aircraft.

[0068] The processing device can obtain the planned flight trajectory of the aircraft to be tested through the interface of the aircraft test system, for example, read the pre-set trajectory data file from the aircraft mission planning system, which contains the coordinate information such as longitude, latitude and height of the aircraft at each time node. The trajectory parameters sent by the test command center in real time can also be received through the network communication protocol, and after these parameters are analyzed, a complete planned flight trajectory is formed, which provides basic data for subsequent determination of the position of the air receiving platform.

[0069] S202, the processing device obtains the receiving data range of the air receiving platform.

[0070] The receiving data range refers to the spatial area range within which the telemetry station on the air receiving platform can effectively receive the telemetry data sent by the aircraft.

[0071] The receiving data range of the air receiving platform is calculated by the directional antenna in the telemetry station, and the expression is:

[0072]

[0073] wherein, is the receiving data range radius, is the downlink frequency, is the aircraft transmitting power, is the aircraft antenna gain, is the telemetry station antenna gain, is the telemetry station receiving sensitivity, is the system margin.

[0074] The telemetry downlink frequency is 2260.5MHz, the aircraft transmitter power is 4W, the aircraft antenna gain is ≥-3dB within a range of ±60°, the telemetry station antenna gain is 16dB, the system margin is 6dB, and the receiving sensitivity is-128dBm according to a 2M code stream. It can be calculated that the effective distance is ≥60Km. A certain margin is reserved for the system, and the node distance is selected as , that is, the receiving data range radius of the aerial receiving platform is 50Km.

[0075] S203, the processing device determines the first longitude and latitude and the first height of the aerial receiving platform according to the planned flight trajectory of the aircraft and the receiving data range of the aerial receiving platform.

[0076] The first longitude and latitude of the aerial receiving platform are determined in the following manner:

[0077] The planned flight trajectory of the aircraft is discretized into multiple points, and according to the receiving data range radius of the aerial receiving platform, the farthest trajectory point that is not more than the coverage radius from the starting point of the trajectory is found, and the ground projection position of the farthest trajectory point is determined as the first longitude and latitude of the aerial receiving platform.

[0078] For example, as shown in Figure 3 , the flight trajectory is discretized into P1, P2, P3, P4, P5, P6, P7, and P8 points, a circle with the receiving data range radius R of the aerial receiving platform is drawn with the starting point of the flight trajectory as the center, the farthest trajectory point P3 that is not more than the coverage radius from the starting point is found, and the ground projection position P3' of P3 is determined as the first longitude and latitude of the first aerial receiving platform.

[0079] A circle is drawn again with P3 as the center and R as the radius, and the farthest trajectory point P5 that is not more than the coverage radius from the starting point is found again, and the ground projection position P5' of P5 is determined as the first longitude and latitude of the second aerial receiving platform. In this way, the entire flight trajectory is covered.

[0080] The first height of the aerial receiving platform is determined in the following manner:

[0081] According to the receiving data range radius and the antenna height above ground before takeoff of the aircraft, a first height of the aerial receiving platform is determined.

[0082] The antenna height above ground before takeoff of the aircraft is shown in Figure 1 .

[0083] The calculation expression is:

[0084]

[0085] wherein, the first height of the aerial receiving platform, the antenna height above ground before takeoff of the aircraft, and R is the receiving data range radius of the aerial receiving platform.

[0086] Generally, the value of R is taken as (the value when the aircraft is in the launch position and has not taken off), and the calculation can obtain: According to a certain margin, the value of R is taken as , which meets the flight height of the unmanned aerial vehicle, does not need airspace application, has no time limit for use, and does not need additional costs.

[0087] The first height of the aerial receiving platform can also be determined in the following manner:

[0088] According to the height of the farthest trajectory point, the first horizontal distance, and the minimum elevation angle required to ensure signal quality, the lowest height meeting the line-of-sight propagation condition is calculated, and the lowest height is determined as the first height of the aerial receiving platform. The first horizontal distance is the horizontal distance between the aerial receiving platform and the aircraft.

[0089] For example, as shown in Figure 3 , the height of the farthest trajectory point P3 is H, the first horizontal distance is , and the minimum elevation angle is . The minimum elevation angle sensing process is as follows:

[0090] The minimum elevation angle threshold (such as ≥5°) is preset in the technical specifications of the directional antenna (such as ≥5°), which is determined by the antenna beam gain characteristics. When the elevation angle is less than this threshold, the antenna main lobe gain is greatly attenuated (such as an attenuation amount >3dB), resulting in substandard signal reception quality, so it is stored in the device configuration file as a hardware-level elevation angle bottom line parameter.

[0091] ​The omnidirectional antenna receives signals through multiple elements and calculates the angle of arrival, while the processing device monitors the signal-to-noise ratio (SNR) of the received signals in real time. When the SNR is below a preset threshold (such as 15 dB), it indicates that the current elevation angle may be insufficient, and the elevation angle needs to be gradually increased by 0.5° steps until the SNR returns to the effective range. At this time, the corresponding elevation angle is the minimum elevation angle after dynamic adjustment. For example, the omnidirectional antenna on the receiving platform will listen to the signal like an "ear". If the signal becomes weak, it is known that the elevation angle may be too small and the angle needs to be adjusted (such as from 4° to 5°) to ensure clear signal.

[0092] The calculation expression is:

[0093]

[0094] wherein, H1 is the first height of the aerial receiving platform, H is the height of the aircraft, D1 is the first horizontal distance between the aircraft and the aerial receiving platform, is the minimum elevation angle.

[0095] S204, the processing device sends a test instruction carrying the respective corresponding first longitude and latitude and first height to each aerial receiving platform, the test instruction being used to instruct the aerial receiving platform to fly according to the first longitude and latitude and first height, so that the aerial receiving platform receives the test data sent by the aircraft.

[0096] After the positions of the aerial receiving platforms are determined, the processing device sends a test instruction to them, so that they wait for receiving the test data at the specified positions. The test instruction contains corresponding position information (longitude, latitude and height). After the instruction is sent, the aerial receiving platform will parse the position information in the instruction, generate an optimal flight path in combination with its own navigation system (such as GPS / Beidou), and automatically adjust the heading and height to maneuver to the target position. In this process, the platform will transmit the position information back to the processing device in real time to form a closed-loop control, ensuring accurate positioning according to the instruction. When the platform reaches the specified position, it will automatically switch to the data receiving mode, start the omnidirectional antenna and directional antenna to work together, establish a signal link with the aircraft, and thus realize stable reception of the test data.

[0097] The omnidirectional antenna is used to determine the target direction of the aircraft, and the target direction includes a plurality of continuous directions.

[0098] The omnidirectional antenna receives the aircraft signal in a 360° dead angle-free manner, calculates the angle of arrival (AoA) of the signal through the phase difference of multiple elements, determines the azimuth and elevation of the aircraft, and forms a target azimuth range containing multiple continuous directions. For example, a 4-element ring array calculates the approximate location of the aircraft in the east-north 30°, 45° elevation direction interval provided by the directional antenna through the phase difference of the signal arriving at each element, providing an initial tracking range for the directional antenna.

[0099] The directional antenna is used to track the aircraft based on the target direction in the multiple continuous directions.

[0100] The directional antenna then concentrates the signal energy in a specific direction through a parabolic structure based on the target azimuth output by the omnidirectional antenna, achieving high-precision tracking. After receiving the actual trajectory of the aircraft transmitted by the omnidirectional antenna (such as the second latitude, second longitude, and second altitude), the directional antenna calculates the spatial vector between its own position and the aircraft, and locks the target direction from the continuous directions provided by the omnidirectional antenna through the control of the two-axis turntable. For example, if the omnidirectional antenna detects that the aircraft azimuth is between east-north 25° and 35°, the directional antenna will calculate the precise direction as east-north 32°, 47° elevation based on real-time trajectory data, and drive the servo system to adjust the beam pointing to ensure that the main lobe always points to the aircraft, achieving stable signal reception and tracking.

[0101] For example, the first latitude and longitude of the receiving platform position is , the first altitude is , the second latitude and longitude of the actual trajectory point of the aircraft is , and the second altitude is .

[0102] First, the coordinate system is normalized, and the coordinates are converted to the receiving platform , and the aircraft , , , , . Among them, is the first difference, is the second difference, is the third difference, is the horizontal distance.

[0103] The expressions for calculating the azimuth and elevation are:

[0104]

[0105]

[0106] Among them, is the azimuth, is the elevation.

[0107] Thus, according to the second longitude and latitude, the second height, the first longitude and latitude, and the first height, the target direction can be determined from a plurality of continuous directions.

[0108] S205, the processing device receives the test data forwarded by the air receiving platform.

[0109] After receiving the test data of the aircraft, the air receiving platform forwards the test data to the processing device. The processing device performs time domain and frequency domain joint analysis on the test data forwarded by each air receiving platform, obtains abnormal data affected by multipath effect, removes the abnormal data, and obtains residual data forwarded by each air receiving platform; according to the residual data forwarded by each air receiving platform and the respective corresponding weight factor, weighted summation is performed to obtain target test data.

[0110] First, the test data is analyzed in time domain and frequency domain. In the time domain, the test data is sampled to extract key features such as rising edge, falling edge, and zero crossing point of the time domain waveform, and compared with the standard waveform; in the frequency domain, the time domain signal is divided into overlapping windows (such as 1024-point Hann window, 50% overlap rate), and converted into frequency domain matrix through FFT to intuitively present the change of signal frequency with time. When the time domain waveform of a certain time period oscillates (such as amplitude fluctuation > 20%), and the corresponding frequency domain spectrum is widened by more than 3dB, it is determined that the abnormal data is affected by multipath effect, and the abnormal data is marked and removed from the original test data. The data after removal is interpolated by the normal data before and after to ensure data continuity.

[0111] After completing the removal of abnormal data, the processing device calculates the corresponding weight factor according to the signal quality of each platform data, the horizontal distance from the aircraft, and the deviation angle of the directional antenna pointing to the direction of the aircraft, and performs weighted summation on the residual data to obtain high-precision and high-reliability target test data.

[0112]

[0113] wherein, is the final target test data obtained, which is the accurate result after weighted fusion. n represents the number of air receiving platforms participating in data fusion, represents the residual test data forwarded by the th air receiving platform, is the weight factor corresponding to the th air receiving platform, which is determined by factors such as signal quality, horizontal distance, and directional antenna pointing deviation. The weight factor of the air receiving platform with better signal quality, closer distance to the aircraft, and more accurate antenna pointing is larger.

[0114] Based on the above description, the application has the following beneficial effects:

[0115] In the present application, the first longitude and latitude and the first height of the aerial receiving platform are accurately determined by acquiring the planned flight trajectory of the aircraft and the receiving data range of the aerial receiving platform. The planned flight trajectory of the aircraft is discretely processed to determine the first longitude and latitude, and the first height is determined in combination with the radius of the receiving data range and the related height factor. This way can make the aerial receiving platform reasonably distributed in the effective receiving range, reduce resource waste, avoid receiving blind area, greatly improve the coverage efficiency of the aircraft test data, and ensure the integrity of data reception.

[0116] At the same time, the aerial receiving platform is equipped with an omnidirectional antenna and a directional antenna. The omnidirectional antenna can determine the target direction of the aircraft, the directional antenna can track based on the target direction, and the directional antenna can dynamically adjust the tracking direction according to the actual flight trajectory. This design can effectively cope with the direction change of the aircraft during flight, ensure the continuity and stability of data reception, and avoid data loss or reception interruption caused by changes in the attitude of the aircraft.

[0117] Finally, the processing device performs joint analysis of the received data in time domain and frequency domain, can accurately identify abnormal data affected by multipath effect, and removes it, and then obtains the target test data through weighted summation. This series of data processing operations effectively improves the accuracy and reliability of the data, provides a high-quality data basis for subsequent analysis and decision-making based on test data, and enhances the effectiveness of the application of air-based telemetry data.

[0118] The above is combined Figures 1 to 3 The method for receiving air-based telemetry data provided by the embodiments of the application is described in detail, and the device and the apparatus provided by the embodiments of the application will be introduced below with reference to the accompanying drawings.

[0119] As Figure 4 shown, the figure is a schematic diagram of a device for receiving air-based telemetry data provided by an embodiment of the application, which comprises:

[0120] The acquisition module 301 is configured to acquire the planned flight trajectory of the aircraft to be tested, and is further configured to acquire the receiving data range of the aerial receiving platform.

[0121] The determination module 302 is configured to determine the first longitude and latitude and the first height of the aerial receiving platform required according to the planned flight trajectory of the aircraft and the receiving data range of the aerial receiving platform.

[0122] The receiving module 303 is configured to send test instructions carrying respective first longitude and latitude and first height to each air receiving platform, the test instructions being used to instruct the air receiving platform to fly according to the first longitude and latitude and the first height, so that the air receiving platform receives test data sent by the aircraft; and the receiving module 303 is further configured to receive the test data forwarded by the air receiving platform.

[0123] Optionally, the determining module 302 is specifically configured to discretize a planned flight trajectory of the aircraft into a plurality of points, find, from a starting point of the trajectory, a farthest trajectory point that is not more than a coverage radius away from the starting point according to a receiving data range radius of the air receiving platform, and determine a ground projection position of the farthest trajectory point as the first longitude and latitude of the air receiving platform.

[0124] Optionally, the determining module 302 is specifically configured to determine the first height of the air receiving platform according to the receiving data range radius and an antenna distance from the ground before takeoff of the aircraft.

[0125] Optionally, the determining module 302 is specifically configured to calculate a minimum height that satisfies a line-of-sight propagation condition according to a height of the farthest trajectory point, a first horizontal distance and a minimum elevation angle required to ensure signal quality, and determine the minimum height as the first height of the air receiving platform, where the first horizontal distance is a horizontal distance between the air receiving platform and the aircraft.

[0126] Optionally, the determining module 302 is specifically configured to determine a target direction from the plurality of continuous directions according to the second longitude and latitude, the second height, the first longitude and latitude and the first height.

[0127] Optionally, the receiving module 303 is further configured to perform time-domain and frequency-domain joint analysis on the test data forwarded by each air receiving platform by the processing device, obtain abnormal data affected by multipath effect, remove the abnormal data, and obtain residual data forwarded by each air receiving platform.

[0128] According to the residual data forwarded by each air receiving platform and a respective weight factor, weighted summation is performed to obtain target test data.

[0129] The apparatus for receiving air-based telemetry data according to the embodiments of the present application can correspond to performing the methods described in the embodiments of the present application, and the above-mentioned other operations and / or functions of each module / unit of the apparatus for receiving air-based telemetry data are respectively implemented to realize the corresponding procedures of each method in the embodiments of the present application. For brevity, the details are not described herein again. Figure 2 The above-mentioned other operations and / or functions of each module / unit of the apparatus for receiving air-based telemetry data are respectively implemented to realize the corresponding procedures of each method in the embodiments of the present application. For brevity, the details are not described herein again.

[0130] The embodiments of the present application further provide a computing device, which is a device for computing. As shown in Figure 5As shown in the figure, the figure is a schematic diagram of a computing device provided by an embodiment of the application, the computing device 700 includes a bus 701, a processor 702, a communication interface 703 and a memory 704. The processor 702, the memory 704 and the communication interface 703 communicate through the bus 701.

[0131] The bus 701 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the middle to represent that there is only one bus or only one type of bus.

[0132] The processor 702 can be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP), etc.

[0133] The communication interface 703 is used for external communication.

[0134] The memory 704 can include a volatile memory (volatile memory), such as a random access memory (RAM). The memory 704 can also include a non-volatile memory (non-volatile memory), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD).

[0135] The memory 704 stores executable code, and the processor 702 executes the executable code to perform the method of receiving the space-based telemetry data.

[0136] Specifically, in the case of implementing Figure 4 The embodiments shown, and Figure 4 In the case of implementing the modules or units of the device for receiving space-based telemetry data described in the embodiments by software, the executable code of the modules or units is executed by the processor 702 to perform the method of receiving the space-based telemetry data. Figure 4The software or program code required for the functions of the modules / units in the above embodiments can be stored partially or entirely in the memory 704. The processor 702 executes the program code corresponding to each unit stored in the memory 704 to perform the method of receiving the space-based telemetry data.

[0137] The computer readable storage medium can be any available medium or data storage device that can be accessed by the computing device, such as a data center or the like containing one or more available media. The available medium can be a magnetic medium (e.g., a floppy diskette, a hard disk drive, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard drive) or the like. The computer readable storage medium includes instructions that instruct the computing device to perform the method of receiving the space-based telemetry data.

[0138] The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on the computing device, the processes or functions described in the embodiments of the present application are generated in whole or in part.

[0139] The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer or data center to another website, computer or data center through wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0140] The computer program product is executed by a computer, and the computer executes any of the methods of receiving the space-based telemetry data. The computer program product can be a software installation package, and when any of the methods of receiving the space-based telemetry data is needed, the computer program product can be downloaded and executed on the computer.

[0141] The descriptions of the processes or structures corresponding to the above respective figures are each focused on, and the parts not described in detail in a certain process or structure can be referred to the related descriptions of other processes or structures.

[0142] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application.

Claims

1. A method for receiving space-based telemetry data, characterized in that, The method includes: Obtain the planned flight trajectory of the aircraft to be tested; Obtain the data reception range of the airborne receiving platform; Based on the planned flight trajectory of the aircraft and the data reception range of the airborne receiving platform, the required first latitude, longitude, and first altitude of the airborne receiving platform are determined. The first latitude and longitude of the airborne receiving platform are determined as follows: the planned flight trajectory of the aircraft is discretized into multiple points. Based on the data reception range radius of the airborne receiving platform, starting from the trajectory's starting point, the farthest trajectory point within the coverage radius of the starting point is found. The ground projection position of the farthest trajectory point is determined as the first latitude and longitude of the airborne receiving platform. The first altitude of the airborne receiving platform is determined as follows: based on the data reception range radius and the antenna's height above the ground before takeoff, the first altitude of the airborne receiving platform is determined using the following expression: in, The first altitude of the aerial receiving platform, R is the height of the antenna above the ground before takeoff, and R is the radius of the data receiving range of the air-based receiving platform. Test commands carrying their respective first latitude, longitude and first altitude are sent to each air receiving platform. The test commands are used to instruct the air receiving platform to fly according to the first latitude, longitude and first altitude so that the air receiving platform can receive the test data sent by the aircraft. Receive test data forwarded by the over-the-air receiving platform.

2. The method according to claim 1, characterized in that, The first altitude of the aerial receiving platform is determined in the following manner: Based on the altitude of the farthest trajectory point, the first horizontal distance, and the minimum elevation angle required to ensure signal quality, the minimum altitude that satisfies the line-of-sight propagation condition is calculated, and the minimum altitude is determined as the first altitude of the airborne receiving platform. The first horizontal distance is the horizontal distance between the airborne receiving platform and the aircraft.

3. The method according to claim 1, characterized in that, The airborne receiving platform includes omnidirectional antennas and directional antennas; An omnidirectional antenna is used to determine the target orientation of the aircraft, the target orientation including multiple consecutive directions; A directional antenna for tracking the aircraft based on a target orientation among the plurality of consecutive directions.

4. The method according to claim 3, characterized in that, A directional antenna, specifically used to receive the actual flight trajectory of an aircraft transmitted by an omnidirectional antenna, wherein the actual flight trajectory includes a second latitude and longitude and a second altitude; The target direction is determined from the plurality of consecutive directions based on the second latitude and longitude, the second altitude, the first latitude and longitude, and the first altitude.

5. The method according to claim 1, characterized in that, The method further includes: The processing equipment performs joint time-domain and frequency-domain analysis on the test data forwarded by each air receiving platform to obtain abnormal data affected by multipath effects. After removing the abnormal data, the remaining data forwarded by each air receiving platform is obtained. The target test data is obtained by weighting and summing the remaining data forwarded by each air receiving platform and their respective weight factors.

6. A device for receiving space-based telemetry data, characterized in that, The device includes: The acquisition module is used to acquire the planned flight trajectory of the aircraft to be tested; it is also used to acquire the data reception range of the airborne receiving platform. The determination module is used to determine the required first latitude, longitude, and first altitude of the airborne receiving platform based on the planned flight trajectory of the aircraft and the data reception range of the airborne receiving platform. The first latitude and longitude of the airborne receiving platform are determined as follows: the planned flight trajectory of the aircraft is discretized into multiple points; based on the radius of the data reception range of the airborne receiving platform, starting from the trajectory's starting point, the farthest trajectory point within the coverage radius of the starting point is found; the ground projection position of the farthest trajectory point is determined as the first latitude and longitude of the airborne receiving platform. The first altitude of the airborne receiving platform is determined as follows: based on the data reception range radius and the antenna's height above the ground before takeoff, the first altitude of the airborne receiving platform is determined using the following expression: in, The first altitude of the aerial receiving platform, R is the height of the antenna above the ground before takeoff, and R is the radius of the data receiving range of the air-based receiving platform. The receiving module is used to send test commands carrying their respective first latitude, longitude and first altitude to each air receiving platform. The test commands are used to instruct the air receiving platform to fly according to the first latitude, longitude and first altitude so that the air receiving platform can receive the test data sent by the aircraft; it is also used to receive test data forwarded by the air receiving platform.

7. A computing device, characterized in that, Including memory and processor; The memory stores one or more computer programs, the one or more computer programs including instructions; when the instructions are executed by the processor, the computing device performs the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program for performing the method as described in any one of claims 1 to 5.

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