Aircraft roll angle measuring method based on external radiation source and related device

Abstract

The embodiment of the invention provides an aircraft roll angle measuring method based on an external radiation source and a related device, and relates to the technical field of guidance. The method comprises the steps that amplitude data of radio frequency signals received by an antenna are obtained, the radio frequency signals received by the antenna are signals received by the antenna when an external radiation source radiates the radio frequency signals, and the amplitude data comprise multiple moments and amplitudes corresponding to the moments; according to the amplitude data, wave crest moments and wave trough moments are determined, and two wave crest moments and two wave trough moments exist in a signal period in radio frequency signals received by the antenna; according to the size relation of the wave crest amplitude values corresponding to the adjacent wave crest moments, angle solution fuzzy processing is carried out, and the target roll angle of the aircraft at each wave crest moment and each wave trough moment is determined. Therefore, the roll angle of the aircraft at the wave crest moment and the wave trough moment can be calculated based on the amplitude of the external radiation source signal received by the aircraft antenna.

Description

Technical Field

[0001] The present application relates to the field of guidance technology, and in particular to a method for measuring the roll angle of an aircraft based on an external radiation source and a related device. Background Art

[0002] With the advancement of guidance technology, guidance and control of aircraft have become the primary means of correction. An aircraft's attitude angles generally include yaw, pitch, and roll. In flight trajectory correction systems, determining the attitude and orientation of the ammunition in flight is a prerequisite for flight control and trajectory correction. For high-speed rotating aircraft, such as rifled guns, the roll angle fluctuates rapidly, making it challenging to ensure the real-time and accurate measurement of the roll angle.

[0003] Generally speaking, aircraft attitude can be measured using various methods, including gyroscopes, magnetometers, and solar radiation, but each method has certain drawbacks. For example, using missile-mounted gyroscopes to measure attitude angle output is a characteristic of some aircraft: during flight, pitch and heading angular rates are relatively low, while roll angular rates are relatively high. This roll angular rate often exceeds the measurement range of low-cost gyroscopes, resulting in rapid accumulation and increase in the output angle error of the gyroscope installed on the aircraft. Measuring roll angle using a magnetometer utilizes the Earth's magnetic field to measure the aircraft's roll angle. A major drawback of this method is that the measured geomagnetic field strength is relatively weak and susceptible to interference from both the outside world and the aircraft itself. Measuring attitude angle using solar radiation involves installing a device on the aircraft to measure solar radiation intensity. As the missile's attitude changes, the intensity of solar radiation also changes. However, solar radiation is highly dependent on weather conditions and cannot be used at night. Furthermore, the angle of the sun's illumination itself changes constantly, requiring real-time correction. Therefore, determining an aircraft's roll angle has become a pressing technical challenge for those skilled in the art. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, and related devices for measuring the roll angle of an aircraft based on an external radiation source, which can calculate the roll angle of the aircraft at peak and trough moments based on the amplitude of the external radiation source signal received by the aircraft antenna. This can avoid the situation where the roll angle obtained is inaccurate due to a small measurement range, and can also avoid the situation where the roll angle obtained is inaccurate due to weak magnetic field strength, solar radiation intensity being greatly affected by weather, etc.

[0005] The embodiments of the present application can be implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for measuring the roll angle of an aircraft based on an external radiation source. The aircraft is provided with an antenna for measuring the roll angle. The method includes:

[0007] Obtaining amplitude data of a radio frequency signal received by the antenna, wherein the radio frequency signal received by the antenna is a signal received by the antenna when the radio frequency signal is radiated by an external radiation source, and the amplitude data includes multiple moments and amplitudes corresponding to each moment;

[0008] Determining a peak moment and a trough moment based on the amplitude data, wherein the radio frequency signal received by the antenna has two peak moments and two trough moments within one signal cycle;

[0009] Angle ambiguity resolution is performed based on the magnitude relationship of the peak amplitude values ​​corresponding to adjacent peak moments, and the target roll angle of the aircraft at each peak moment and each trough moment is determined.

[0010] In a second aspect, an embodiment of the present application provides an aircraft roll angle measurement device based on an external radiation source, wherein an antenna for measuring the roll angle is provided on the aircraft, and the device includes:

[0011] a data acquisition module, configured to obtain amplitude data of the radio frequency signal received by the antenna, wherein the radio frequency signal received by the antenna is a signal received by the antenna when the radio frequency signal is radiated by an external radiation source, and the amplitude data includes multiple moments and the amplitude corresponding to each moment;

[0012] an extreme value analysis module, configured to determine a peak moment and a trough moment based on the amplitude data, wherein the radio frequency signal received by the antenna has two peak moments and two trough moments within one signal cycle;

[0013] The processing module is used to perform angle ambiguity resolution according to the magnitude relationship of the peak amplitude values ​​corresponding to adjacent peak moments, and determine the target roll angle of the aircraft at each peak moment and each trough moment.

[0014] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the aircraft roll angle measurement method based on an external radiation source as described in the aforementioned embodiment.

[0015] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for measuring the roll angle of an aircraft based on an external radiation source as described in the aforementioned embodiment.

[0016] The present invention provides an aircraft roll angle measurement method, apparatus, and related devices based on an external radiation source. The method obtains amplitude data of a radio frequency signal received by an antenna on an aircraft for measuring the roll angle. The radio frequency signal received by the antenna is the signal received by the antenna when the external radiation source radiates the radio frequency signal. The amplitude data includes multiple time points and the amplitudes corresponding to each time point. Based on the amplitude data, peak and trough times are determined. Then, angle ambiguity is resolved based on the magnitude relationship between the peak amplitude values ​​corresponding to adjacent peak times, thereby determining the target roll angle of the aircraft at each peak and trough time point. The radio frequency signal received by the antenna has two peak times and two trough times within a signal cycle. In this way, the roll angle of the aircraft at each peak and trough time point can be calculated based on the amplitude of the external radiation source signal received by the aircraft antenna. This avoids inaccurate roll angles due to a small measurement range, weak magnetic field strength, or solar radiation intensity significantly affected by weather. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic diagram of a measurement system provided in an embodiment of the present application;

[0019] Figure 2 A block diagram of an electronic device provided in an embodiment of the present application;

[0020] Figure 3 This is a flow chart of a method for measuring the roll angle of an aircraft based on an external radiation source provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram showing the relationship between the polarization direction of the sidewall antenna and the polarization direction of the external radiation source signal at different roll angles of the aircraft provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram showing whether a radiation path is blocked according to an embodiment of the present application;

[0023] Figure 6 A schematic diagram of received signal amplitude data provided in an embodiment of the present application;

[0024] Figure 7 for Figure 3Schematic diagram of the flow of sub-steps included in step S120;

[0025] Figure 8 Schematic diagram of CFAR detection principle;

[0026] Figure 9 A schematic diagram of extreme value detection provided in an embodiment of the present application;

[0027] Figure 10 for Figure 3 Schematic diagram of the flow of sub-steps included in step S130;

[0028] Figure 11 A schematic diagram of the comparison of adjacent peaks provided in an embodiment of the present application;

[0029] Figure 12 for Figure 10 A schematic flow chart of the sub-steps included in sub-step S132;

[0030] Figure 13 Schematic diagram of the azimuth angle of the aircraft axis relative to the radiation line of sight;

[0031] Figure 14 Schematic diagram of signal data and extreme point roll angle measurement results;

[0032] Figure 15 Schematic diagram of αβ filtering results;

[0033] Figure 16 The second flowchart of the method for measuring the roll angle of an aircraft based on an external radiation source provided in an embodiment of the present application;

[0034] Figure 17 A block diagram of an aircraft roll angle measurement device based on an external radiation source provided in an embodiment of the present application.

[0035] Icons: 10-measurement system; 100-external radiation source; 200-aircraft; 210-antenna; 300-electronic equipment; 310-memory; 320-processor; 330-communication unit; 400-aircraft roll angle measurement device; 410-data acquisition module; 420-extreme value analysis module; 430-processing module. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present application.

[0038] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0039] Currently, ground-based equipment is also used to radiate radio frequency signals to measure aircraft roll angles. An external radiation source mounted on the ground radiates radio frequency signals toward an aircraft in flight. After the signal is transmitted, the aircraft rotates in its designed direction, and the antenna mounted on the aircraft rotates with it. This rotation causes amplitude modulation in the signal received by the external radiation source. This detectable amplitude modulation occurs when the aircraft completes one rotation within one amplitude cycle. When the antenna is aligned with the external radiation source, the received radio frequency signal power is maximized. When the receiving antenna is not aligned with the external radiation source, the radio frequency signal power decreases, and the magnitude of this decrease is related to the line of sight angle between the antenna and the external radiation source. Therefore, the change in signal amplitude can be used to calculate the roll angle.

[0040] Currently, the amplitude waveform acquired by the antenna is processed to obtain the roll angle in the following ways. Method 1: The amplitude waveform is directly treated as a sine wave. The roll angle is then calculated by calculating the phase information of the sine waveform. Method 2: The amplitude waveform is low-pass filtered, DC removed, and phase-locked loop tracking is performed on the amplitude waveform. The result is then treated as a sine waveform. The roll angle is then calculated by calculating the phase information of the sine waveform.

[0041] Method 1 requires high signal amplitude stability and requires a high computational workload. In reality, the signal amplitude waveform is affected by a variety of factors, including antenna gain, aircraft attitude, radiation line of sight, and ambient noise. While the signal amplitude exhibits regular, periodic variations, it differs significantly from a sine wave, making it difficult to accurately obtain phase information.

[0042] In the second method, the accuracy of the parameters used in the phase-locked loop tracking process and other processes is required to be high, and the processing is difficult.

[0043] In response to the above situation, an embodiment of the present application provides a method and related device for measuring the roll angle of an aircraft based on an external radiation source, which can calculate the roll angle of the aircraft at the peak and trough moments based on the amplitude of the external radiation source signal received by the aircraft antenna. This can avoid the situation where the roll angle obtained is inaccurate due to a small measurement range, and can also avoid the situation where the roll angle obtained is inaccurate due to weak magnetic field strength, solar radiation intensity being greatly affected by weather, etc., and the results are accurate and the processing difficulty is small.

[0044] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0045] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a measurement system 10 provided in an embodiment of the present application. The measurement system 10 includes an external radiation source 100 and an aircraft 200. The external radiation source 100 is located on the ground and is used to radiate electromagnetic waves toward the aircraft 200 in the air. An antenna 210 (hereinafter referred to as a sidewall antenna) for measuring the roll angle is provided on the sidewall of the aircraft 200. To facilitate analysis of the roll motion of the aircraft 200, the aircraft 200 is represented by a cylinder. As the aircraft 200 rolls in the air, the roll angle of the aircraft 200 changes as it rotates. The antenna 210 receives the radio frequency signal from the external radiation source 100.

[0046] After the antenna obtains the radio frequency signal, the radio frequency signal may be sent to other devices for processing, or may be processed by a control unit in the aircraft 200 to obtain the roll angle of the aircraft 200 .

[0047] Please refer to Figure 2 , Figure 2 This is a block diagram of an electronic device 300 provided in an embodiment of the present application. The electronic device 300 may be, but is not limited to, a computer, a control unit in an aircraft 200, or the like. The electronic device 300 may include a memory 310, a processor 320, and a communication unit 330. The memory 310, processor 320, and communication unit 330 are electrically connected to each other, directly or indirectly, to enable data transmission or exchange. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0048] The memory 310 is used to store programs or data. The memory 310 can be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0049] The processor 320 is used to read / write data or programs stored in the memory 310 and execute corresponding functions. For example, the memory 310 stores an aircraft roll angle measurement device 400 based on an external radiation source. The aircraft roll angle measurement device 400 based on an external radiation source includes at least one software function module stored in the memory 310 in the form of software or firmware. The processor 320 executes the software programs and modules stored in the memory 310, such as the aircraft roll angle measurement device 400 based on an external radiation source in the embodiment of the present application, to perform various functional applications and data processing, thereby implementing the aircraft roll angle measurement method based on an external radiation source in the embodiment of the present application.

[0050] The communication unit 330 is used to establish a communication connection between the electronic device 300 and other communication terminals through a network, and to send and receive data through the network.

[0051] It should be understood that Figure 2 The structure shown is only a schematic diagram of the structure of the electronic device 300. The electronic device 300 may also include Figure 2 More or fewer components than shown, or with Figure 2 Different configurations shown. Figure 2 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0052] Please refer to Figure 3 , Figure 3 This is a schematic diagram of a flow chart of a method for measuring the roll angle of an aircraft based on an external radiation source, provided in an embodiment of the present application. The method can be applied to the aforementioned electronic device, and an antenna for measuring the roll angle can be installed on the sidewall of the aircraft. The specific flow of the method for measuring the roll angle of an aircraft based on an external radiation source is described in detail below. In this embodiment, the method may include steps S110 to S130.

[0053] Step S110: Obtain amplitude data of the radio frequency signal received by the antenna.

[0054] Step S120: determining the peak moment and the trough moment according to the amplitude data.

[0055] Step S130 , performing angle ambiguity resolution processing based on the magnitude relationship between the peak amplitude values ​​corresponding to adjacent peak moments, and determining the target roll angle of the aircraft at each peak moment and each trough moment.

[0056] The inventors of the present application have discovered through research that the amplitude of the signal received by the aircraft is affected by the spatial polarization relationship between the aircraft and the external radiation source.

[0057] like Figure 1 As shown, when a cylinder is used to represent an aircraft, the aircraft is in an inclined state when flying in the air. When the aircraft is cut with a horizontal plane, an elliptical cross section or Figure 4 The circular cross-section shown. The aircraft has a sidewall antenna. The radiated signal is linearly polarized in space, which can be vertical (polarized perpendicular to the horizontal plane), horizontal (polarized parallel to the horizontal plane), or slant (polarized at a certain angle to the horizontal plane). The polarization direction of the sidewall antenna is perpendicular to the radial direction of the sidewall antenna. The sidewall antenna changes its spatial polarization direction with the aircraft's roll motion.

[0058] For example, the polarization direction of the external radiation source signal is vertical polarization, and the polarization direction of the receiving antenna (i.e., the sidewall antenna on the aircraft) signal is the tangent direction of the cylindrical aircraft. Figure 4 As shown in Figures a and b, when the sidewall antenna is located at the highest and lowest points of the aircraft, its polarization is perpendicular to that of the radiated signal, resulting in a minimum received signal amplitude. When the sidewall antenna is located on the left or right side of the aircraft, its polarization is parallel to that of the radiated signal, resulting in a maximum received signal amplitude. Therefore, the received signal amplitude undergoes periodic modulation with the aircraft's roll motion, with a modulation period equal to half the aircraft's roll period. (During one roll rotation, the antenna's polarization is parallel to the external radiation source twice and perpendicular to it twice.) Therefore, the amplitude variation can be used to measure the aircraft's roll angle, but due to the symmetry of the polarization directions, the roll angle measurement will be somewhat ambiguous.

[0059] The inventors of this application have also discovered through research that the amplitude of the signal received by the aircraft is also affected by its own shielding. In other words, the amplitude of the signal received by the sidewall antenna on the aircraft is not only related to the spatial polarization relationship, but also affected by the spatial position and posture of the aircraft.

[0060] like Figure 5As shown, when the side wall antenna is located on the side facing the external radiation source (such as Figure 5 Position 1 in the figure), the radiation path is unobstructed and the received signal amplitude is large; when the side wall antenna is located on the side facing away from the external radiation source (such as Figure 5 In position 2), the signal path is blocked by the aircraft itself, and the received signal amplitude is small.

[0061] Based on the above analysis, we can know that the signal received by the aircraft side wall antenna is affected by spatial polarization and self-blocking, and its signal changes periodically, with adjacent peaks of different sizes. The actual signal amplitude received by the side wall antenna is as follows: Figure 6 As shown in the figure: the signal changes periodically, the adjacent peaks are of different sizes, and there are two peaks and two troughs in one signal cycle.

[0062] Therefore, based on the amplitude modulation caused by the polarization relationship, the occlusion effect of the aircraft itself can be used to compare the amplitudes of adjacent peaks to resolve angle ambiguity.

[0063] According to the previous analysis, there are two main factors that affect the amplitude of the aircraft's received signal: one is the spatial polarization relationship, and the other is the impact of its own shielding. Figure 6 The actual collected data shows that the signal waveform varies periodically, with peaks and troughs, but it is not a sine wave. Therefore, by detecting these peaks and troughs and comparing the amplitudes of adjacent peaks to deambiguate them, the aircraft's roll angle corresponding to the signal peaks and troughs can be calculated.

[0064] Based on the above analysis, the present application provides a method for calculating the roll angle of an aircraft using amplitude modulation based on the amplitude of the external radiation source signal received by the aircraft.

[0065] First, the amplitude data of the radio frequency signal received by the antenna installed on the side wall of the aircraft can be obtained. The radio frequency signal received by the aforementioned antenna is the signal received by the antenna when the external radiation source radiates the radio frequency signal. The amplitude data may include multiple moments and the amplitudes corresponding to each moment. The amplitude data can be obtained by other devices after processing the radio frequency signal received by the antenna and sending it to the electronic device, or it can be obtained by the electronic device after processing the radio frequency signal received by the antenna. Within one signal cycle, there are two peaks and two troughs in the radio frequency signal received by the antenna, and the amplitude values ​​of the two peaks are different.

[0066] Optionally, the antenna can send the received RF signal to the RF front end, and after the RF front end, the analog to digital converter (ADC) and the amplitude measurement, the amplitude data can be obtained. Figure 6shown.

[0067] When the amplitude data is obtained, extreme value detection can be performed on the amplitude data to determine peak moments and trough moments. Extreme values ​​include peaks and troughs. In the RF signal received by the antenna, there are two peak moments and two trough moments within one signal cycle. The peak moments and trough moments in the amplitude data can be determined using any method.

[0068] After the peak moments are determined, since the peak amplitude values ​​corresponding to adjacent peak moments are different in magnitude, angle ambiguity resolution can be performed based on the magnitude relationship of the peak amplitude values ​​corresponding to the adjacent peak moments, thereby determining the target roll angle of the aircraft at each peak moment and each trough moment. The specific angle ambiguity resolution method can be set based on actual needs. For example, a preset information can be set to indicate that the larger peak amplitude value among the adjacent peak amplitude values ​​corresponds to an aircraft roll angle of n degrees, and the smaller peak amplitude value corresponds to an aircraft roll angle of n+180 degrees. Based on this preset information, the target roll angle of the aircraft at each peak moment and each trough moment can be obtained. It will be understood that the above angle ambiguity resolution method is for illustrative purposes only and is not specifically limited herein.

[0069] In this way, the roll angle of the aircraft at the peak and trough moments can be calculated based on the amplitude of the external radiation source signal received by the aircraft antenna, which can avoid the situation where the roll angle obtained is inaccurate due to the small measurement range, and can also avoid the situation where the roll angle obtained is inaccurate due to the weak magnetic field strength, the solar radiation intensity being greatly affected by the weather, etc.

[0070] Extreme value detection is to detect the moments corresponding to the peaks and troughs of the amplitude change data. Taking into account the presence of certain noise in the radio frequency signal received by the antenna, in order to more accurately detect the peaks (maximum values) and troughs (minimum values), target detection can be performed on the above amplitude data to determine the peak moments and trough moments. The target detection method is the method used for radar target detection. When detecting the peak moment, the radar target detection method can be directly used to detect based on the amplitude data to determine the peak moment; when detecting the trough moment, the amplitude in the amplitude data can be inverted, and then the radar target detection method can be used to detect based on the processed amplitude data to determine the trough moment. Among them, if multiple targets with similar moments are detected during target detection, the multiple moments can be processed into one moment as a determined extreme value moment, and the processing method can be taking the average value, taking the median value, etc.

[0071] As a possible implementation, Figure 7 The peak and trough moments can be determined by testing in the manner shown. Figure 7 , Figure 7 for Figure 3 Schematic diagram of the flow of sub-steps included in step S120. In this embodiment, step S120 may include sub-steps S121 to S124.

[0072] Sub-step S121 , performing constant false alarm detection on the amplitude data, and using the detected target as a peak reference time.

[0073] Sub-step S122, determining the peak moment according to the obtained peak reference moment.

[0074] Sub-step S123 , inverting the amplitude in the amplitude data, performing constant false alarm detection on the processed amplitude data, and using the detected target as a trough reference time.

[0075] Sub-step S124, determining the trough moment according to the obtained trough reference moment.

[0076] In this embodiment, the extreme reference time can be determined by constant false alarm rate (CFAR) detection, which is a target detection method commonly used in radar signal processing.

[0077] In this embodiment, constant false alarm detection can be performed on the amplitude data, and the detected target is used as the peak reference time. During the peak reference time detection process, processing is performed based on the amplitude corresponding to each time. When the amplitude at a certain time passes the detection, the time is used as a peak reference time. During the trough reference time detection process, the amplitude in the amplitude data can be first inverted, and then constant false alarm detection is performed on the processed amplitude data, and the detected target is used as the trough reference time. During the trough reference time detection process, processing is performed based on the amplitude corresponding to each time after inversion. When the amplitude at a certain time passes the detection, the time is used as a trough reference time.

[0078] Optionally, the extreme value reference time (ie, the peak reference time and the trough reference time) may be detected by CA-CFAR (Cell Averaging CFAR, cell average constant false alarm detection).

[0079] The principle block diagram of CA-CFAR is as follows Figure 8As shown in the figure: the protection unit is adjacent to the detection unit, and the outer data of the protection unit is the reference unit; the number of reference units is M, then for a one-dimensional value, the number of reference units on each side is M / 2; the value obtained by averaging the data of M reference units is Z, the comparison coefficient is set to k0, and the amplitude value Y of the detection unit is compared with the product of the average amplitude Z of the reference unit and the comparison coefficient k0. If Y ≥ k0Z, the detection is passed, otherwise it fails.

[0080] To detect the peak reference time and the trough reference time, CA-CFAR detection can be performed on the signal amplitude data to find the peak reference time, and the amplitude in the signal amplitude data can be inverted (multiplied by -1) and then CA-CFAR detection can be performed to find the trough reference time. When using CA-CFAR to detect the peak reference time, if the amplitude value Y of a certain detection unit satisfies Y≥k0Z, the time corresponding to the detection unit is used as a peak reference time. When using CA-CFAR to detect the peak reference time, if the amplitude value Y of a certain detection unit satisfies Y≥k0Z after the amplitude of the amplitude data is inverted, the time corresponding to the detection unit is used as a trough reference time.

[0081] The peak moment can be determined based on the obtained peak reference moment, and the trough moment can be determined based on the obtained trough reference moment. The specific method of determining the extreme value moment based on the extreme value reference moment can be determined in combination with actual needs.

[0082] At peaks and troughs, multiple adjacent data points may cross the threshold. To determine the exact time of the peaks and troughs, multiple adjacent detection results can be condensed into a single point. In other words, data condensation is performed on the detected extreme value reference time to obtain the extreme value time.

[0083] Optionally, the obtained peak reference moments can be clustered to obtain multiple peak reference moment groups. The specific clustering method can be determined in combination with actual needs. For example, a preset time difference can be set, and the obtained peak reference moments can be sorted in ascending order; the time difference between adjacent peak reference moments is calculated, and the time difference is compared with the preset time. If the time difference is less than the preset time difference, the two peak reference moments corresponding to the time difference are divided into one peak reference group; if the time difference is not less than the preset time difference, the two peak reference moments corresponding to the time difference are divided into two peak reference groups. In this way, multiple peak reference moment groups can be obtained.

[0084] For each peak reference time group, the average or median value within that peak reference time group can be used as a peak time calculated from that peak reference time group. For example, the temporal positions of multiple consecutively detected data points can be averaged to form a single peak time. For example, if a peak reference time group includes 11 time points from 100 to 110, meaning that 11 points have been detected consecutively, the average position 105 can be used as the average position, resulting in a single peak time of 105.

[0085] Similarly, the obtained trough reference moments can be clustered in the same manner to obtain multiple trough reference moment groups, and then a trough moment corresponding to each trough reference moment group can be determined based on the trough reference moment groups.

[0086] The above extreme moment detection process can be as follows Figure 9 As shown in the figure, there are many data points after CFAR detection, and after data aggregation processing, there is only one point at the peak and trough moments. Figure 9 The top graph in the figure represents amplitude data, the middle graph represents the detected peak reference time and trough reference time, and the bottom graph represents the detected peak time and trough time.

[0087] Depend on Figure 4 The polarization direction of the sidewall antenna in the aircraft cross section shows that when the sidewall antenna is located on the left and right horizontal lines of the aircraft cross section, the polarization direction of the sidewall antenna and the externally radiated signal are both vertically polarized, and the signal amplitude is at its peak. Angular ambiguity can be resolved based on the peak value changes caused by the occlusion effect to remove ambiguity in symmetrical positions.

[0088] After determining the peak and trough times, Figure 10 The method shown is based on the aircraft's attitude under the radiation line of sight of the external radiation source and the peak amplitude value at the peak moment to determine the target roll angle of the aircraft at each peak moment and each trough moment. Figure 10 , Figure 10 for Figure 3 Schematic diagram of the flow of sub-steps included in step S130. In this embodiment, step S130 may include sub-steps S131 to S135.

[0089] Sub-step S131 : determining a first analysis result for two adjacent peak moments.

[0090] In this embodiment, when determining each peak moment, the peak amplitude value corresponding to each peak moment can also be determined in combination with the amplitude data. Optionally, the amplitude corresponding to each peak moment in the amplitude data can be directly used as the corresponding peak amplitude value. Alternatively, for each peak moment, the amplitude values ​​of multiple moments before and after the peak moment can be determined from the amplitude data, and then the average of the above amplitude values ​​can be used as the peak amplitude value of the peak moment. The specific number of the multiple moments can be determined based on actual needs, or the peak reference moments in the peak reference moment group corresponding to the peak moment when performing extreme value moment detection can be used as the above multiple moments.

[0091] When the peak moments and the peak amplitude values ​​corresponding to the peak moments are obtained, the peak amplitude values ​​can be sorted in ascending order according to the corresponding peak moments. Then, the magnitude of two adjacent peak amplitude values ​​(i.e., two peak amplitude values ​​corresponding to the two adjacent peak moments) can be directly compared to obtain: Figure 11 The size comparison results shown are combined with the fact that the antenna faces the external radiation source when the amplitude is large and faces away from the external radiation source when the amplitude is small, thereby obtaining the first analysis result.

[0092] The size comparison result is used to indicate which peak amplitude value corresponding to two adjacent peak moments is the larger peak amplitude value and which peak amplitude value is the smaller peak amplitude value. The first analysis result is used to indicate that, of the peak amplitude values ​​corresponding to the two peak moments, the larger peak amplitude value corresponds to the first peak moment when the antenna faces the external radiation source, and the smaller peak amplitude value corresponds to the second peak moment when the antenna faces away from the external radiation source.

[0093] Sub-step S132: determining a second analysis result.

[0094] In this embodiment, an analysis can also be performed to determine whether the aircraft was facing the left or right side of the external radiation source at the first peak moment and / or the second peak moment, thereby obtaining a second analysis result. This second analysis result indicates whether, at the first peak moment and / or the second peak moment, the target side of the aircraft facing the external radiation source, when the direction from the external radiation source toward the aircraft is used as the target line of sight, is the left or right side of the aircraft. The specific analysis method can be set based on actual needs.

[0095] Optionally, the second analysis result can be obtained by determining whether the left side or the right side of the aircraft faces the external radiation source based on the position of the aircraft relative to the external radiation source and the yaw attitude angle of the aircraft.

[0096] Optionally, you can Figure 12 The second analysis result is obtained in the manner shown. Figure 12 , Figure 13 for Figure 10 Flowchart of sub-steps included in sub-step S132. In this embodiment, sub-step S132 may include sub-steps S1321 to S1324.

[0097] Sub-step S1321, calculating the line of sight azimuth according to the phase position between the aircraft and the external radiation source.

[0098] Sub-step S1322, subtracting the line of sight azimuth from the azimuth of the axis of the aircraft to obtain an azimuth deviation.

[0099] Sub-step S1323: If the azimuth deflection angle is greater than 0, it is determined that the right side of the aircraft faces the external radiation source.

[0100] Sub-step S1324: If the azimuth deflection angle is not greater than 0, it is determined that the left side of the aircraft faces the external radiation source.

[0101] In this embodiment, the line of sight azimuth can be calculated based on the position of the aircraft relative to the external radiation source at the first peak moment and / or the second peak moment, with the reference direction being due north. Subsequently, the line of sight azimuth is subtracted from the obtained azimuth of the aircraft's axis, and the result is used as the azimuth deflection. The azimuth deflection is the deflection of the aircraft's axis relative to the radiation line of sight. Finally, the azimuth deflection can be compared with 0. If the azimuth deflection is greater than 0, it is determined that the right side of the aircraft is facing the external radiation source; conversely, if the azimuth deflection is not greater than 0, it is determined that the left side of the aircraft is facing the external radiation source.

[0102] The following combination Figure 13 The method of obtaining the second analysis result is described below with an example. In the following example, it is described how to obtain whether the aircraft is facing the left or right side of the external radiation source at a peak moment.

[0103] In engineering applications, such as command guidance, information such as the coordinates and speed of an aircraft can be transmitted to a control device via wireless communication. Taking the North-East coordinate system as an example, with the ground radiation source as the origin, due north as the x-axis, vertically upward as the y-axis, and due east as the z-axis, assuming the coordinates of the aircraft are (x1, y1, z1), the line-of-sight azimuth between the radiation source and the aircraft (due north is 0 degrees, north-northeast is positive) is:

[0104]

[0105] Assuming the azimuth angle of the aircraft axis is θ2, the azimuth angle of the aircraft axis relative to the line of sight is:

[0106] Δθ=θ2-θ1 (2)

[0107] like Figure 13 As shown, when Δθ>0, looking from the external radiation source to the radiation line of sight of the aircraft, the right side of the aircraft faces the external radiation source, and the left side faces away from the external radiation source; when Δθ≤0, looking from the radiation source to the radiation line of sight of the aircraft, the left sitting side of the aircraft faces the radiation source, and the right side faces away from the external radiation source.

[0108] Sub-step S133 , obtaining initial roll angles at the first peak moment and the second peak moment respectively according to preset angle information, the first analysis result, and the second analysis result.

[0109] Based on the first and second analysis results, it can be determined whether the antenna was facing the external radiation source and located on the left or right side of the aircraft at the first wave peak; and whether the antenna was facing away from the external radiation source and located on the left or right side of the aircraft at the second wave peak. It should be understood that the left and right sides described above are distinguished based on the line of sight from the external radiation source toward the aircraft, that is, the two sides of the aircraft are distinguished when a person stands at the external radiation source and looks toward the aircraft.

[0110] The preset angle information is used to indicate the roll angle of the aircraft when the antenna is at the left edge and / or right edge of the aircraft when observing from the target line of sight. The target line of sight is the direction from the external radiation source toward the aircraft.

[0111] Based on whether the antenna is located on the left or right side of the aircraft at the first peak moment and the above-mentioned preset angle information, the initial roll angle of the aircraft at the first peak moment and the initial roll angle of the aircraft at the second peak moment can be determined. The initial roll angles corresponding to the two peak moments in one cycle differ by 180 degrees. The initial roll angle is the roll angle indicated in the preset angle information, and the specific value of the roll angle in the preset angle information can be determined in combination with actual needs, for example, set to 0 or other angle values. For example, when the preset angle information only includes the roll angle of the aircraft when the antenna is at the left edge of the aircraft when observing in the target line of sight direction, the roll angle can be a pre-set arbitrary angle (the arbitrary angle is within 0 to 360 degrees). Based on the preset angle information, it can be determined that the roll angle of the aircraft when the antenna is at the right edge of the aircraft is an angle that differs by 180 degrees from the arbitrary angle. Similarly, when the preset angle information only includes the roll angle of the aircraft when the antenna is at the right edge of the aircraft when observing in the target line of sight direction, the roll angle can be any angle. Based on the preset angle information, it can be determined that the roll angle of the aircraft when the antenna is at the left edge of the aircraft is an angle that differs from the arbitrary angle by 180 degrees.

[0112] For example, the preset angle information defines that when the antenna is at the right edge of the aircraft (i.e., the rightmost side), the aircraft's roll angle is 0 degrees. In this case, if it is determined that the right side of the aircraft faces the outward radiation source at the larger wave peak moment (i.e., the first wave peak moment mentioned above), the aircraft's initial roll angle is 0 degrees. Furthermore, if the antenna is located at the left edge of the aircraft (i.e., the leftmost side) at the smaller wave peak moment (i.e., the second wave peak moment mentioned above), the aircraft's initial roll angle is 180 degrees at this time (i.e., the second wave peak moment).

[0113] For another example, if the antenna is located at the right edge (i.e., the rightmost side) of the aircraft, the aircraft's roll angle is 0 degrees. In this case, if it is determined that the aircraft's left side is facing the outward radiation source at the larger wave peak moment (i.e., the first wave peak moment mentioned above), the aircraft's initial roll angle is determined to be 180 degrees at the larger wave peak moment. Furthermore, if the antenna is located at the right edge (i.e., the rightmost side) of the aircraft at the smaller wave peak moment (i.e., the second wave peak moment mentioned above), the aircraft's initial roll angle is 0 degrees at this time (i.e., the second wave peak moment).

[0114] From the above two examples, it can be seen that the attitude of the aircraft relative to the radiation line of sight determines the ambiguity result. After defining the right edge as 0° (that is, when the antenna is defined as at the right edge of the aircraft (that is, the rightmost side), the roll angle of the aircraft is 0 degrees), due to different attitudes, the angle corresponding to the larger peak is different. If the right side is facing the radiation source, the larger peak corresponds to 0°; if the left side is facing the radiation source, the larger peak corresponds to 180°. The same definition, different attitudes, the larger peak corresponds to a different angle. That is, the position of 0° remains unchanged (that is, the definition remains unchanged), but due to different attitudes, the angles corresponding to the larger peak and the smaller peak change, with a difference of 180°. It is understandable that users can define the position of 0 degrees according to their own habits, but they cannot be changed at will after the definition.

[0115] For another example, the roll angle of the aircraft can be defined as 0 degrees when the antenna is at the left edge of the aircraft (i.e., the leftmost side). In this case, if it is determined that the right side of the aircraft faces the outward radiation source at the larger peak moment, then the initial roll angle of the aircraft at the larger peak moment (i.e., the first peak moment mentioned above) is determined to be 180 degrees; and, if it is determined that the antenna is at the left edge of the aircraft (i.e., the leftmost side) at the smaller peak moment (i.e., the second peak moment mentioned above), the initial roll angle of the aircraft at this time (i.e., the second peak moment) is 0 degrees. It is worth noting that the preset angle information can only define the roll angle value of the antenna when it is at a certain side edge of the aircraft (the angle value can be any value); it can also define the roll angle value when the antenna is at the left edge of the aircraft and the roll angle value when it is at the right edge of the aircraft, with the two angle values ​​differing by 180 degrees.

[0116] Sub-step S134 , determining the initial roll angles corresponding to the two corresponding trough moments according to the initial roll angles corresponding to the two adjacent peak moments.

[0117] Based on the initial roll angles corresponding to two adjacent peak moments and the property that the roll angles at the peak moment and the adjacent trough moment differ by 90 degrees, the initial roll angles corresponding to the two corresponding trough moments can be determined. For example, if the initial roll angles corresponding to two adjacent peak moments are 0 and 180 degrees, respectively, then the initial roll angles corresponding to the two corresponding trough moments can be determined to be 90 degrees and 270 degrees, respectively.

[0118] Sub-step S135 , determining target roll angles corresponding to each peak moment and each trough moment according to the initial roll angles corresponding to each peak moment and each trough moment.

[0119] Optionally, as a possible implementation manner, the initial roll angle corresponding to each peak moment and each trough moment may be directly used as the target roll angle corresponding to each moment.

[0120] For example, the amplitude data obtained is as follows Figure 14 As shown in the first figure, through the analysis and processing described above, it can be determined that Figure 14 The peak moment and the peak amplitude value corresponding to the peak moment are shown in green dots in the first figure, and the trough moment is shown in red dots. If the preset angle information used in solving the angle ambiguity is: when the antenna is defined as at the right edge of the aircraft (i.e., the rightmost side), the aircraft's roll angle is 0 degrees, and when the larger peak amplitude value is determined, the right side of the aircraft faces the external radiation source, then we can get Figure 14 The second figure shows the roll angle measurement results. Figure 14 The roll angle measurement results shown in the second figure include each extreme moment and the corresponding target roll angle. The target roll angle is the measured roll angle of the aircraft.

[0121] Alternatively, as another possible implementation, filtering can be performed on the initial roll angle corresponding to each extreme moment to obtain the target roll angle corresponding to each extreme moment, thereby improving the accuracy of the target roll angle. Optionally, a tracking filtering algorithm can be used for processing.

[0122] Alternatively, a linear filtering algorithm can be used. For example, an αβ filter or a Kalman filter can be used. The roll motion equation is relatively simple, making αβ filtering suitable. Compared to Kalman filtering, αβ filtering requires less computation. Specifically, αβ filtering can be used to filter the initial roll angles corresponding to each peak and trough moment to obtain the target roll angles corresponding to each peak and trough moment.

[0123] Among them, αβ filtering is mainly used in the field of radar detection and tracking navigation. It is the simplest method to update the track status. It can be used for roll angle measurement filtering by establishing the roll motion equation. It can be described by the following three equations:

[0124] x s (k) = x p (k)+α[x m (k)-x p (k)](3)

[0125]

[0126] x p (k+1)=x s (k)+v s (k)T(5)

[0127] Among them, x s (k) represents the filtered position. When used for roll angle filtering, it represents the roll angle, that is, the target roll angle; v s(k) represents the velocity after filtering. When used for roll angle filtering, it represents the angular velocity of the roll angle. p (k) represents the predicted position. When used for roll angle filtering, it represents the predicted roll angle. m (k) represents the actual measured position. When used for roll angle filtering, it represents the initial roll angle (that is, the roll angle corresponding to the extreme value detection is used as the measurement value). T represents the time between detections, which corresponds to the data sampling rate. When used for filtering, it represents the time difference between adjacent extreme value moments. α represents the position gain. β represents the velocity gain.

[0128] When the initial roll angle is subjected to αβ filtering to obtain the target roll angle, the roll angle predicted by the above formula may exceed 360 degrees. Therefore, the obtained roll angle is range-processed during the αβ filtering process to ensure that the processed roll angle falls within a preset angle range of 0 to 360 degrees. If the obtained roll angle during the αβ filtering process exceeds 360 degrees, the processed roll angle is the remainder of the obtained roll angle and 360 degrees, so that the target roll angle falls within the range of 0 to 360 degrees. That is, if the value calculated according to the formula exceeds 360 degrees, the remainder is divided by 360 degrees to complete the range processing.

[0129] After the above processing, we can obtain Figure 15 The αβ filtering results are shown. Figure 15 In the αβ filtering results shown, the measured roll angles corresponding to the trough and peak points are the target roll angles corresponding to the extreme value moments.

[0130] Please refer to Figure 16 , Figure 16 This is a second flow chart of a method for measuring an aircraft roll angle based on an external radiation source provided in an embodiment of the present application. In this embodiment, the method may further include step S140.

[0131] Step S140 , predicting the target roll angles of the aircraft at other times based on the target roll angles corresponding to the peak moments and the trough moments.

[0132] In this embodiment, after obtaining the target roll angle at the extreme moment, a prediction can be performed based on this information to obtain the target roll angle of the aircraft at other moments (i.e., non-extreme moments). The specific prediction method can be determined based on actual needs, for example, using a linear fitting method to obtain the target roll angle at other moments.

[0133] As a possible implementation, the roll angles to be used corresponding to other moments can be obtained based on the prediction equation used in obtaining the target roll angle through αβ filtering (i.e., Formula (5)), the target roll angles corresponding to each peak moment and each trough moment. When using Formula (5) for prediction, T in the formula is the time difference between the currently used extreme value moment and the moment to be predicted. The predicted value calculated based on Formula (5) is the roll angle to be used.

[0134] Afterwards, it can be determined whether the roll angle to be used is within a preset angle range. The preset angle range is 0 to 360 degrees. If the roll angle to be used is within the preset angle range, the roll angle to be used is used as the target roll angle corresponding to other time points. If the roll angle to be used is not within the preset angle range, the remainder of the roll angle to be used and 360 is used as the target roll angle corresponding to other time points.

[0135] In this way, the target roll angle of the aircraft at each moment can be obtained, such as Figure 15 shown. Figure 15 The αβ filtering results shown include the target roll angle at the extreme value moment obtained by filtering and the target roll angle at the non-extreme value moment obtained by prediction.

[0136] The following describes in detail how to obtain the target roll angle at each moment through αβ filtering.

[0137] The roll angle can be expressed as θ, and the roll angular velocity can be expressed as ω. In the αβ filter formula, x can be replaced by θ and v by ω. The αβ filter formula for the roll angle is:

[0138] θ s (k) = θ p (k)+α[θ m (k)-θ p (k)](6)

[0139]

[0140] θ p (k+1)=θ s (k)+ω s (k)T(8)

[0141] The target roll angle of the aircraft at each moment can be obtained by the following steps.

[0142] Step 1: The angles corresponding to the four extreme points in a roll cycle obtained after defuzzification (i.e., the initial roll angles corresponding to the four extreme moments mentioned above) are taken as the measured value θ m .

[0143] Step 2: Measure the value θ based on the anglem Calculate the speed measurement value ω m In order to avoid negative angle differences caused by crossing 360°, the difference needs to be judged when calculating the speed. The speed measurement value can be calculated using the following calculation formula:

[0144]

[0145] Step 3: Filter the angle and angular velocity at the measurement moment (i.e., the extreme value moment) according to the three αβ filtering formulas (6) to (8), where T is the time difference between adjacent measurement moments (T = t(k) - t(k - 1). To ensure that the calculated angle satisfies θ ≥ 0 and θ < 360, divide the calculated angle by 360 and take the remainder. In this way, the target roll angle at the extreme value moment can be obtained through steps 1 to 3 above.

[0146] Step 4: Interpolate the signal intervals required to obtain the target roll angle at other times. That is, according to formula (8), predict the roll angle at times other than the extreme value time (i.e., the sampling time). In this case, T is the time interval to be output, and the calculated angle is divided by 360 to obtain the remainder. When obtaining the target roll angle at other times based on formula (8), the corresponding filtered roll angular velocity obtained during the filtering process can be substituted into formula (8) for prediction.

[0147] The calculations in the above steps can achieve two functions: first, smoothing the roll angle at the measurement time; second, outputting predicted values ​​at times other than the sampling time required, thereby outputting the roll angle value at the required time intervals.

[0148] The aircraft roll angle measurement method based on an external radiation source provided in this embodiment can calculate the aircraft's current roll angle in real time using the amplitude of the external radiation source signal received by the aircraft's sidewall antenna. Because the amplitude of the received signal from the aircraft is affected by spatial polarization and self-occlusion, the roll angle at the signal amplitude's extreme value can be unambiguously calculated. After αβ filtering, the measured roll angle is closer to the true value, and predicted values ​​can be provided for times beyond the extreme value, allowing the aircraft's roll angle to be calculated at each moment.

[0149] The above method determines the periodic peaks and troughs of the signal amplitude, and then obtains the roll angles at the peaks and troughs. By smoothing and predicting the data through αβ filtering, the roll angle information at all times can be obtained. This method can reduce the amount of calculation and improve the accuracy of the calculation.

[0150] In order to perform the corresponding steps in the above embodiments and various possible methods, the following provides an implementation method of an aircraft roll angle measurement device 400 based on an external radiation source. Optionally, the aircraft roll angle measurement device 400 based on an external radiation source can adopt the above Figure 2 The device structure of the electronic device 300 is shown. Figure 17 , Figure 17 This is a block diagram of an aircraft roll angle measurement device 400 based on an external radiation source, provided in an embodiment of the present application. It should be noted that the basic principles and technical effects of the aircraft roll angle measurement device 400 provided in this embodiment are the same as those of the aforementioned embodiments. For the sake of brevity, any details not mentioned in this embodiment are referred to the corresponding content in the aforementioned embodiments. In this embodiment, an antenna for measuring roll angle is provided on the aircraft. The aircraft roll angle measurement device 400 may include a data acquisition module 410, an extreme value analysis module 420, and a processing module 430.

[0151] The data acquisition module 410 is configured to obtain amplitude data of the radio frequency signal received by the antenna. The radio frequency signal received by the antenna is a signal received by the antenna when the antenna radiates the radio frequency signal from an external radiation source, and the amplitude data includes multiple moments and the amplitude corresponding to each moment.

[0152] The extreme value analysis module 420 is configured to determine the peak moment and the trough moment based on the amplitude data. In one signal cycle, the RF signal received by the antenna has two peak moments and two trough moments.

[0153] The processing module 430 is configured to perform angle ambiguity resolution based on the magnitude relationship of the peak amplitude values ​​corresponding to adjacent peak moments, and determine the target roll angle of the aircraft at each peak moment and each trough moment.

[0154] In this embodiment, the processing module 430 is further configured to predict the target roll angles of the aircraft at other times based on the target roll angles corresponding to the peak moments and the trough moments.

[0155] Optionally, the above modules can be stored in the form of software or firmware. Figure 2 The memory 310 shown in FIG. 1 may be stored in the operating system (OS) of the electronic device 300 and may be stored in the operating system (OS) of the electronic device 300. Figure 2 Meanwhile, the data, program codes, etc. required to execute the above modules may be stored in the memory 310.

[0156] An embodiment of the present application further provides a readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for measuring the roll angle of an aircraft based on an external radiation source is implemented.

[0157] In summary, embodiments of the present application provide a method, apparatus, and related devices for measuring the roll angle of an aircraft based on an external radiation source. The method obtains amplitude data of a radio frequency signal received by an antenna on an aircraft for measuring the roll angle. The radio frequency signal received by the antenna is the signal received by the antenna when the external radiation source radiates the radio frequency signal. The amplitude data includes multiple time points and the amplitudes corresponding to each time point. Based on the amplitude data, peak and trough times are determined. Then, angle ambiguity is resolved based on the magnitude relationship between the peak amplitude values ​​corresponding to adjacent peak times, thereby determining the target roll angle of the aircraft at each peak and trough time point. The radio frequency signal received by the antenna has two peak times and two trough times within a signal cycle. In this way, the roll angle of the aircraft at each peak and trough time point can be calculated based on the amplitude of the external radiation source signal received by the aircraft antenna. This method avoids inaccurate roll angles due to a small measurement range, weak magnetic field strength, or solar radiation intensity significantly affected by weather.

[0158] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0159] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0160] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0161] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A method for measuring the roll angle of an aircraft based on an external radiation source, characterized in that: An antenna for measuring a roll angle is provided on the aircraft, and the method includes: Obtaining amplitude data of a radio frequency signal received by the antenna, wherein the radio frequency signal received by the antenna is a signal received by the antenna when the radio frequency signal is radiated by an external radiation source, and the amplitude data includes multiple moments and amplitudes corresponding to each moment; Determining a peak moment and a trough moment based on the amplitude data, wherein the radio frequency signal received by the antenna has two peak moments and two trough moments within one signal cycle; Angle ambiguity resolution is performed based on the magnitude relationship of the peak amplitude values ​​corresponding to adjacent peak moments, and the target roll angle of the aircraft at each peak moment and each trough moment is determined.

2. The method according to claim 1, characterized in that The angle ambiguity resolution process is performed based on the magnitude relationship of the peak amplitude values ​​corresponding to adjacent peak moments to determine the target roll angle of the aircraft at each peak moment and each trough moment, including: Determine a first analysis result for two adjacent peak moments, wherein the first analysis result is used to indicate that, of the peak amplitude values ​​corresponding to the two peak moments, the antenna faces the external radiation source at a first peak moment corresponding to a larger peak amplitude value, and that the antenna faces away from the external radiation source at a second peak moment corresponding to a smaller peak amplitude value; determining a second analysis result, wherein the second analysis result is used to indicate that at the first peak moment and / or the second peak moment, when a direction from the external radiation source toward the aircraft is used as a target line of sight, the target side of the aircraft facing the external radiation source is observed to be a left side or a right side of the aircraft; Obtaining, based on preset angle information, the first analysis result, and the second analysis result, respective initial roll angles at the first peak moment and the second peak moment, wherein the preset angle information indicates the roll angle of the aircraft when the antenna is at the left edge and / or the right edge of the aircraft when observed in the target line of sight; According to the initial roll angles corresponding to the two adjacent peak moments, the initial roll angles corresponding to the two corresponding trough moments are determined; According to the initial roll angles corresponding to the peak moments and the trough moments, the target roll angles corresponding to the peak moments and the trough moments are determined.

3. The method according to claim 2, characterized in that Determining the second analysis result includes: Calculating a line of sight azimuth angle according to the phase position between the aircraft and the external radiation source, wherein the reference direction corresponding to the line of sight azimuth angle is due north; Subtracting the sight azimuth from the azimuth of the aircraft's axis to obtain an azimuth deflection; If the azimuth deflection angle is greater than 0, it is determined that the right side of the aircraft faces the external radiation source; If the azimuth deviation angle is not greater than 0, it is determined that the left side of the aircraft is facing the external radiation source.

4. The method according to claim 2, characterized in that Determining target roll angles corresponding to each peak moment and each trough moment according to the initial roll angles corresponding to each peak moment and each trough moment includes: According to the initial roll angles corresponding to the peak moments and the trough moments, the target roll angles corresponding to the peak moments and the trough moments are obtained through filtering.

5. The method according to any one of claims 2 to 4, characterized in that The method further comprises: According to the target roll angles corresponding to each peak moment and each trough moment, the target roll angles of the aircraft at other moments are predicted.

6. The method according to claim 5, characterized in that The target roll angle is obtained by performing αβ filtering on the initial roll angle. In the αβ filtering, the obtained roll angle is range-processed so that the processed roll angle is within a preset angle range, wherein the preset angle range is 0 to 360 degrees. If the roll angle obtained in the αβ filtering is greater than 360 degrees, the processed roll angle is the remainder of the obtained roll angle and 360 degrees. The method of predicting the target roll angle of the aircraft at other times based on the target roll angles corresponding to the peak moments and the trough moments includes: According to the prediction equation used in obtaining the target roll angle through αβ filtering, the target roll angles corresponding to each peak moment and each trough moment, the roll angles to be used corresponding to other moments are obtained; Determining whether the roll angle to be used is within a preset angle range; If the roll angle to be used is within the preset angle range, the roll angle to be used is used as the target roll angle corresponding to other moments; If the roll angle to be used is not within the preset angle range, the remainder of the roll angle to be used and 360 is used as the target roll angle corresponding to other moments.

7. The method according to any one of claims 1 to 4, characterized in that Determining the peak moment and the trough moment according to the amplitude data includes: Performing constant false alarm detection on the amplitude data, and using the detected target as a peak reference time; Determining the peak moment according to the obtained peak reference moment; Inverting the amplitude of the amplitude data, performing constant false alarm detection on the processed amplitude data, and using the detected target as a trough reference time; The trough moment is determined according to the obtained trough reference moment.

8. The method according to claim 7, characterized in that The step of determining the peak moment according to the obtained peak reference moment includes: Clustering the obtained peak reference moments to obtain multiple peak reference moment groups; For each peak reference time group, a peak time is determined; The determining the trough moment according to the obtained trough reference moment includes: Clustering the obtained trough reference moments to obtain multiple trough reference moment groups; For each trough reference time group, a trough time is determined.

9. An aircraft roll angle measurement device based on an external radiation source, characterized in that: The aircraft is provided with an antenna for measuring the roll angle, and the device comprises: a data acquisition module, configured to obtain amplitude data of the radio frequency signal received by the antenna, wherein the radio frequency signal received by the antenna is a signal received by the antenna when the radio frequency signal is radiated by an external radiation source, and the amplitude data includes multiple moments and the amplitude corresponding to each moment; an extreme value analysis module, configured to determine a peak moment and a trough moment based on the amplitude data, wherein the radio frequency signal received by the antenna has two peak moments and two trough moments within one signal cycle; The processing module is used to perform angle ambiguity resolution according to the magnitude relationship of the peak amplitude values ​​corresponding to adjacent peak moments, and determine the target roll angle of the aircraft at each peak moment and each trough moment.

10. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the aircraft roll angle measurement method based on an external radiation source as described in any one of claims 1 to 8.

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