An unmanned aerial vehicle electromagnetic interference positioning method and system

Abstract

The application provides a kind of unmanned plane electromagnetic interference positioning method and system, it is related to unmanned plane technical field, the method includes: step 1, in the whole flight phase of unmanned plane, to remote control link frequency band, telemetry link frequency band and image transmission frequency band are carried out wideband spectrum scanning, real-time detection under frequency hopping communication system interference signal, identify the random jump frequency point covered by interference signal, form jump frequency point set;Step 2, the jump frequency point set is input into radio frequency sharing front end, the radio frequency signal of communication antenna is coupled to spectrum analysis unit by diplexer, signal compensation is carried out to coupling path using automatic gain control and phase equalizer, to obtain corrected interference spectrum data.The application improves the anti-interference ability and flight safety of unmanned plane in complex electromagnetic environment, generates avoidance path to guarantee the safe flight of unmanned plane.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle electromagnetic interference positioning method and system. BACKGROUND

[0002] In the power inspection of unmanned aerial vehicles in complex electromagnetic environments, traditional unmanned aerial vehicle electromagnetic interference positioning technologies have some limitations. The dynamic capture capability for frequency hopping interference signals is insufficient. The spectrum scanning rate of the traditional technology cannot completely match the hopping speed of the frequency hopping signal. For example, when a frequency hopping interference source in a mountainous area switches the operating frequency point at a frequency of several hundred times per second, the traditional positioning device may not be able to track all the hopping frequency points in real time due to the fixed scanning interval, resulting in the omission of some interference signals, making it difficult to form a complete set of interference frequency points, and thus affecting the comprehensiveness of positioning.

[0003] In addition, the positioning accuracy is easily constrained under the influence of multipath effect. The terrain in the mountainous area is complex, and the electromagnetic signal may be received by the unmanned aerial vehicle after being reflected by obstacles such as mountains and power transmission towers. The traditional technology cannot effectively distinguish the propagation paths of the direct wave and the reflected wave. For example, a certain interference source is actually located in A valley, but the traditional positioning method may mistakenly determine the interference source location as B hillside after the signal is reflected by the mountain, resulting in a large positioning deviation and failing to provide accurate geographic coordinate reference for the unmanned aerial vehicle to avoid. SUMMARY

[0004] The technical problem to be solved by the present application is to provide an unmanned aerial vehicle electromagnetic interference positioning method and system, which corrects the influence of multipath effect through frequency hopping interference signals, realizes accurate positioning and dynamic avoidance of the interference source, and improves the safety and reliability of the unmanned aerial vehicle operation.

[0005] To solve the above technical problems, the technical solutions of the present application are as follows:

[0006] In a first aspect, an unmanned aerial vehicle electromagnetic interference positioning method is provided, which comprises:

[0007] Step 1: During the entire flight phase of the unmanned aerial vehicle, wideband spectrum scanning is performed on the remote control link frequency band, the remote telemetry link frequency band and the image transmission frequency band, real-time detection of interference signals under the frequency hopping communication system is performed, random hopping frequency points covered by the interference signals are identified, and a hopping frequency point set is formed;

[0008] Step 2: The hopping frequency point set is input into the radio frequency sharing front end, the radio frequency signal of the communication antenna is coupled to the spectrum analysis unit through the duplexer, and the signal compensation is performed on the coupling path by using the automatic gain control and the phase equalizer, so as to obtain the corrected interference spectrum data;

[0009] Step 3, based on the interference spectrum data, reconstruct the spatial field strength distribution topology of the interference signal, drive the multi-station direction finding array to perform time difference positioning calculation, and generate the geographic coordinate data of the interference source;

[0010] Step 4, integrate the interference source geographic coordinate data with the real-time interference intensity sampling value, extract the multi-dimensional interference characteristics in the coverage area, calculate the coupling weight between the characteristics, and generate a set of signal strength dynamic compensation coefficients;

[0011] Step 5, apply the set of signal strength dynamic compensation coefficients to the real-time interference intensity sampling value, when the compensated interference intensity exceeds the flight safety threshold, activate the flight path planner to generate an avoidance path, and call the emergency landing controller to execute the landing protocol.

[0012] Further, input the set of hopping frequency points into the radio frequency sharing front end, couple the radio frequency signal of the communication antenna to the spectrum analysis unit through the duplexer, and use the automatic gain control and phase equalizer to compensate the coupling path to obtain the corrected interference spectrum data, including:

[0013] Input the set of hopping frequency points into the unit responsible for receiving and processing the radio frequency signal to configure the receiving frequency point of the unit;

[0014] Based on the receiving frequency point, guide the radio frequency signal received by the communication antenna including the interference to the component responsible for spectrum analysis through the signal separation and coupling device to obtain the coupled interference signal;

[0015] Input the coupled interference signal into the component responsible for signal amplitude adjustment to dynamically gain compensate the coupled interference signal to obtain the gain compensated interference signal;

[0016] Input the gain compensated interference signal into the component responsible for signal phase adjustment to dynamically phase compensate the gain compensated interference signal to obtain the phase compensated interference signal;

[0017] In the component responsible for spectrum analysis, perform spectrum calculation on the phase compensated interference signal to generate the corrected interference spectrum data including the frequency-amplitude correspondence.

[0018] Further, input the gain compensated interference signal into the component responsible for signal phase adjustment to dynamically phase compensate the gain compensated interference signal to obtain the phase compensated interference signal, including:

[0019] Receive the gain compensated interference signal from the automatic gain control component, perform frequency hopping frequency point directional scanning on the signal, extract the instantaneous phase offset of each hopping frequency point, and generate a frequency point-phase offset mapping table;

[0020] Based on the frequency point-phase offset mapping table, the real-time phase compensation amount of the signal transmission path at each hopping frequency point is calculated, and a dynamic correction instruction set including frequency point compensation parameters is generated.

[0021] The dynamic correction instruction set is input into the phase rotator array of the phase equalizer, and a point-by-point phase rotation operation is performed on the gain compensation interference signal according to the hopping frequency point sequence, to generate a phase pre-correction signal.

[0022] The phase pre-correction signal is subjected to full-band phase consistency detection, and the root mean square error value of the measured phase and the ideal phase is calculated to obtain the phase compensation interference signal.

[0023] Further, based on the interference spectrum data, the spatial field strength distribution topology of the interference signal is reconstructed, and the time difference positioning calculation is driven to be performed by the multi-station direction finding array to generate the geographic coordinate data of the interference source, including:

[0024] Based on the interference spectrum data, a set of discretized field strength distribution parameters of the interference signal in three-dimensional space is extracted;

[0025] The set of discretized field strength distribution parameters is subjected to spatial distribution reconstruction processing, the morphological features representing the three-dimensional spatial field strength distribution are constructed, and according to the morphological features, a synchronous acquisition control signal is sent to the multi-station direction finding array;

[0026] Based on the synchronous acquisition control signal, the time-domain waveform data of the interference signal is synchronously acquired by each station in the multi-station direction finding array to generate a multi-station synchronous waveform set;

[0027] The time difference analysis processing is performed on the multi-station synchronous waveform set to calculate the propagation time difference value between the waveforms of each station to generate a station-to-station time difference data set;

[0028] Based on the station-to-station time difference data set, in combination with the preset station location information, the geographic coordinate data of the interference source is generated through the spatial geometric positioning relationship.

[0029] Further, the interference source geographic coordinate data and the real-time interference intensity sampling value are integrated, multi-dimensional interference features in the coverage area are extracted, coupling weights between the features are calculated, and a signal strength dynamic compensation coefficient set is generated, including:

[0030] Based on the interference source geographic coordinate data, a sequence of real-time interference intensity sampling values in the current environment is simultaneously acquired, and the geographic coordinate data and the sequence of real-time interference intensity sampling values are subjected to spatio-temporal alignment processing to generate a spatio-temporally correlated interference observation data set;

[0031] Based on the interference observation data set, a set of multi-dimensional interference feature vectors including spatial position, intensity time-varying characteristics and spectral characteristics in the coverage area is extracted;

[0032] The multi-dimensional interference feature vector set is analyzed for interaction between features, and a weight distribution value of each feature dimension on interference propagation influence is calculated.

[0033] According to the weight distribution value, a dynamic compensation coefficient set for signal strength correction is generated in combination with a real-time interference intensity sampling value sequence.

[0034] Further, the multi-dimensional interference feature vector set is analyzed for interaction between features, and a weight distribution value of each feature dimension on interference propagation influence is calculated, including:

[0035] The multi-dimensional interference features in the real-time interference intensity sampling value are analyzed, and three independent feature vectors of distance feature, terrain feature and frequency band feature are extracted;

[0036] The distance feature and the terrain feature are input into a spatial attenuation calculation unit to generate a spatial superposition attenuation quantization value of the electromagnetic wave propagation path;

[0037] The frequency band feature is input into a frequency domain loss matching unit to generate a propagation loss quantization value of the current interference frequency band by querying a preset frequency band-propagation loss mapping table;

[0038] The spatial superposition attenuation quantization value and the propagation loss quantization value are input into a dynamic weight distributor to generate a dynamic weight distribution value of the feature dimension according to the contribution proportion to the interference intensity.

[0039] Further, the signal strength dynamic compensation coefficient set is applied to the real-time interference intensity sampling value, and when the compensated interference intensity exceeds the flight safety threshold, the flight path planner is activated to generate an avoidance path, and the emergency landing controller is called to execute the landing protocol, including:

[0040] The dynamic compensation coefficient set is applied to the real-time interference intensity sampling value to generate a corrected interference intensity value sequence through point-by-point compensation calculation;

[0041] The corrected interference intensity value sequence is subjected to safety threshold comparison processing, and when a single-point intensity value is greater than a preset flight safety threshold, it is marked as an out-of-limit point; when the number of consecutive out-of-limit points is greater than or equal to an alarm threshold, a flight path avoidance trigger signal is generated;

[0042] Based on the flight path avoidance trigger signal, the flight path planner is activated, the spatial distribution situation of the interference source is constructed using the geographic coordinate data of the interference source, and the avoidance path topology is generated in combination with the current position of the unmanned aerial vehicle and the task target;

[0043] The avoidance path topology is input into the emergency landing controller to generate a landing trajectory according to the safe landing area coordinates in the path topology, and to drive the actuator to complete the landing protocol.

[0044] In a second aspect, an unmanned aerial vehicle electromagnetic interference positioning system comprises:

[0045] The signal detection module is configured to perform wideband spectrum scanning on the remote control link frequency band, the remote sensing link frequency band and the image transmission frequency band in the full flight stage of the unmanned aerial vehicle, to detect interference signals in a frequency hopping communication system in real time, to identify random hopping frequency points covered by the interference signals and form a hopping frequency point set;

[0046] The compensation processing module is configured to input the hopping frequency point set into the radio frequency sharing front end, to couple the radio frequency signals of the communication antenna to the spectrum analysis unit through the diplexer, and to use the automatic gain control and the phase equalizer to compensate the coupling path to obtain corrected interference spectrum data.

[0047] The interference positioning module is configured to reconstruct the spatial field strength distribution topology of the interference signals based on the interference spectrum data, to drive the multi-station direction finding array to perform time difference positioning calculation, and to generate geographic coordinate data of the interference source.

[0048] The feature integration module is configured to integrate the geographic coordinate data of the interference source with the real-time interference intensity sampling value, to extract multi-dimensional interference features in the covered area, to calculate the coupling weight between the features, and to generate a signal strength dynamic compensation coefficient.

[0049] The avoidance control module is configured to apply the signal strength dynamic compensation coefficient to the real-time interference intensity sampling value, to activate the flight path planner to generate an avoidance path when the compensated interference intensity exceeds the flight safety threshold, and to call the emergency landing controller to execute a landing protocol.

[0050] In a third aspect, a computing device includes:

[0051] one or more processors;

[0052] a storage device storing one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method.

[0053] In a fourth aspect, a computer-readable storage medium stores a program, which, when executed by a processor, implements the method.

[0054] The above-mentioned scheme of the present application at least has the following beneficial effects:

[0055] By wideband spectrum scanning on key frequency bands in the whole flight stage, random hopping frequency points covered by interference signals can be identified in real time and form a set, the dynamic change of frequency hopping interference is accurately locked, and the detection efficiency of complex frequency hopping interference is improved. In the signal processing link, high-efficiency coupling of radio frequency signals is realized by means of a duplexer, signal compensation is performed on the coupling path by combining automatic gain control and a phase equalizer, the automatic gain control can dynamically adjust the signal amplitude to avoid distortion caused by excessively strong or weak signals, and the phase equalizer can correct phase offset to ensure the consistency of signal phase. After double compensation, the corrected interference spectrum data is obtained, errors in the signal transmission process are reduced, the spatial field strength distribution topology of the interference signal is reconstructed based on the interference spectrum data, the distribution characteristics of the interference signal in the three-dimensional space can be clearly presented, and on this basis, time difference positioning calculation is performed by a multi-station direction finding array, the time difference of signals received by different stations is used, combined with the station position information, and the interference source geographic coordinate data is generated through spatial geometric positioning relationship. This way fully utilizes the morphological characteristics of the spatial field strength distribution and the time difference information of the multi-station, reduces the deviation of single station positioning, and improves the accuracy and reliability of the interference source positioning.

[0056] The interference source geographic coordinate data is integrated with the real-time interference intensity sampling value, the spatial position, intensity time-varying characteristics and spectrum characteristics in the covered area and other multi-dimensional interference characteristics are extracted, the signal intensity dynamic compensation coefficient set is generated by calculating the coupling weight between the characteristics, the influence of various factors on the interference intensity can be considered comprehensively, when the compensated interference intensity exceeds the flight safety threshold, the evasion path can be quickly generated by activating the flight path planner, and the emergency landing controller is called to execute the landing protocol. This linkage mechanism realizes the quick connection from interference intensity evaluation to safety response, can take timely measures in emergency situations, and effectively avoids the strong interference area. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 is a flowchart of an unmanned aerial vehicle electromagnetic interference positioning method provided by an embodiment of the present application.

[0058] Figure 2 is a schematic diagram of an unmanned aerial vehicle electromagnetic interference positioning system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0059] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0060] As Figure 1As shown, the embodiment of the present application proposes an unmanned aerial vehicle electromagnetic interference positioning method, which comprises the following steps:

[0061] Step 1, in the full flight phase of the unmanned aerial vehicle, wideband spectrum scanning is performed on the remote control link frequency band, the remote telemetry link frequency band and the image transmission frequency band, real-time detection of interference signals under the frequency hopping communication system is performed, random hopping frequency points covered by the interference signals are identified, and a hopping frequency point set is formed;

[0062] Step 2, input the hopping frequency point set into the radio frequency sharing front end, couple the radio frequency signals of the communication antenna to the spectrum analysis unit through the duplexer, and use the automatic gain control and the phase equalizer to compensate the signals on the coupling path, so as to obtain the corrected interference spectrum data;

[0063] Step 3, based on the interference spectrum data, reconstruct the spatial field strength distribution topology of the interference signal, drive the multi-station direction finding array to perform time difference positioning calculation, and generate the geographic coordinate data of the interference source;

[0064] Step 4, integrate the interference source geographic coordinate data and the real-time interference intensity sampling value, extract the multi-dimensional interference characteristics in the covered area, calculate the coupling weight between the characteristics, and generate a set of signal intensity dynamic compensation coefficients;

[0065] Step 5, the signal intensity dynamic compensation coefficient set is applied to the real-time interference intensity sampling value, when the compensated interference intensity exceeds the flight safety threshold, the flight path planner is activated to generate an avoidance path, and the emergency landing controller is called to execute the landing protocol.

[0066] In the embodiment of the present application, through the wideband spectrum scanning of the key communication frequency band in the full flight phase, the interference signals under the frequency hopping system can be captured in real time and the random hopping frequency points covered thereby can be identified, so that the dynamic changing interference signals can be responded in time, the interference response lag caused by missing the hopping frequency points is avoided, the signals are coupled by the duplexer of the radio frequency sharing front end, and are compensated by the automatic gain control and the phase equalizer, the distortion of the signals caused by attenuation, deviation and the like in the transmission path is corrected, the obtained interference spectrum data is more accurate, the targeted signal correction reduces the influence of the original data error on the analysis, and a reliable spectrum basis is provided for the interference source positioning, the spatial field strength distribution topology is reconstructed based on the interference spectrum data, the time difference positioning of the multi-station direction finding array is combined, the abstract spectrum information is converted into the concrete spatial position data, the time difference calculation of the multi-station and the spatial geometric relationship derivation are used, the positioning accuracy of the geographic coordinates of the interference source is improved, and the position of the interference source is more clear and identifiable.

[0067] By integrating the interference source coordinates and the real-time interference intensity, multi-dimensional interference characteristics are extracted, coupling weights are calculated, and dynamic compensation coefficients are generated, thereby realizing fine evaluation of the interference intensity. This multi-factor comprehensive analysis considers various factors affecting interference propagation, such as spatial position, intensity change, and spectral characteristics, avoids one-sidedness of judgment based on a single intensity value, and makes the quantification of the interference intensity more in line with the actual environment. The real-time interference intensity is corrected through the dynamic compensation coefficient, and the flight path is avoided and emergency landing is triggered when the safety threshold is exceeded, thereby forming a complete closed loop from interference detection to safety response. This automatic triggering mechanism can quickly respond when the interference threat reaches the critical value, timely guide the unmanned aerial vehicle to avoid the dangerous area or land safely, and maximally reduce the risk of unmanned aerial vehicle out of control and crash caused by electromagnetic interference, thereby providing active protection for the flight safety of the unmanned aerial vehicle.

[0068] In a preferred embodiment of the present application, the above step 1, in the full flight phase of the unmanned aerial vehicle, the remote control link frequency band, the telemetry link frequency band and the image transmission frequency band are subjected to wideband spectrum scanning, the interference signals under the frequency hopping communication system are detected in real time, the random hopping frequency points covered by the interference signals are identified, and a hopping frequency point set is formed, which can include:

[0069] In the embodiment of the present application, the basic parameters of scanning are determined, and the frequency ranges of the remote control link frequency band, the telemetry link frequency band and the image transmission frequency band are determined respectively, for example, the remote control link may cover a certain MHz interval, the telemetry link and the image transmission link also have corresponding frequency intervals, the frequency range of the wideband spectrum scanning is set as the sum of the three frequency bands, so as to ensure complete coverage of all key communication frequency bands of the unmanned aerial vehicle and avoid omission of frequency regions where interference may exist. At the same time, the scanning rate is set to complete full-band scanning once per millisecond, which can meet the demand of capturing the rapid switching of the frequency hopping signal, because the frequency switching of the frequency hopping signal is usually in milliseconds or even faster. After starting scanning, the spectrum scanning device continuously works according to the set parameters, each scanning will detect all frequency points in the three frequency bands, record whether there is a signal at each frequency point and the intensity value of the signal, and the data obtained by each scanning is processed in real time during continuous scanning.

[0070] The first step is signal screening, which sets a signal strength threshold, which is determined based on the strength range of the normal communication signal of the unmanned aerial vehicle, signals below the threshold are judged as environmental noise or weak interference and are directly filtered out, and signals above the threshold are marked as suspicious signals and enter the next step of analysis; Next, the suspicious signal is identified by frequency hopping feature, which tracks the frequency of the same suspicious signal in continuous multiple scans, if the frequency of the signal changes in the adjacent two scans (interval 1 millisecond), and the changed frequency is still within the range of the three core frequency bands, the change rule will be further observed, the frequency of the jamming signal of the frequency hopping communication system has no fixed period, and if the frequency of the signal appears at least 3 different values in the continuous 10 scans, and the interval time of each change is not fixed (for example, there is a time interval of 1 millisecond, and there is a time interval of 2 milliseconds), it can be determined that the signal is a jamming signal under the frequency hopping communication system.

[0071] After determining the interference signal, the frequency hopping of the interference signal is recorded, from the identification of the interference signal, every time the frequency of the signal changes, the changed frequency value is immediately recorded, at the same time, in order to distinguish the interference signal from the normal frequency hopping communication signal of the unmanned aerial vehicle, the recorded frequency is compared with the normal communication frequency hopping frequency list preset by the unmanned aerial vehicle, if a certain frequency is in the normal list, the frequency is excluded and is not included in the record of the interference frequency hopping frequency, in the process of continuous tracking, the recorded frequency is updated, for the frequency that has been recorded, if it appears again, it will not be recorded repeatedly; only the new frequency that appears for the first time will be added to the record, during the flight of the unmanned aerial vehicle, the scanning, identifying and recording operations will continue, the recorded frequencies are summarized every 30 seconds, forming a random hopping frequency set covered by the interference signal at that moment, with the continuation of the flight, new hopping frequencies will be continuously supplemented to the set, so that the set can fully reflect the hopping of the interference signal in the whole flight stage.

[0072] In a preferred embodiment of the present application, step 2, the hopping frequency set is input into the radio frequency sharing front end, the radio frequency signal of the communication antenna is coupled to the spectrum analysis unit through the duplexer, and the automatic gain control and phase equalizer are used for signal compensation of the coupling path, to obtain corrected interference spectrum data, which can include:

[0073] Step 220, input the hopping frequency set into the unit responsible for receiving and processing the radio frequency signal, to configure the receiving frequency of the unit;

[0074] Step 221, based on the receiving frequency, the radio frequency signal received by the communication antenna including the interference is guided to the component responsible for spectrum analysis through the signal separation and coupling device, to obtain the coupled interference signal;

[0075] Step 222, input the coupled interference signal to a component responsible for signal amplitude adjustment, and perform dynamic gain compensation on the coupled interference signal to obtain a gain-compensated interference signal;

[0076] Step 223, input the gain-compensated interference signal to a component responsible for signal phase adjustment, and perform dynamic phase compensation on the gain-compensated interference signal to obtain a phase-compensated interference signal, specifically including: receiving the gain-compensated interference signal from the automatic gain control component, performing frequency hopping point directional scanning on the signal, extracting the instantaneous phase offset of each hopping frequency point, and generating a frequency point-phase offset mapping table; based on the frequency point-phase offset mapping table, calculating the real-time phase compensation amount of the signal transmission path at each hopping frequency point, and generating a dynamic correction instruction set including frequency point compensation parameters; inputting the dynamic correction instruction set to the phase rotator array of the phase equalizer, and performing point-by-point phase rotation operation on the gain-compensated interference signal according to the hopping frequency point sequence to generate a phase pre-correction signal; performing full-band phase consistency detection on the phase pre-correction signal, calculating the root mean square error value of the measured phase and the ideal phase, and obtaining the phase-compensated interference signal;

[0077] Step 224, in the component responsible for spectrum analysis, performing spectrum calculation on the phase-compensated interference signal to generate corrected interference spectrum data including frequency-amplitude correspondence.

[0078] In the embodiment of the application, all frequency points in the hopping frequency point set are first arranged in ascending order, for example, a plurality of discrete frequency points between 700MHz and 900MHz, and these frequency points are transmitted to the unit responsible for receiving and processing the radio frequency signal in turn. The unit reads the frequency point value one by one, and for each frequency point, the frequency point adjustment component in the unit starts to work, adjusts the receiving frequency by changing the capacitance or inductance parameters of the internal circuit, for example, when the input frequency point is 750MHz, the adjustment component adjusts the circuit parameters to the state of resonance with 750MHz. At this time, the actual receiving frequency is verified by the internal detection circuit, if the deviation from the target frequency point exceeds 0.05MHz, the parameters continue to be fine-tuned until the deviation is within 0.05MHz. The configuration process of each frequency point lasts about 5 microseconds, and after the configuration is completed, a confirmation signal is generated, and the configuration of the next frequency point is performed. It is ensured that all hopping frequency points are accurately set as receiving frequency points, and the receiving bandwidth of each frequency point is limited within ±2MHz to avoid receiving irrelevant frequency signals.

[0079] The radio frequency signal received by the communication antenna contains multiple frequency components. Based on the receiving frequency point configured in step 220, the signal separation and coupling device (duplexer) starts to work. The duplexer has two channels inside, one for the transmission of normal communication signals of the unmanned aerial vehicle, and the other for the coupling of interference signals. When the mixed signal enters the duplexer, the internal filter will screen according to the frequency, and only allow the signal (including the interference signal of the receiving frequency point) matching the receiving frequency point to enter the coupling channel, and the signals of other frequencies enter the communication channel. For example, if the receiving frequency point is set to 800 MHz, the filter will allow the signals in the range of 798 MHz to 802 MHz to pass through the coupling channel. During the coupling process, the internal coupling coil performs energy distribution, coupling about 30% of the signal energy to the spectrum analysis path while ensuring that the frequency characteristics of the signal remain unchanged. After coupling is completed, the signal strength is preliminarily detected. If the strength is lower than -60 dBm, it is raised to about -50 dBm through the internal amplifier. The final signal formed is the coupled interference signal, which is delivered to the next component.

[0080] After the coupled interference signal enters the component responsible for signal amplitude adjustment, the component first starts the amplitude monitoring function, which samples the signal amplitude every 2 microseconds to obtain the real-time amplitude value. For example, the sampling value is -45 dBm. Comparing this value with the preset standard amplitude range (-35 dBm to -30 dBm), it is found that it is lower than the lower limit. At this time, the gain controller inside the component starts to work. The gain controller calculates the gain amount that needs to be increased according to the amplitude difference. If the current amplitude is -45 dBm, which is 10 dB different from the lower limit -35 dBm, the gain will be adjusted from the initial 0 dB to 10 dB, so that the signal amplitude is increased to -35 dBm. If the next sampling finds that the amplitude is increased to -25 dBm, which exceeds the upper limit, the gain will be reduced to 5 dB, so that the amplitude falls to -30 dBm. The amplitude of each gain adjustment does not exceed 5 dB, and the adjustment interval is 1 microsecond, which ensures that the amplitude changes smoothly. After continuous dynamic adjustment, the signal amplitude is stabilized within the standard range, forming a gain-compensated interference signal.

[0081] After the gain compensation, the interference signal enters the phase adjustment component. The signal phase is measured by the phase detector every 1 ms, and the phase value is recorded at that time, for example, the phase is measured to be 20° at a certain time. At the same time, the component will retrieve the ideal phase value (such as 0°) corresponding to the current signal frequency from the internal stored phase standard table, calculate the phase deviation as 20°, and according to the deviation value, the phase adjuster starts the phase correction. By changing the voltage of the internal phase shift circuit, the signal phase is close to the ideal value. If the deviation is 20°, the voltage of the phase shift circuit is adjusted to the corresponding gear, so that the phase is reduced by 15°. At this time, the phase is detected again to be 5°, which still has a deviation. Continue to fine-tune the voltage to reduce the phase by 5° to 0°. If the phase deviation is still greater than 3° after multiple adjustments, record the current deviation value and focus on compensation in subsequent adjustments until the phase deviation is stable within ±2° to form a phase compensation interference signal.

[0082] After the phase compensation, the interference signal enters the spectrum analysis component. First, it is divided into signal segments with a duration of 20 ms. For each segment, the signal strength at different frequencies is analyzed. Starting from the starting frequency of the segment, the amplitude of each frequency point is detected at intervals of 0.1 MHz, for example, in the range of 800MHz to 801MHz, the amplitudes of frequency points 800.0MHz, 800.1MHz, …, 801.0MHz, etc. are detected, and values such as -32dBm, -35dBm are obtained. Arrange these data in frequency order to form a frequency-amplitude correspondence table for the segment. Summarize the correspondence tables of all signal segments, remove abnormal values whose amplitudes suddenly exceed ±10dB, and take the average of the amplitude values of the same frequency points, for example, the amplitudes of 800.0MHz in 3 segments are -32dBm, -33dBm, and -31dBm, with an average of -32dBm. Finally, the average amplitudes of all hopping frequency points and surrounding frequencies are sorted out to form a complete frequency-amplitude correspondence, i.e. the corrected interference spectrum data.

[0083] By calibrating each hopping frequency point, it is ensured that the receiving unit can accurately capture the signal of each interference frequency point, reducing signal loss caused by frequency point deviation. Using the filtering and coupling functions of the duplexer, the interference signal is extracted specifically without affecting normal communication, improving the purity of the interference signal and reducing the interference of irrelevant signals. Dynamic gain compensation adjusts the signal amplitude in real time, avoiding analysis errors caused by weak signals or component damage caused by strong signals, ensuring that the signal is processed within the final amplitude range. Through fine phase adjustment, the signal phases of different frequency points are kept uniform, providing a phase-consistent signal basis for spectrum analysis. Through multi-segment analysis and data optimization, the generated frequency-amplitude correspondence is more in line with the actual interference situation, improving the accuracy of the entire positioning method.

[0084] In a preferred embodiment of the present application, the step 3 of reconstructing the spatial field strength distribution topology of the interference signal based on the interference spectrum data, driving the multi-station direction finding array to perform the TDOA positioning calculation, and generating the geographic coordinate data of the interference source can include:

[0085] Step 330, based on the interference spectrum data, extracting a set of discretized field strength distribution parameters of the interference signal in three-dimensional space;

[0086] Step 331, performing spatial distribution reconstruction processing on the set of discretized field strength distribution parameters to construct morphological features representing the three-dimensional spatial field strength distribution, and sending a synchronous acquisition control signal to the multi-station direction finding array according to the morphological features;

[0087] Step 332, based on the synchronous acquisition control signal, synchronously acquiring time-domain waveform data of the interference signal at each station in the multi-station direction finding array to generate a multi-station synchronous waveform set;

[0088] Step 333, performing TDOA analysis processing on the multi-station synchronous waveform set to calculate the propagation time difference between waveforms at each station to generate a set of inter-station TDOA data;

[0089] Step 334, based on the set of inter-station TDOA data, combining the pre-set station location information, and generating geographic coordinate data of the interference source through spatial geometric positioning relationship.

[0090] In the embodiment of the present application, from the corrected interference spectrum data, the frequency of all hopping frequency points and the corresponding signal amplitude are selected, and the position information (longitude and latitude accurate to 0.0001 degrees, height accurate to 1 meter) recorded by the unmanned aerial vehicle every second is combined to establish a "frequency-amplitude-position" correspondence table. For example, when the unmanned aerial vehicle is at east longitude 116.3000°, north latitude 39.9000°, and height 500 meters, the signal amplitude of the 800MHz frequency point is -30dBm, this complete data is recorded, then the unmanned aerial vehicle flight area is divided into three-dimensional grids according to longitude every 0.001 degree, latitude every 0.001 degree, and height every 10 meters, each grid is a space unit of about 110m x 110m x 10m, and the arithmetic mean of all recorded signal amplitudes of the same frequency in each grid is taken, such as the 800MHz frequency point in a grid has three amplitude values of -30dBm, -32dBm, and -28dBm, and the average value is -30dBm, which is taken as the field strength value of the grid at the frequency, and the center point coordinates (taking the middle value of the grid boundary) of all grids and the corresponding field strength values are collected to form a set of discretized field strength distribution parameters, each parameter contains specific three-dimensional coordinates, frequency, and field strength amplitude.

[0091] First remove the invalid data in the discrete parameter set whose field strength amplitude is lower than -70dBm, and keep the valid data. For adjacent three-dimensional grids, adopt linear interpolation method to supplement data blank. If grid A (field strength -30dBm) and grid B (field strength -40dBm) are 100 meters apart, then the field strength of the virtual points every 10 meters in the middle is -31dBm, -32dBm, …, -39dBm in turn. In this way, the discrete parameters are expanded into continuous three-dimensional field strength distribution description, and then the morphological features are identified, the field strength peak value at each frequency is counted, and the area with the highest peak value (such as the field strength of a certain piece of grid group is all above -20dBm) is determined as the strong interference signal area. The field strength attenuation value every 100 meters from the peak area to the four directions is calculated, such as 5dBm in the east direction and 8dBm in the west direction, and the direction with the fastest attenuation is determined. If the field strength of the peak area exceeds -25dBm, it is judged that the interference source is active, and a synchronous acquisition control signal is sent to the multi-station direction finding array. The signal contains the acquisition start time (such as 10:00:00:000000 microseconds) and the continuous acquisition time length of 2 seconds, which ensures that all stations start and stop collecting at the same time.

[0092] After receiving the synchronous acquisition control signal, each station immediately calibrates the internal clock with the GPS time, ensuring that the error is not more than 0.5 microseconds. At the specified start time, all stations start the collection device at the same time to sample the interference signal. The sampling interval is 0.1 microseconds (i.e. 1000 million times per second), and each sampling records the current time point (accurate to 0.1 microseconds) and the signal amplitude value (accurate to 0.1dBm). For example, station 1 collects amplitude -32.5dBm at 10:00:00:000000.0 microseconds, -32.3dBm at 000000.1 microseconds, and so on. The total of 2000 million data points are collected for 2 seconds. After the collection is completed, each station arranges the data in chronological order to form its own time-domain waveform data (a continuous data sequence with time as the horizontal axis and amplitude as the vertical axis). The waveform data of all stations are arranged according to the station number, and the start time of each station is checked for consistency (error ≤0.1 microseconds). After confirming that there is no error, a multi-station synchronous waveform set is formed.

[0093] From the multi-site synchronization waveform set, the signal segment with amplitude exceeding -30dBm in each site waveform is intercepted (regarded as an effective interference signal segment), for each segment, the time point when the amplitude first reaches the peak value is marked, such as the peak time of site A is 10:00:00:001234.5 microseconds, site B is 001236.8 microseconds, site C is 001235.1 microseconds, the peak time difference of any two sites is calculated, the time difference of A and B is 001236.8-001234.5=2.3 microseconds, the time difference of A and C is 001235.1-001234.5=0.6 microseconds, the time difference of B and C is 001236.8-001235.1=1.7 microseconds, in order to reduce the error, the time difference is calculated for 5 continuous signal peaks (interval about 1 millisecond) respectively, and then the average value is taken, such as the 5 time differences of A and B are 2.3, 2.5, 2.2, 2.4, 2.6 microseconds, and the average value is 2.4 microseconds, the average time difference between all pairs of sites is recorded in the format of "site 1-site 2: time difference (microseconds)", forming the inter-site time difference data set.

[0094] The preset positions (longitude and latitude accurate to 0.0001 degrees, height accurate to 1 meter) of the multi-site direction finding array are obtained, such as site A (east longitude 116.3000°, north latitude 39.9000°, 100 meters), site B (east longitude 116.3010°, north latitude 39.9000°, 100 meters), site C (east longitude 116.3005°, north latitude 39.9010°, 100 meters), and the electromagnetic wave propagation speed is known to be 300 meters / microsecond, the time difference is converted into distance difference, the time difference of A and B is 2.4 microseconds, corresponding to a distance difference of 2.4*300=720 meters, taking A and B as the foci, a hyperboloid is drawn according to the distance difference (the locus of points in three-dimensional space with a fixed distance difference to the two foci); another hyperboloid is drawn using the time difference of A and C (0.6 microseconds, distance difference 180 meters), the intersection of the two hyperboloids is a curve where the interference source may be located, a third hyperboloid is drawn using the time difference of B and C (1.7 microseconds, distance difference 510 meters), and the intersection point of the intersection line is the candidate coordinate of the interference source, the distance difference converted from the distance difference to each site is verified, if the error is less than or equal to 0.3 microseconds, the coordinate (such as east longitude 116.3050°, north latitude 39.9030°, 200 meters) is determined as the geographic coordinate data of the interference source.

[0095] By subdividing the three-dimensional grid and calculating the average field strength, the abstract spectrum data is converted into parameters bound to specific spatial positions, making the field strength distribution of the interference signal more concrete. Through interpolation and morphological feature recognition, the strength distribution and attenuation law of the interference signal are clearly outlined, enabling the rapid locking of the approximate area of the interference source, making multi-station collection more targeted, avoiding resource waste, strictly calibrating the time of each station and synchronously collecting to ensure that the waveform data is completely aligned on the time axis. The time difference is calculated by averaging multiple peak values, which offsets the accidental error caused by signal fluctuations, making the time difference data between stations more stable and providing accurate time basis for positioning calculation. Combined with the intersection principle of spatial hyperboloid, the time difference data is converted into specific geographic coordinates, and the error is further reduced through multi-station cross-validation to accurately lock the position of the interference source, providing key position information for the avoidance and response of the interference by the unmanned aerial vehicle.

[0096] In a preferred embodiment of the present application, step 4, integrating the interference source geographic coordinate data with the real-time interference intensity sampling value, extracting the multi-dimensional interference features in the coverage area, calculating the coupling weight between the features, and generating a set of signal strength dynamic compensation coefficients, can include:

[0097] Step 440, based on the interference source geographic coordinate data, simultaneously collecting a sequence of real-time interference intensity sampling values in the current environment, and performing spatio-temporal alignment processing on the geographic coordinate data and the sequence of real-time interference intensity sampling values to generate a set of spatio-temporally correlated interference observation data;

[0098] Step 441, based on the interference observation data set, extracting a set of multi-dimensional interference feature vectors including spatial position, intensity time-varying characteristics and spectral characteristics in the coverage area;

[0099] Step 442, analyzing the interaction between the multi-dimensional interference feature vectors, calculating the weight distribution value of each feature dimension on the interference propagation influence, specifically including: analyzing the multi-dimensional interference features in the real-time interference intensity sampling value, extracting three independent feature vectors of distance feature, terrain feature and frequency band feature; inputting the distance feature and the terrain feature into a spatial attenuation calculation unit to generate a spatial superposition attenuation quantitative value of the electromagnetic wave propagation path; inputting the frequency band feature into a frequency domain loss matching unit to generate a propagation loss quantitative value of the current interference frequency band by querying a pre-set frequency band-propagation loss mapping table; inputting the spatial superposition attenuation quantitative value and the propagation loss quantitative value into a dynamic weight distributor to generate a dynamic weight distribution value of the feature dimension according to the contribution proportion to the interference intensity;

[0100] Step 443, according to the weight distribution value, combining the sequence of real-time interference intensity sampling values to generate a set of dynamic compensation coefficients for signal strength correction.

[0101] In the embodiment of the present application, the geographic coordinate data of the interference source (such as East 116.3050°, North 39.9030°, height 200 meters) is determined, and a coverage area with a radius of 5 kilometers is defined as the sampling range, and within the area, the unmanned aerial vehicle collects real-time interference strength every 50 meters of flight, the sampling frequency is 10 times per second, and the current longitude and latitude, height (accurate to 1 meter) and corresponding interference strength value (accurate to 0.1 dBm) are recorded each time to form a real-time interference strength sampling value sequence, such as (East 116.3000°, North 39.9000°, 500 meters, -32.5 dBm), (East 116.3005°, North 39.9005°, 500 meters, -33.1 dBm) and the like; in the time-space alignment processing, the geographic coordinate data and the interference strength value collected at the same time are matched based on time, if only the coordinate is collected at a certain time and the strength is not collected, the average value of the strength values of the adjacent two times is calculated to supplement; if only the strength is collected and the coordinate is not collected, the coordinate at the time is calculated according to the flight trajectory of the unmanned aerial vehicle; for example, the coordinate (point A) is collected at 10:00:01 but the strength is not collected, the strength of the previous second is -32.5 dBm and the strength of the next second is -33.5 dBm, then the strength of the time is supplemented as -33.0 dBm and is bound with point A, finally all the matched data are arranged in time sequence to generate the time-space correlation interference observation data set containing "time-longitude-latitude-height-interference strength".

[0102] Extract the spatial position feature from the interference observation data set: calculate the straight-line distance between each sampling point and the interference source, for example, the distance between a certain sampling point and the interference source is 1200 meters; at the same time, record the terrain type (such as flat land, mountainous area, building area) where the sampling point is located to form a spatial position feature vector (distance, terrain type).

[0103] Extract the intensity time-varying characteristic: calculate the change rate of the interference strength value of the same sampling point for 10 times in succession, for example, from -30 dBm to -35 dBm, the change rate is 5 dBm per second; the fluctuation range (the difference between the maximum value and the minimum value) of the intensity within 1 minute is calculated, for example, the fluctuation range is 8 dBm, to form an intensity time-varying characteristic vector (change rate, fluctuation range).

[0104] Extract the frequency spectrum feature: analyze the distribution of the interference signal of each sampling point at each frequency hopping point, count the top 3 frequency points and the corresponding intensity proportion (for example, 800 MHz accounts for 40%, 810 MHz accounts for 30%, and 820 MHz accounts for 20%), record the average interval of the frequency points (for example, 10 MHz), and form a frequency spectrum feature vector (main frequency points and proportion, average interval).

[0105] The above three types of feature vectors are summarized according to the sampling points to form a multi-dimensional interference feature vector set.

[0106] The multi-dimensional feature vectors of 100 typical sampling points are selected to analyze the interaction between the features: the correlation between the distance in the spatial position feature and the interference strength is calculated, such as the strength decreases by an average of 3 dBm for every 100 meters of distance increase, and the correlation is 0.8 (the closer the value is to 1, the greater the impact); the influence of terrain type on strength is analyzed, such as mountains can make the strength decrease by 5 dBm compared to flat land, and the correlation is 0.6.

[0107] The correlation between the time-varying characteristics of the strength and the propagation is analyzed: the greater the strength change rate, the poorer the stability of the interference source, and the correlation with the propagation is 0.5; the greater the fluctuation range, the more unstable the signal, and the correlation is 0.4.

[0108] The influence of the frequency spectrum feature is analyzed: the signal propagation loss is smaller for the main frequency points, and the correlation is 0.7; the greater the frequency point interval, the more obvious the attenuation in propagation, and the correlation is 0.3.

[0109] The correlation degrees of each feature dimension are normalized (the sum of all correlation degrees is 1), such as the total correlation degree of the spatial position feature is 0.8+0.6=1.4, the time-varying characteristics of the strength is 0.5+0.4=0.9, and the frequency spectrum feature is 0.7+0.3=1.0, and the total is 3.3; then the weight of the spatial position is 1.4 / 3.3≈0.42, the weight of the time-varying characteristics of the strength is 0.9 / 3.3≈0.27, and the weight of the frequency spectrum feature is 1.0 / 3.3≈0.31, obtaining the weight distribution values of each feature dimension.

[0110] According to the weight distribution values of step 442, the real-time interference strength of each sampling point is calculated, for example, the real-time strength of a certain sampling point is -35 dBm, the spatial position feature shows that the distance is too far, resulting in a lower strength (which needs to be compensated by +2 dBm), the weight 0.42 corresponds to a compensation of 2x0.42≈0.84 dBm; the time-varying characteristics of the strength show that the signal is increasing (which needs to be compensated by -1 dBm), the weight 0.27 corresponds to a compensation of -1x0.27≈-0.27 dBm; the frequency spectrum feature shows that the frequency points are scattered, resulting in attenuation (which needs to be compensated by +3 dBm), the weight 0.31 corresponds to a compensation of 3x0.31≈0.93 dBm, and the total compensation coefficient is 0.84-0.27+0.93≈1.5 dBm; the compensation coefficient of each sampling point is calculated in the above manner, and the grid compensation coefficient of every 10 meters interval in the coverage area is obtained by using the regional interpolation method (such as taking the average of the compensation coefficients of the adjacent 5 sampling points) according to the spatial distribution of the sampling points, and the compensation coefficients of all grids are sorted by position to form a dynamic compensation coefficient set, each coefficient corresponding to a specific latitude, longitude and height range.

[0111] By accurately matching the spatio-temporal relationship between geographic coordinates and interference intensity, the analysis error caused by data misplacement is avoided, a reliable data foundation is provided for multi-dimensional analysis, features are extracted from three dimensions of space, time variation and frequency spectrum, key influencing factors of interference signal propagation are covered, the limitations of single feature analysis are broken through, the essence of interference can be described more comprehensively, the influence weight of each feature on interference propagation is clarified through correlation analysis and normalization processing, irrelevant features are avoided, and the compensation coefficient set generated by the weight can correct the intensity sampling value in real time according to different positions and interference characteristics, so that the quantification of interference intensity is closer to the actual situation.

[0112] In a preferred embodiment of the present application, the above step 5, the signal intensity dynamic compensation coefficient set is applied to the real-time interference intensity sampling value, when the compensated interference intensity exceeds the flight safety threshold, the flight path planner is activated to generate an avoidance path, and the emergency landing controller is called to execute the landing protocol, which can include:

[0113] Step 550, the dynamic compensation coefficient set is applied to the real-time interference intensity sampling value, and the corrected interference intensity value sequence is generated by point-by-point compensation calculation;

[0114] Step 551, the corrected interference intensity value sequence is subjected to safety threshold comparison processing, when a single point intensity value is greater than a preset flight safety threshold, it is marked as an out-of-limit point; when the number of consecutive out-of-limit points is greater than or equal to an alarm threshold, a flight path avoidance trigger signal is generated;

[0115] Step 552, based on the flight path avoidance trigger signal, the flight path planner is activated, the interference source spatial distribution situation is constructed using the interference source geographic coordinate data, and the avoidance path topology is generated combined with the current position of the unmanned aerial vehicle and the task target;

[0116] Step 553, the avoidance path topology is input into the emergency landing controller, a landing trajectory is generated according to the safe landing area coordinates in the path topology, and the landing protocol is completed by driving the actuator.

[0117] In the embodiment of the present application, the signal strength dynamic compensation coefficient set is called from the storage device, the coefficient set is arranged in time sequence, each time node corresponds to a compensation coefficient, the coefficient value is determined in advance according to the interference data and the environmental parameters (for example, the coefficient 1.1 corresponds to 9 o'clock in the morning, and the coefficient 1.3 corresponds to 3 o'clock in the afternoon), the real-time interference strength sampling value is obtained from the signal sampling of the unmanned aerial vehicle, the sampling frequency is 10 times per second, and each sampling obtains a specific value (for example, the first sampling value at the first second is 62 units, and the second sampling value at the first second is 65 units); in the point-by-point compensation calculation, each real-time sampling value is operated with the compensation coefficient corresponding to the same time node, the real-time sampling value is multiplied by the compensation coefficient to obtain a single correction value, for example, a certain sampling value is 70 units, the compensation coefficient of the corresponding time point is 1.2, and then the correction value is 70 multiplied by 1.2, and the result is 84 units; according to the sampling time sequence, all the correction values obtained through the compensation calculation are arranged in sequence to form a sequence of corrected interference strength values, for example, the correction values of 5 consecutive samplings are 78 units, 82 units, 85 units, 81 units and 79 units, and the sequence [78, 82, 85, 81, 79] is formed in sequence.

[0118] The preset flight safety threshold is 90 units, and the alarm threshold is 3 consecutive points. The flight safety threshold is a critical value determined according to the anti-interference capability of the unmanned aerial vehicle hardware, and the alarm threshold is the minimum number of consecutive over-limit points triggering the avoidance action verified through multiple tests. The corrected interference strength value sequence is checked point by point, each value is compared with 90 units, if the value is 92 units, which is greater than 90 units, it is marked as an over-limit point; if the value is 88 units, which is less than 90 units, it is marked as a normal point; starting from the first value in the sequence, the number of consecutive over-limit points is counted, if the 3rd, 4th and 5th values are over-limit points, the number of consecutive over-limit points is 3; if the 6th value is a normal point, the counting is interrupted, and the counting is restarted from the next over-limit point; when the number of consecutive over-limit points reaches 3, a flight path avoidance trigger signal is immediately generated; if the number of consecutive over-limit points is 2, even if a single over-limit point appears later, as long as 3 consecutive over-limit points are not formed, the trigger signal is not generated.

[0119] When the flight path planner is activated, the geographic coordinate data of all interference sources is extracted from the database, including the longitude, latitude and interference influence radius of each interference source (for example, interference source A is located at longitude 116.3 degrees east, latitude 39.9 degrees north, and the influence radius is 500 meters). A three-dimensional coordinate system is established with the current position of the UAV as the center, the geographic coordinates of the interference sources are converted into three-dimensional coordinates in the coordinate system, and the spherical interference area is drawn according to the influence radius. All spherical areas together constitute the spatial distribution situation of the interference sources, which directly shows which areas have interference risks. Through positioning, the longitude and latitude (for example, longitude 116.4 degrees east, latitude 39.8 degrees north) and altitude (for example, 500 meters) of the current position of the UAV, as well as the longitude and latitude (for example, longitude 116.6 degrees east, latitude 39.7 degrees north) and altitude (for example, 500 meters) of the task target point are obtained. In the spatial distribution situation of the interference sources, find a path from the current position to the task target point without passing through any spherical interference area, first determine multiple feasible turning points, then calculate the straight line distance between the turning points to ensure that each straight line avoids the interference area; generate 3 candidate avoidance paths, each path contains the specific coordinates of the starting point, turning point and ending point (for example, the turning point of path 1 is longitude 116.5 degrees east, latitude 39.8 degrees north), calculate the total length (for example, path 1 is 2000 meters long, path 2 is 2200 meters long) and the estimated flight time (for example, path 1 takes 5 minutes) of each path, and select the path with the shortest length and the least turning as the avoidance path topology.

[0120] The emergency landing controller analyzes the avoidance path topology and extracts the coordinates of the safe landing area (for example, longitude 116.5 degrees east, latitude 39.75 degrees north, altitude 100 meters). This area has been pre-evaluated as a flat area with no interference and a slope less than 5 degrees. According to the current flight speed (for example, 100 kilometers per hour) and altitude (for example, 500 meters) of the UAV and the coordinates of the safe landing area, the landing trajectory is calculated. The UAV needs to fly horizontally for 1500 meters first, then reduce the altitude at a rate of 100 meters per minute, and then turn to horizontal sliding when it is 10 meters above the landing area. Convert the landing trajectory into specific execution instructions. During the horizontal flight stage, the engine maintains 70% thrust, the thrust decreases by 5% every 30 seconds during the descent stage, and the rudder adjusts the angle by 5 degrees during the turning. Each instruction is accurate to the second (for example, at the 10th second, the thrust is adjusted to 65%). Send the execution instructions to the engine, rudder and other execution mechanisms of the UAV. At the same time, real-time monitoring of the actual position and planned trajectory deviation is carried out through sensors. If the horizontal deviation is 5 meters, immediately send the rudder adjustment instruction to correct the direction; if the height deviation is 10 meters, adjust the engine thrust to correct the height, until the UAV lands smoothly in the safe landing area and the engine is turned off to complete the landing protocol.

[0121] The real-time sampling value is corrected point by point through a dynamic compensation coefficient, the interference of environmental changes (such as weather, terrain) on signal measurement can be alleviated, the corrected value is closer to the actual interference strength, the judgment mode of single-point overrun marking combined with continuous overrun counting can avoid unnecessary avoidance actions caused by instantaneous interference peak values and prevent continuous interference from being ignored, the accuracy of the flight path adjustment trigger is improved, the path is planned based on the spatial distribution situation of the interference source, all high-interference areas can be bypassed, the flight distance and time are reduced under the premise of ensuring safety, the task execution efficiency is improved, the UAV can be stably landed in a safe area in a complex interference environment through accurate calculation of the landing trajectory and real-time correction of the deviation, the risk of equipment damage is reduced, the safety of the UAV and the task load is ensured, the dynamic compensation mechanism can adapt to the environmental interference characteristics at different times and in different places, and the flexible path planning and landing control strategy enables the UAV to normally operate in various interference scenes, and the application range of the UAV is expanded.

[0122] As shown in Figure 2 Embodiments of the present application also provide an unmanned aerial vehicle electromagnetic interference positioning system, which comprises:

[0123] A signal detection module is configured to perform wideband spectrum scanning on the remote control link frequency band, the remote measurement link frequency band and the image transmission frequency band in the whole flight phase of the unmanned aerial vehicle, detect interference signals in a frequency hopping communication system in real time, identify random hopping frequency points covered by the interference signals and form a hopping frequency point set.

[0124] A compensation processing module is configured to input the hopping frequency point set into a radio frequency sharing front end, couple radio frequency signals of a communication antenna to a spectrum analysis unit through a duplexer, and perform signal compensation on the coupling path by using an automatic gain control and a phase equalizer to obtain corrected interference spectrum data.

[0125] An interference positioning module is configured to reconstruct a spatial field strength distribution topology of the interference signals based on the interference spectrum data, drive a multi-station direction-finding array to perform time difference positioning calculation, and generate geographic coordinate data of the interference source.

[0126] A feature integration module is configured to integrate the geographic coordinate data of the interference source and real-time interference intensity sampling values, extract multi-dimensional interference features in a covered area, calculate coupling weights between the features, and generate a signal strength dynamic compensation coefficient.

[0127] An avoidance control module is configured to apply the signal strength dynamic compensation coefficient to the real-time interference intensity sampling values, activate a flight path planner to generate an avoidance path when the compensated interference intensity exceeds a flight safety threshold, and call an emergency landing controller to execute a landing protocol.

[0128] It should be noted that the system is a system corresponding to the above method, all the implementation manners in the above method embodiment are applicable to this embodiment, and the same technical effects can also be achieved.

[0129] Embodiments of the present application also provide a computing device, comprising: a processor, a memory storing a computer program, the computer program being executed by the processor to perform the method as described above. All the implementation manners in the above method embodiments are applicable to this embodiment, and the same technical effects can also be achieved.

[0130] Embodiments of the present application also provide a computer readable storage medium storing instructions, when the instructions are executed on a computer, the computer executes the method as described above. All the implementation manners in the above method embodiments are applicable to this embodiment, and the same technical effects can also be achieved.

[0131] The above is the preferred embodiment of the present application, it should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can also be made, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for locating electromagnetic interference from unmanned aerial vehicles (UAVs), characterized in that, The method includes: Step 1: During the entire flight phase of the UAV, perform broadband spectrum scanning on the remote control link frequency band, telemetry link frequency band, and image transmission frequency band to detect interference signals under the frequency hopping communication system in real time, identify random frequency hopping points covered by interference signals, and form a set of frequency hopping points. Step 2 involves inputting the frequency jump set into the RF shared front end, coupling the RF signal from the communication antenna to the spectrum analysis unit via a duplexer, and using automatic gain control and a phase equalizer to compensate the coupling path for signal loss, thereby obtaining corrected interference spectrum data. Specifically, this includes: inputting the frequency jump set into the unit responsible for RF signal reception and processing to configure the unit's receiving frequency; based on the receiving frequency, guiding the RF signal, including interference, received by the communication antenna to the spectrum analysis unit via signal separation and coupling devices to obtain a coupled interference signal; inputting the coupled interference signal into the unit responsible for signal amplitude adjustment to perform dynamic gain compensation, resulting in a gain-compensated interference signal; inputting the gain-compensated interference signal into the unit responsible for signal phase adjustment to perform dynamic phase compensation, resulting in a phase-compensated interference signal; and performing spectrum calculations on the phase-compensated interference signal in the spectrum analysis unit to generate corrected interference spectrum data including the frequency-amplitude correspondence. Step 3: Based on the interference spectrum data, reconstruct the spatial field strength distribution topology of the interference signal, drive the multi-station direction finding array to perform time difference positioning calculation, and generate the geographic coordinate data of the interference source; Step 4: Integrate the geographic coordinate data of the interference source with the real-time interference intensity sampling value, extract multi-dimensional interference features within the coverage area, calculate the coupling weight between features, and generate a set of dynamic compensation coefficients for signal strength. Step 5: Apply the signal strength dynamic compensation coefficient set to the real-time interference strength sampling value. When the compensated interference strength exceeds the flight safety threshold, activate the trajectory planner to generate an avoidance path and call the emergency landing controller to execute the landing protocol.

2. The UAV electromagnetic interference positioning method according to claim 1, characterized in that, The gain-compensated interference signal is input to the component responsible for signal phase adjustment, and dynamic phase compensation is performed on the gain-compensated interference signal to obtain a phase-compensated interference signal, including: Receive the gain compensation interference signal from the automatic gain control unit, perform a frequency jump point directional scan on the signal, extract the instantaneous phase offset of each frequency jump point, and generate a frequency point-phase offset mapping table; Based on the frequency-phase offset mapping table, the real-time phase compensation amount of the signal transmission path at each frequency jump point is calculated, and a dynamic correction instruction set including frequency compensation parameters is generated. The dynamic correction instruction set is input into the phase rotator array of the phase equalizer, and the gain compensation interference signal is subjected to point-by-point phase rotation operation according to the jump frequency sequence to generate a phase pre-correction signal. The phase pre-correction signal is subjected to full-band phase consistency detection, and the root mean square error between the measured phase and the ideal phase is calculated to obtain the phase compensation interference signal.

3. The UAV electromagnetic interference positioning method according to claim 2, characterized in that, Based on the interference spectrum data, the spatial field strength distribution topology of the interference signal is reconstructed, driving a multi-station direction-finding array to perform time-difference localization calculations, generating geographic coordinate data of the interference source, including: Based on the interference spectrum data, a set of discretized field strength distribution parameters of the interference signal in three-dimensional space is extracted; The discrete field strength distribution parameter set is processed to reconstruct the spatial distribution, construct the morphological features that characterize the three-dimensional spatial field strength distribution, and send synchronous acquisition control signals to the multi-station direction finding array according to the morphological features. Based on the synchronous acquisition control signal, each station in the multi-station direction finding array synchronously acquires the time-domain waveform data of the interference signal, and generates a multi-station synchronous waveform set. Perform time difference analysis on the multi-site synchronous waveform set, calculate the propagation time difference between waveforms at each site, and generate a time difference dataset between sites; Based on the time difference dataset between stations and combined with the preset station location information, the geographic coordinate data of the interference source is generated through spatial geometric positioning relationships.

4. The UAV electromagnetic interference positioning method according to claim 3, characterized in that, By integrating the geographic coordinates of the interference source with real-time interference intensity samples, multi-dimensional interference features within the coverage area are extracted. The coupling weights between these features are calculated to generate a dynamic signal strength compensation coefficient set, including: Based on the geographic coordinate data of the interference source, the real-time interference intensity sampling value sequence in the current environment is collected simultaneously, and the geographic coordinate data and the real-time interference intensity sampling value sequence are spatiotemporally aligned to generate a spatiotemporally correlated interference observation dataset. Based on the interference observation dataset, a multi-dimensional interference feature vector set including spatial location, time-varying intensity characteristics, and spectral features is extracted within the coverage area; An interaction analysis was performed on the multidimensional interference feature vector set to calculate the weight allocation value of each feature dimension on the interference propagation. Based on the weighted values ​​and combined with the real-time interference intensity sampling value sequence, a dynamic compensation coefficient set for signal strength correction is generated.

5. The UAV electromagnetic interference positioning method according to claim 4, characterized in that, An interaction analysis was performed on the multidimensional interference feature vector set to calculate the weight allocation of each feature dimension on the interference propagation, including: The multi-dimensional interference features in the real-time interference intensity sampling values ​​are analyzed, and three independent feature vectors are extracted: distance feature, terrain feature, and frequency band feature. The distance and terrain features are input into the spatial attenuation calculation unit to generate the spatial superposition attenuation quantization value of the electromagnetic wave propagation path. The frequency band characteristics are input into the frequency domain loss matching unit, and the propagation loss quantization value of the current interference frequency band is generated by querying the preset frequency band-propagation loss mapping table. The spatial superposition attenuation quantization value and the propagation loss quantization value are input into the dynamic weight allocator, which generates dynamic weight allocation values ​​for the feature dimensions based on their contribution ratio to the interference intensity.

6. The UAV electromagnetic interference positioning method according to claim 5, characterized in that, The signal strength dynamic compensation coefficient set is applied to the real-time interference strength sampling value. When the compensated interference strength exceeds the flight safety threshold, the trajectory planner is activated to generate an avoidance path, and the emergency landing controller is invoked to execute the landing protocol, including: The dynamic compensation coefficient set is applied to the real-time interference intensity sample value, and the corrected interference intensity value sequence is generated by point-by-point compensation calculation. The corrected interference intensity value sequence is subjected to a safety threshold comparison process. When the intensity value of a single point is greater than the preset flight safety threshold, it is marked as an over-limit point. When the number of consecutive over-limit points is greater than or equal to the alarm threshold, a trajectory avoidance trigger signal is generated. Based on the trajectory avoidance trigger signal, the trajectory planner is activated, the spatial distribution of the interference source is constructed using the geographic coordinate data of the interference source, and the avoidance path topology is generated by combining the current position of the UAV and the mission objective. The avoidance path topology is input into the emergency landing controller, which generates a landing trajectory based on the coordinates of the safe landing zone in the path topology, and drives the actuators to complete the landing protocol.

7. An electromagnetic interference positioning system for unmanned aerial vehicles (UAVs), wherein the system implements the method as described in any one of claims 1 to 6, characterized in that, include: The signal detection module is used to perform broadband spectrum scanning of the remote control link frequency band, telemetry link frequency band and image transmission frequency band during the entire flight phase of the UAV, detect interference signals under the frequency hopping communication system in real time, identify random frequency hopping points covered by interference signals and form a set of frequency hopping points; The compensation processing module is used to input the set of frequency jump points into the RF shared front end, couple the RF signal of the communication antenna to the spectrum analysis unit through a duplexer, and use automatic gain control and phase equalizer to compensate the signal of the coupling path to obtain the corrected interference spectrum data. The interference localization module is used to reconstruct the spatial field strength distribution topology of the interference signal based on the interference spectrum data, drive the multi-station direction finding array to perform time difference localization calculations, and generate the geographic coordinate data of the interference source. The feature integration module is used to integrate the geographic coordinate data of the interference source with the real-time interference intensity sampling value, extract multi-dimensional interference features within the coverage area, calculate the coupling weight between features, and generate dynamic compensation coefficients for signal strength. The avoidance control module is used to apply the signal strength dynamic compensation coefficient to the real-time interference strength sampling value. When the compensated interference strength exceeds the flight safety threshold, the trajectory planner is activated to generate an avoidance path and the emergency landing controller is called to execute the landing protocol.

8. A computing device, characterized in that, include: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program that, when executed by a processor, implements the method as described in any one of claims 1 to 6.

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