Method, device and equipment for testing resolution of low-altitude sensing system

Abstract

The embodiment of the invention discloses a method, a device and equipment for testing the resolution of a low-altitude sensing system. The method comprises the following steps: acquiring a resolution test request for the low-altitude sensing system; performing state adjustment on the test component based on the resolution test request, and determining a current test state of the test component; based on the resolution test request, controlling a test component in a current test state to perform resolution test, and determining a current test result of the low-altitude sensing system; determining a current state adjustment mode corresponding to the current test result, updating the current test state of the test component according to the current state adjustment mode, and carrying out resolution test again until two adjacent test results have a difference; and determining the target resolution of the low-altitude sensing system based on two adjacent test results. Through the technical scheme of the embodiment of the invention, the resolution test can be accurately and conveniently carried out on the low-altitude sensing system, the test cost is reduced, and the accuracy of resolution calibration is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of system parameter calibration, and in particular to a method, device and equipment for resolution testing of a low-altitude perception system. BACKGROUND

[0002] With the development of technology, low-altitude perception systems have been widely applied in the fields of unmanned aerial vehicle supervision, airspace management and environmental monitoring. The resolution of target perception is one of the key indicators for measuring the performance of a low-altitude perception system. Therefore, accurately calibrating the resolution of a low-altitude perception system is very important for selecting a low-altitude perception system that meets user needs.

[0003] Currently, a static target testing method is usually used to calibrate the resolution of a low-altitude perception system. This method uses a static target at a fixed distance for testing. Although this method is simple and easy to implement, it cannot simulate a dynamic flight environment, resulting in a deviation between the test results and actual application scenarios, and failing to achieve accurate calibration of the system resolution. A simulation testing method is also often used to calibrate the resolution of a low-altitude perception system. This method simulates the performance of a low-altitude perception system by computer simulation. Although this method is low in cost and has strong repeatability, there will be differences between the simulation results and actual hardware performance, resulting in a deviation between the test results and actual application scenarios, and failing to achieve accurate calibration of the system resolution. SUMMARY

[0004] Embodiments of the present application provide a method, device and equipment for resolution testing of a low-altitude perception system, to accurately and conveniently test the resolution of a low-altitude perception system, reduce the testing difficulty and cost, and improve the accuracy of resolution calibration.

[0005] In a first aspect, embodiments of the present application provide a method for resolution testing of a low-altitude perception system, applied to a controller of a test assembly, the test assembly further comprising an unmanned aerial vehicle and an angle reflector, the controller being connected to the unmanned aerial vehicle, and the unmanned aerial vehicle being connected to the angle reflector, and the method comprising:

[0006] obtaining a resolution testing request for the low-altitude perception system;

[0007] adjusting the state of the test assembly based on the resolution testing request, to determine a current test state of the test assembly;

[0008] controlling the test assembly in the current test state to perform resolution testing based on the resolution testing request, to determine a current test result of the low-altitude perception system;

[0009] determine a current state adjustment mode corresponding to the current test result, and update the current test state of the test component according to the current state adjustment mode and perform resolution test again until there is a difference between adjacent two test results;

[0010] determine a target resolution of the low-altitude sensing system based on the adjacent two test results.

[0011] In a second aspect, an embodiment of the present application further provides a device for performing resolution test on a low-altitude sensing system, which comprises:

[0012] a resolution test request obtaining module configured to obtain a resolution test request for the low-altitude sensing system;

[0013] a current test state determining module configured to determine a current test state of a test component based on the resolution test request and adjust the state of the test component;

[0014] a current test result determining module configured to determine a current test result of the low-altitude sensing system by controlling the test component in the current test state to perform resolution test based on the resolution test request;

[0015] a current test state updating module configured to determine a current state adjustment mode corresponding to the current test result, and update the current test state of the test component according to the current state adjustment mode and perform resolution test again until there is a difference between adjacent two test results;

[0016] a target resolution determining module configured to determine a target resolution of the low-altitude sensing system based on the adjacent two test results.

[0017] In a third aspect, an embodiment of the present application further provides an electronic device, which comprises:

[0018] one or more processors;

[0019] a memory configured to store one or more programs;

[0020] when the one or more programs are executed by the one or more processors, the one or more processors implement the method for performing resolution test on a low-altitude sensing system provided by any embodiment of the present application.

[0021] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for performing resolution test on a low-altitude sensing system provided by any embodiment of the present application.

[0022] In a fifth aspect, an embodiment of the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method for testing resolution of a low-altitude perception system according to any of the embodiments of the present application.

[0023] The technical scheme of the embodiment of the present application is applied to a controller of a test assembly, the test assembly further comprising an unmanned aerial vehicle and a corner reflector, the controller being connected with the unmanned aerial vehicle, and the unmanned aerial vehicle being connected with the corner reflector, so that the corner reflector can move with the unmanned aerial vehicle and the distance between the corner reflector and the unmanned aerial vehicle is kept consistent during the movement. Such design reduces the control difficulty and cost of the test assembly. By obtaining a resolution test request for a low-altitude perception system, adjusting the state of the test assembly based on the resolution test request, determining the current test state of the test assembly, preparing the hardware basis for this test, controlling the test assembly in the current test state to perform resolution test based on the resolution test request, determining the current test result of the low-altitude perception system, determining the current state adjustment mode corresponding to the current test result, and updating the current test state of the test assembly according to the current state adjustment mode and re-performing resolution test until there is a difference between adjacent two test results, which indicates that there is a test result in the adjacent two test results that can accurately identify the respective movement trajectories of the unmanned aerial vehicle and the corner reflector, and determining the target resolution of the low-altitude perception system based on the adjacent two test results, the resolution of the low-altitude perception system is accurately and conveniently tested, the test difficulty and cost are reduced, and the accuracy of resolution calibration is improved.

[0024] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0026] Figure 1 is a flowchart of a method for testing resolution of a low-altitude perception system according to an embodiment of the present application;

[0027] Figure 2 is an example diagram of an included angle according to an embodiment of the present application;

[0028] Figure 3 is a flow chart of a method for testing resolution of a low-altitude sensing system according to an embodiment of the present application;

[0029] Figure 4 is a structural schematic diagram of a device for testing resolution of a low-altitude sensing system according to an embodiment of the present application;

[0030] Figure 5 is a structural schematic diagram of an electronic device for implementing the method for testing resolution of a low-altitude sensing system according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0033] Embodiment one

[0034] Figure 1 A flow chart of a method for testing resolution of a low-altitude sensing system is provided according to an embodiment of the present application. The present embodiment can be applicable to the case of sensing system testing, especially to the case of testing resolution of a low-altitude sensing system. The method can be executed by a device for testing resolution of a low-altitude sensing system, which can be realized in the form of hardware and / or software, and can be configured in an electronic device. As shown in the figure, the method comprises: Figure 1

[0035] S110, obtaining a resolution test request for a low-altitude sensing system. ​

[0036] In the embodiments of the present disclosure, the low-altitude sensing system can be used to monitor, identify and analyze the aircraft, environment and targets in the low-altitude area (generally referring to the range from the ground to 1000 meters in height), so as to realize the all-around sensing and dynamic management of the low-altitude airspace. For example, the low-altitude sensing system can be a low-altitude radar, a 5G-A integrated sensing base station or a multi-sensor fusion sensing system. The resolution test request can be used to start the resolution test operation for the low-altitude sensing system.

[0037] Specifically, the resolution test request for the low-altitude sensing system issued by the user is received to realize obtaining the resolution test request and starting the resolution test for the low-altitude sensing system based on the resolution test request.

[0038] In S120, the state of the test assembly is adjusted based on the resolution test request to determine the current test state of the test assembly.

[0039] In the embodiments of the present disclosure, the test assembly is used to assist the low-altitude sensing system to complete the resolution test. The test assembly can include a controller, an unmanned aerial vehicle and a corner reflector. The controller is connected with the unmanned aerial vehicle, and the unmanned aerial vehicle is connected with the corner reflector. The corner reflector can be a passive device that enhances the electromagnetic wave reflection ability through a special geometric structure. For example, the corner reflector can use common metal materials, and the size of the corner reflector can be determined according to the reflection cross section and the radio wave band received and transmitted by the sensing device. The low-altitude sensing system is used to sense the moving track of each of the unmanned aerial vehicle and the corner reflector in the test assembly.

[0040] The state adjustment can be used to adjust the relative position relationship between the unmanned aerial vehicle and the corner reflector. The current test state can be a state for indicating the relative position relationship between the unmanned aerial vehicle and the corner reflector. After each test is completed, the adjustment of the test state is performed according to an initialization adjustment mode different from that before the first test.

[0041] Specifically, taking the distance resolution test as an example, in response to the resolution test request, the theoretical distance resolution is calculated using the radar bandwidth of the low-altitude sensing system, and the calculated theoretical distance resolution is taken as the initial length between the unmanned aerial vehicle and the corner reflector to realize the state adjustment of the test assembly, so as to determine the current test state of the test assembly.

[0042] It should be noted that the distance resolution (Range Resolution) represents the minimum distance that the sensing system can distinguish between two targets. If the distance between the two targets is less than the value, the two targets will be regarded as a single target. For example, if the distance resolution of the radar is 1 meter, two targets with a distance of 1.2 meters can be distinguished, and two targets with a distance of 0.5 meters cannot be distinguished.

[0043] As an optional implementation of the embodiments of the present disclosure, the state of the test assembly is adjusted based on the resolution test request, and the current test state of the test assembly is determined, which can specifically include: based on the resolution test request, the length of the rope connecting the unmanned aerial vehicle and the corner reflector in the test assembly is initialized and adjusted, and the distance test state of the test assembly is determined; and / or, based on the resolution test request, the angle between the unmanned aerial vehicle, the perception transceiver device and the corner reflector composed of the perception transceiver device as the vertex is initialized and adjusted, and the angle test state of the test assembly is determined; the low-altitude perception system comprises: a perception transceiver device.

[0044] In the embodiments of the present disclosure, the test assembly further comprises: an electric winch and a rope. The controller can be a small embedded device, which is connected to the unmanned aerial vehicle through the hardware and software interfaces reserved by the unmanned aerial vehicle, mainly obtains the latitude and longitude position information of the unmanned aerial vehicle, and the output end is connected to the electric winch to control the length of the rope. In this fact, both the electric winch and the rope are required to meet the light weight, so that they can be loaded and flown by the unmanned aerial vehicle. The rope has small elasticity and does not change in length due to the acceleration of the unmanned aerial vehicle during the test.

[0045] The distance test state can refer to the initial state of the test assembly in the distance resolution test. The angle test state can refer to the initial state of the test assembly in the angle resolution test. The perception transceiver device can be used to perceive the target (i.e. the unmanned aerial vehicle and the corner reflector) in the test assembly and the moving track of the target. For example, the low-altitude perception system is a low-altitude radar, and the perception transceiver device is a radar; the low-altitude perception system is a 5G-A perception integrated base station, and the perception transceiver device is a perception base station AAU.

[0046] Specifically, in response to the resolution test request, if the distance resolution is tested, a preset initial length is obtained, and the length of the rope connecting the unmanned aerial vehicle and the corner reflector in the test assembly is initialized and adjusted based on the preset initial length, so that the corner reflector is vertically located directly below the unmanned aerial vehicle, and the straight-line distance between the unmanned aerial vehicle and the corner reflector is the preset initial length. At this time, the test assembly is in the distance test state.

[0047] Illustratively, in response to the resolution test request, if the angle resolution is tested, a preset initial angle is obtained, and the angle between the unmanned aerial vehicle, the perception transceiver device and the corner reflector composed of the perception transceiver device as the vertex is initialized and adjusted based on the preset initial angle, so that the corner reflector is vertically located directly below the unmanned aerial vehicle, and the composed angle is the preset initial angle. At this time, the test assembly is in the angle test state.

[0048] wherein, Figure 2An example of the included angle is shown in FIG. 2. The included angle (i.e., the preset angle θ in the figure) is determined as follows, and the determination of the length of the rope adjustment can be realized by the included angle determination method each time the included angle is adjusted by the rope. It is assumed that the UAV is located at point A (three-dimensional coordinates p uav = [x uav ,y uav ,z uav ] T , where x and y represent two directions orthogonal to the horizontal plane, and z represents the vertical direction), the sensing transceiver device is located at point B (three-dimensional coordinates p b = [x b ,y b ,z b ] T ), the corner reflector is connected to the UAV by the rope and the electric winch, and the UAV is suspended at point C (three-dimensional coordinates p c = [x c ,y c ,z c ] T ). The length of the rope AC is fixed, and the test condition is generally no wind or slight wind, so the rope AC is considered to be in the state of a plumb line. The distance l between A and B can be obtained by the positions of the UAV and the sensing transceiver device l = ||p uav -p b ||2, where ||·||2 represents the 2-norm. Figure 2 The horizontal distance d shown in FIG. 1 can also be obtained according to the coordinates of the two Then α = cos -1 (d / l) can be obtained, and the aforementioned included angle θ = 2α = 2cos -1 (d / l) is further obtained.

[0049] It should be noted that the controller internally pre-stores the longitude and latitude information of the sensing transceiver device located at point B (such as the antenna of a 5G-A base station or the transceiver antenna of a low-altitude radar). The controller can also be used to obtain the longitude and latitude position information of the UAV A, so as to obtain the longitude and latitude of the UAV in real time. The two are converted into the Cartesian coordinate system of the Gauss projection or UTM (Universal Transverse Mercator) for example, to obtain the three-dimensional coordinates corresponding to the position information of the two.

[0050] Exemplarily, in response to the resolution test request, if the distance resolution and the angle resolution are tested simultaneously, a preset initial angle and a preset initial length are obtained, and the angle adjustment can be performed first, and the angle is kept unchanged when the angle condition is completed. Within the sensing range of the sensing transceiving device, the horizontal distance between the test assembly and the sensing transceiving device is adjusted, and in order to keep the angle unchanged, the rope needs to be appropriately shortened as the horizontal distance shortens, and vice versa, the rope needs to be appropriately lengthened as the horizontal distance increases, so as to realize the test state adjustment.

[0051] It should be noted that the angle resolution (Angular Resolution) is the minimum angle difference of distinguishing two adjacent targets in the angle dimension by the low-altitude sensing system (such as radar, infrared, optical, etc.), which reflects the resolution ability of the system to the spatial direction.

[0052] S130, based on the resolution test request, control the test assembly in the current test state to perform the resolution test, and determine the current test result of the low-altitude sensing system.

[0053] In the embodiments of the present disclosure, the current test result can refer to the sensing result of the low-altitude sensing system for the unmanned aerial vehicle and the corner reflector in the test assembly in the current test state. For example, the current test result can be a continuous moving track or two continuous moving tracks. A continuous moving track can be understood as a single track, indicating that the sensing transceiving device cannot distinguish the targets (i.e. the unmanned aerial vehicle and the corner reflector) in the current test state.

[0054] Specifically, in response to the resolution test request, a preset test track is obtained, and the test assembly in the current test state is controlled to fly. In the flight process of the test assembly, the low-altitude sensing system senses the test assembly and the flight track of the test assembly, and takes the sensed flight track as the current test result of the low-altitude sensing system. The preset test track is a test assembly flight track set by the user in advance. The flight track can be linear, or can be curved, or can be a track simulating a real flight scene.

[0055] As an optional implementation manner of the embodiments of the present disclosure, based on the resolution test request, the test assembly in the current test state is controlled to perform the resolution test, and the current test result of the low-altitude sensing system is determined, which can specifically include: in response to the resolution test request, based on the preset test track, the test assembly in the current test state is controlled to fly, so that the low-altitude sensing system performs track sensing on the entire flight process; at the end of this flight, the sensing result output by the low-altitude sensing system is obtained as the current test result.

[0056] Specifically, in response to the resolution test request, a preset test trajectory and a preset test speed corresponding to a type of the test resolution are acquired. The test assembly in the current test state is controlled to fly according to the preset test trajectory based on the preset test speed, so that the low-altitude perception system performs target perception and trajectory perception on the entire flight process of the UAV and the corner reflector. At the end of the flight, the perception result output by the low-altitude perception system is acquired as the current test result.

[0057] In S140, a current state adjustment manner corresponding to the current test result is determined, and the current test state of the test assembly is updated according to the current state adjustment manner and the resolution test is re-performed until there is a difference between adjacent two test results.

[0058] In the embodiments of the present disclosure, the current state adjustment manner can be used to provide an effective adjustment basis for test adjustment before the next test. For example, if the current test result is a continuous trajectory, indicating that the distance or angle between the two perceived targets is less than the minimum distance or angle that can be distinguished by the low-altitude perception system, the distance or angle between the two perceived targets needs to be expanded according to a preset step. If the current test result is two continuous trajectories, indicating that the distance or angle between the two perceived targets is greater than or equal to the minimum distance or angle that can be distinguished by the low-altitude perception system, the distance or angle between the two perceived targets needs to be reduced according to a preset step. The preset step can be 10% of the theoretical distance resolution or 10% of the theoretical angle resolution.

[0059] The difference between adjacent two test results can refer to a difference between a previous test result and a current test result. For example, the previous test result is a continuous trajectory, i.e., the UAV and the corner reflector cannot be accurately distinguished, while the current test result is two continuous trajectories, i.e., the UAV and the corner reflector can be accurately distinguished. Or the previous test result is two continuous trajectories, i.e., the UAV and the corner reflector can be accurately distinguished, while the current test result is a continuous trajectory, i.e., the UAV and the corner reflector cannot be distinguished.

[0060] Specifically, the current test result is analyzed to determine a current state adjustment manner corresponding to the current test result. The electric winch is controlled to extend or shorten the rope according to a preset step, so as to update the current test state of the test assembly, and the resolution test is re-performed according to the updated current test state to obtain a corresponding test result, until there is a difference between adjacent two test results.

[0061] As an optional implementation of the embodiments of the present disclosure, the current state adjustment manner corresponding to the current test result is determined, and the current test state of the test assembly is updated and the resolution test is re-performed according to the current state adjustment manner until there is a difference between adjacent two test results, which can specifically include: if the current test result is only one continuous trajectory, the length of the rope connecting the unmanned aerial vehicle and the corner reflector is increased based on a preset adjustment length, and / or the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector is increased based on a preset adjustment angle, to update the current test state of the test assembly and re-perform the resolution test until there is a difference between adjacent two test results; if the current test result is two continuous trajectories, the length of the rope connecting the unmanned aerial vehicle and the corner reflector is reduced based on a preset adjustment length, and / or the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector is reduced based on a preset adjustment angle, to update the current test state of the test assembly and re-perform the resolution test until there is a difference between adjacent two test results.

[0062] The preset adjustment length and the preset adjustment angle can be understood as a preset step length. In the embodiments of the present disclosure, the preset adjustment length can be a preset adjustable length that gradually decreases with the increase of the number of tests. The preset adjustment angle can be a preset adjustable angle that gradually decreases with the increase of the number of tests.

[0063] Specifically, if the current test result is only one continuous trajectory, the length of the rope connecting the unmanned aerial vehicle and the corner reflector is increased by the electric winch according to the preset adjustment length, and / or the rope is elongated by the electric winch according to the preset adjustment angle to increase the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector, so as to update the current test state of the test assembly and re-perform the resolution test until there is a difference between adjacent two test results.

[0064] If the current test result is two continuous trajectories, the length of the rope connecting the unmanned aerial vehicle and the corner reflector is shortened by the electric winch according to the preset adjustment length, and / or the rope is shortened by the electric winch according to the preset adjustment angle to reduce the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector, so as to update the current test state of the test assembly and re-perform the resolution test until there is a difference between adjacent two test results.

[0065] Exemplarily, whether the test number reaches a preset test end number can be taken as a signal for ending the loop test. Before the current test number reaches the preset test end number, if a difference exists between the adjacent two test results, the rope is reversely adjusted based on the preset adjustment length and / or the preset adjustment angle, so as to achieve the purpose of narrowing the test state interval between the two test states corresponding to the adjacent difference test results through repeated adjustment, effectively narrow the resolution confirmation interval, and further improve the accuracy of the target resolution determination.

[0066] In S150, the target resolution of the low-altitude awareness system is determined based on the adjacent two test results.

[0067] In the embodiments of the present disclosure, the target resolution can be at least one of a distance resolution and an angle resolution.

[0068] Specifically, the test states corresponding to the adjacent two test results are determined, and the distance resolution of the low-altitude awareness system is determined based on the median of the rope lengths corresponding to the two test states, and the angle resolution of the low-altitude awareness system is determined based on the median of the included angles corresponding to the two test states.

[0069] As an optional implementation manner of the embodiments of the present disclosure, the target resolution of the low-altitude awareness system is determined based on the adjacent two test results, which can specifically include: if the adjacent two test results are from one continuous trajectory to two continuous trajectories, the rope length connecting the unmanned aerial vehicle and the corner reflector in the current test state is determined as the distance resolution of the low-altitude awareness system, and / or the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector in the current test state is determined as the angle resolution of the low-altitude awareness system; if the adjacent two test results are from two continuous trajectories to one continuous trajectory, the rope length connecting the unmanned aerial vehicle and the corner reflector in the last test state is determined as the distance resolution of the low-altitude awareness system, and / or the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector in the last test state is determined as the angle resolution of the low-altitude awareness system.

[0070] In the embodiments of the present disclosure, when the preset test end number is large enough, the test result with two continuous trajectories in the adjacent two test results can be taken as the test result for determining the target resolution. The advantage of such setting is that the target resolution of the low-altitude awareness system can be accurately determined within the error allowable range, without the need to perform operations in combination with the adjacent two test results, avoiding the operation result being one continuous trajectory, i.e., unable to distinguish two targets, and further improving the target resolution determination accuracy.

[0071] The technical scheme of the embodiment of the present application is applied to a controller of a test assembly, the test assembly further comprises an unmanned aerial vehicle and a corner reflector, the controller is connected with the unmanned aerial vehicle, the unmanned aerial vehicle is connected with the corner reflector, so that the corner reflector can move along with the unmanned aerial vehicle, and the distance between the corner reflector and the unmanned aerial vehicle is kept consistent during the movement. Such design reduces the control difficulty and cost of the test assembly. By obtaining a resolution test request for the low-altitude perception system; based on the resolution test request, the state of the test assembly is adjusted to determine the current test state of the test assembly, and the hardware basis is prepared for this test; based on the resolution test request, the test assembly in the current test state is controlled to perform resolution test to determine the current test result of the low-altitude perception system; the current state adjustment mode corresponding to the current test result is determined, and the current test state of the test assembly is updated according to the current state adjustment mode and the resolution test is performed again until there is a difference between adjacent two test results, which indicates that there is a test result in the adjacent two test results that can accurately identify the respective movement trajectories of the unmanned aerial vehicle and the corner reflector, and the target resolution of the low-altitude perception system is determined based on the adjacent two test results, so that the resolution test of the low-altitude perception system is accurately and conveniently performed, the test difficulty and cost are reduced, and the accuracy of the resolution calibration is improved.

[0072] It should be noted that the test is performed by using a single unmanned aerial vehicle in combination with a rope and a corner reflector during flight, which has the following advantages: only a single aerial vehicle is needed to complete the resolution test, without the need to use two unmanned aerial vehicles, thereby reducing the aerial vehicle purchase / rental cost compared with the present method; the combination of a single aerial vehicle and a reflecting device can effectively avoid aerial vehicle collision caused by signal interference and operation errors during flight; only one aerial vehicle is needed for testing, which can effectively reduce the manpower and time cost of the unmanned aerial vehicle operator; the use of a rope to connect the aerial vehicle and the reflecting device can ensure that the distance between the two tested targets during the test flight is consistent with the preset distance.

[0073] Embodiment Two

[0074] Figure 3 A flowchart of a method for testing the resolution of a low-altitude perception system is provided for the second embodiment of the present application. Based on the above-mentioned embodiments, the process of obtaining a resolution test request for the low-altitude perception system is described in detail. The explanations of the same or corresponding terms in the above-mentioned embodiments are not repeated here. As shown in Figure 3 The method comprises:

[0075] S310, obtaining a test trajectory generation request for the low-altitude perception system; the test trajectory generation request comprises a test trajectory generation instruction and a resolution test instruction.

[0076] In the embodiments of the present disclosure, the test trajectory generation instruction can be used to start the generation operation of the test component movement trajectory in the resolution test process for the low-altitude perception system. The resolution test instruction can be used to start the resolution test operation for the low-altitude perception system.

[0077] Specifically, the test trajectory generation request for the low-altitude perception system issued by the user is received to realize obtaining the test trajectory generation request and starting the generation of the test component movement trajectory in the resolution test process based on the resolution test request.

[0078] S320, in response to the test trajectory generation instruction, determining environment information of an environment where the low-altitude perception system is located.

[0079] In the embodiments of the present disclosure, the environment information can be used to quantify the interference degree and the open degree of the environment where the low-altitude perception system is located. For example, the environment information can include environment clutter and noise point spatial distribution, etc.

[0080] Exemplarily, taking the low-altitude perception system as a low-altitude radar for example, before the test, in response to the test trajectory generation instruction, data collection of the perception device is performed in the field environment where the device is deployed, and the environment clutter and noise point spatial distribution collected by the perception device are obtained. The three-dimensional space region centered on the radar is divided into grids, and the cumulative number of clutters and noise points obtained by the perception system in each cube is counted. In the subsequent flight test process, this statistical information is used as an important reference to avoid the area where the test route is set in the grid where the clutters and noise points are more.

[0081] S330, determining a target test trajectory of the test component based on a preset region division manner, the environment information and a preset test trajectory condition.

[0082] In the embodiments of the present disclosure, the preset region division manner can be a region division manner in which the region size is preset. For example, the space is divided into a plurality of cube regions, i.e. grids, with a preset size in length, width and height by using three axes of a rectangular coordinate system. The preset test trajectory condition can be a condition that the region in which the cumulative number of clutters and noise points is lower than a preset number threshold can be used to form a trajectory. The target test trajectory can be included in the resolution test request to replace the general test trajectory in the previous resolution test process, i.e. the preset test trajectory.

[0083] Exemplarily, taking the perception device center as the origin, the space is divided into cubes with a length, width and height of 10 m by using three axes of a rectangular coordinate system, i.e. horizontal right, horizontal forward and plumb upward. Under the condition that there are few moving targets in the airspace, such as birds and other unmanned aerial vehicles, data collection is performed for a period of time, and the coordinates (x i ,y i ,zi )Count the number of scattered points in each grid, and take the grid set with the least cumulative scattered points in the main beam coverage area of the perception device as the test area, and set the flight route in this area.

[0084] S340, based on the resolution test instruction and the target test trajectory, generate a resolution test request for the low-altitude perception system.

[0085] Specifically, the resolution test request for the low-altitude perception system is generated by using the resolution test instruction and the target test trajectory, so that the resolution test operation for the low-altitude perception system is subsequently started according to the resolution test instruction in the resolution test request, and the test component is controlled to fly during the test according to the target test trajectory in the resolution test request.

[0086] It should be noted that the resolution test request can also include specific test information, such as test trajectory, test adjustment length, test adjustment angle, and test adjustment times. When the resolution test request does not provide specific information, the test is performed according to the pre-set default value (such as the preset test trajectory).

[0087] S350, based on the resolution test request, adjust the state of the test component, and determine the current test state of the test component.

[0088] S360, based on the resolution test request, control the test component in the current test state to perform the resolution test, and determine the current test result of the low-altitude perception system.

[0089] S370, determine the current state adjustment mode corresponding to the current test result, and update the current test state of the test component according to the current state adjustment mode and re-perform the resolution test until there is a difference between adjacent two test results.

[0090] S380, determine the target resolution of the low-altitude perception system based on the adjacent two test results.

[0091] The technical scheme of the embodiment of the present application comprises the following steps: obtaining a test track generation request for a low-altitude sensing system; the test track generation request comprises a test track generation instruction and a resolution test instruction; in response to the test track generation instruction, environment information of an environment where the low-altitude sensing system is located is determined, so that the influence of false alarm targets on resolution test is avoided by considering the interference clutter in the actual test environment before the resolution test of the low-altitude sensing system is performed; based on a preset region division manner, the environment information and a preset test track condition, a target test track of a test component is determined, so that the resolution test region is optimized by accumulating the collected data for a period of time, combining the division of the grid and the statistical information of the echo scatter point space distribution, and the test success rate is improved; and based on the resolution test instruction and the target test track, a resolution test request for the low-altitude sensing system is generated.

[0092] On the basis of the above technical scheme, the low-altitude sensing system with calibrated target resolution can better cooperatively complete regional monitoring and target sensing. For example, it is difficult to guarantee the monitoring coverage area and target sensing positioning accuracy by relying on a single or single type sensor for low-altitude flight target monitoring, and therefore the solution is developing in the direction of multi-source and heterogeneous data fusion. Different sensor fusion usually adopts Kalman filtering and its extended form, particle filtering and other methods, and in this process, it is necessary to obtain the sensing positioning accuracy (or confidence) of each sensor. After the sensing positioning accuracy (i.e. target resolution) is tested and obtained, the present application can use this parameter as a key parameter of the later fusion algorithm, and improve the sensing positioning capability of multi-source fusion.

[0093] Optionally, the embodiment of the present application also provides an optional method for testing the resolution of a low-altitude sensing system, which comprises the following steps: (1) the controller internally pre-stores the latitude and longitude information of the low-altitude sensing system transceiver device (such as the antenna of a 5G-A base station or the transceiver antenna of a low-altitude radar); (2) the latitude and longitude of the unmanned aerial vehicle are obtained in real time, and the two are converted into a rectangular coordinate system such as Gauss projection or UTM (Universal Transverse Mercator); (3) the two coordinate systems are compared, and the distance between the unmanned aerial vehicle and the low-altitude sensing system transceiver device is calculated; (4) if the distance resolution test of the low-altitude sensing device is performed, the length of the rope is gradually adjusted from the theoretical distance resolution, and if the angle resolution test is performed, the length of the rope is kept unchanged; and (5) whether the two tracks corresponding to the unmanned aerial vehicle and the corner reflector can be obtained is judged by the track result obtained through the data processing of the sensing device.

[0094] The unmanned aerial vehicle and the rope can be connected by using a winch, so that the length of the rope can be conveniently adjusted. The length of the rope when it is fully stretched during flight is the preset test distance, and will not change due to the swinging of the rope.

[0095] To determine the critical range resolution of the low-altitude sensing system, i.e., the range resolution within the target resolution, a corner reflector is mounted below the unmanned aerial vehicle (UAV) and kept approximately collinear with the sensing transceiver. In practice, the sensing transceiver is oriented vertically upwards, and the UAV with the corner reflector flies in a plumb line. The theoretical range resolution is calculated using radar bandwidth and used as the initial length of the rope. This rope is then smoothly increased or decreased in pre-set increments (e.g., 10% of the range resolution). After each adjustment, if the sensing data can distinguish the trajectories of the corner reflector and the UAV, the rope can be shortened; otherwise, the rope length is increased until the critical length of the rope is found, which is the range resolution of the sensing system.

[0096] When determining the critical angular resolution of the system, the cable length is first set to a fixed value based on the theoretical parameters of the sensing device, ensuring that the radial distances of the UAV and the corner reflector from the transceiver are equal. Taking 5G-A or radar as an example, the initial value of the angular resolution can be determined by the width of the transmitted sensing beam. The UAV and corner reflector combination is then translated along the direction approaching or moving away from the sensing device, and the trajectory imaging of the corner reflector and the aircraft is continuously monitored to see if there is a conversion between single track and double track; the angle between the UAV, the sensing transceiver, and the corner reflector is calculated from the data at these conversion points, which is the critical angular resolution of the system.

[0097] The following are embodiments of an apparatus for testing the resolution of a low-altitude sensing system provided in this invention. This apparatus and the methods for testing the resolution of a low-altitude sensing system described in the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the apparatus for testing the resolution of a low-altitude sensing system, please refer to the embodiments of the methods for testing the resolution of a low-altitude sensing system described above.

[0098] Example 3

[0099] Figure 4 This is a schematic diagram of a device for performing resolution testing on a low-altitude sensing system, provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes: a resolution test request acquisition module 410, a current test status determination module 420, a current test result determination module 430, a current test status update module 440, and a target resolution determination module 450.

[0100] The resolution test request acquisition module 410 is configured to acquire a resolution test request for the low-altitude perception system.

[0101] The technical scheme of the embodiment of the application is applied to a controller of a test assembly, the test assembly further includes an unmanned aerial vehicle and a corner reflector, the controller is connected with the unmanned aerial vehicle, the unmanned aerial vehicle is connected with the corner reflector, so that the corner reflector can move along with the unmanned aerial vehicle, and the distance between the corner reflector and the unmanned aerial vehicle is kept consistent during the movement. Such a design reduces the control difficulty and cost of the test assembly. By acquiring a resolution test request for the low-altitude perception system, adjusting the state of the test assembly based on the resolution test request, determining the current test state of the test assembly, preparing the hardware basis for this test, controlling the test assembly in the current test state to perform resolution test based on the resolution test request, determining the current test result of the low-altitude perception system, determining the current state adjustment mode corresponding to the current test result, updating the current test state of the test assembly according to the current state adjustment mode and performing resolution test again until there is a difference between adjacent two test results, which indicates that there is a test result in the adjacent two test results that can accurately identify the respective movement trajectories of the unmanned aerial vehicle and the corner reflector, and determining the target resolution of the low-altitude perception system based on the adjacent two test results, the resolution test of the low-altitude perception system is accurately and conveniently performed, the test difficulty and cost are reduced, and the accuracy of resolution calibration is improved.

[0102] On the basis of the above technical scheme, the resolution test request acquisition module 410 is specifically configured to acquire a test trajectory generation request for the low-altitude perception system; the test trajectory generation request includes a test trajectory generation instruction and a resolution test instruction; in response to the test trajectory generation instruction, environment information of an environment in which the low-altitude perception system is located is determined; based on a preset region division manner, the environment information and a preset test trajectory condition, a target test trajectory of the test assembly is determined; based on the resolution test instruction and the target test trajectory, the resolution test request for the low-altitude perception system is generated.

[0103] On the basis of the above technical solutions, the current test state determination module 420 is specifically configured to: based on the resolution test request, initialize and adjust the length of the rope connecting the unmanned aerial vehicle and the corner reflector in the test component, to determine the distance test state of the test component; and / or, based on the resolution test request, initialize and adjust the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector with the perception transceiver device as the vertex, to determine the angle test state of the test component; and the low-altitude perception system comprises the perception transceiver device.

[0104] On the basis of the above technical solutions, the current test result determination module 430 is specifically configured to: in response to the resolution test request, based on the preset test trajectory, control the test component in the current test state to fly, so that the low-altitude perception system performs trajectory perception on the entire flight process; and at the end of this flight, obtain the perception result output by the low-altitude perception system as the current test result.

[0105] On the basis of the above technical solutions, the current test state updating module 440 is specifically configured to: if the current test result is only one continuous trajectory, based on a preset adjustment length, increase the length of the rope connecting the unmanned aerial vehicle and the corner reflector, and / or based on a preset adjustment angle, increase the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector, to update the current test state of the test component and re-perform the resolution test, until there is a difference between adjacent two test results; if the current test result is two continuous trajectories, based on a preset adjustment length, decrease the length of the rope connecting the unmanned aerial vehicle and the corner reflector, and / or based on a preset adjustment angle, decrease the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector, to update the current test state of the test component and re-perform the resolution test, until there is a difference between adjacent two test results.

[0106] On the basis of the above technical solutions, the target resolution determination module 450 is specifically configured to: if the adjacent two test results change from one continuous trajectory to two continuous trajectories, the length of the rope connecting the unmanned aerial vehicle and the corner reflector in the current test state is determined as the distance resolution of the low-altitude perception system, and / or the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector in the current test state is determined as the angle resolution of the low-altitude perception system; if the adjacent two test results change from two continuous trajectories to one continuous trajectory, the length of the rope connecting the unmanned aerial vehicle and the corner reflector in the last test state is determined as the distance resolution of the low-altitude perception system, and / or the included angle formed by the unmanned aerial vehicle, the perception transceiver device and the corner reflector in the last test state is determined as the angle resolution of the low-altitude perception system.

[0107] The device for testing resolution of a low-altitude sensing system provided by the embodiment of the present application can execute the method for testing resolution of a low-altitude sensing system provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the method for testing resolution of a low-altitude sensing system.

[0108] It is worth noting that in the above-mentioned embodiments of testing resolution of a low-altitude sensing system, each unit and module is only divided according to the function logic, but is not limited to the above-mentioned division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for the convenience of mutual differentiation, and are not used to limit the protection scope of the present application.

[0109] Embodiment four

[0110] Figure 5 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0111] As shown in Figure 5 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected with the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected with each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0112] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0113] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the method of testing resolution of a low-altitude perception system.

[0114] In some embodiments, the method of testing resolution of a low-altitude perception system can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the method of testing resolution of a low-altitude perception system described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the method of testing resolution of a low-altitude perception system by any other appropriate means, such as by means of firmware.

[0115] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0116] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a remote machine or entirely on a remote machine or server.

[0117] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0118] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0119] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0120] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0121] The embodiment of the present application further provides a computer program product comprising a computer program which, when executed by a processor, implements the method for testing resolution of a low-altitude perception system according to any of the embodiments of the present application.

[0122] The computer program code implementing the present application can be written in one or more programming languages or combinations of languages including object oriented languages such as Java, Smalltalk, C++ or conventional procedural programming languages such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). The program product of the present application and the method for testing resolution of a low-altitude perception system disclosed in the embodiments of the present application belong to the same inventive concept, and thus will not be described here.

[0123] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps recited in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0124] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of resolution testing a low altitude awareness system, the method comprising: The method is applied to a controller of a test assembly, the test assembly further comprising a UAV and a corner reflector, the controller being connected with the UAV, the UAV being connected with the corner reflector, and the method comprising: obtaining a resolution test request for a low-altitude perception system; adjusting the state of the test assembly based on the resolution test request to determine a current test state of the test assembly; controlling the test assembly in the current test state to perform a resolution test based on the resolution test request to determine a current test result of the low-altitude perception system; determining a current state adjustment mode corresponding to the current test result, and updating the current test state of the test assembly according to the current state adjustment mode and re-performing the resolution test until there is a difference between adjacent two test results; determining a target resolution of the low-altitude perception system based on the adjacent two test results.

2. The method of claim 1, wherein, The obtaining of the resolution test request for the low-altitude perception system comprises: obtaining a test trajectory generation request for the low-altitude perception system; the test trajectory generation request comprising a test trajectory generation instruction and a resolution test instruction; determining environmental information of an environment in which the low-altitude perception system is located in response to the test trajectory generation instruction; determining a target test trajectory of the test assembly based on a preset region division mode, the environmental information, and a preset test trajectory condition; generating the resolution test request for the low-altitude perception system based on the resolution test instruction and the target test trajectory.

3. The method of claim 1, wherein, The adjusting of the state of the test assembly based on the resolution test request to determine the current test state of the test assembly comprises: initially adjusting the length of a rope connected between the UAV and the corner reflector in the test assembly based on the resolution test request to determine a distance test state of the test assembly; and / or, initially adjusting an included angle formed by the UAV, a perception transceiver device, and the corner reflector with the perception transceiver device as a vertex based on the resolution test request to determine an angle test state of the test assembly; the low-altitude perception system comprising the perception transceiver device.

4. The method of claim 1, wherein, The controlling of the test assembly in the current test state to perform the resolution test based on the resolution test request to determine the current test result of the low-altitude perception system comprises: controlling the test assembly in the current test state to fly based on a preset test trajectory in response to the resolution test request, so that the low-altitude perception system performs trajectory perception during the entire flight process; obtaining a perception result output by the low-altitude perception system as the current test result at the end of the flight.

5. The method of claim 1, wherein, The determining of the current state adjustment mode corresponding to the current test result, and the updating of the current test state of the test assembly according to the current state adjustment mode and the re-performing of the resolution test until there is a difference between adjacent two test results comprise: If the current test result is one continuous track, the length of the rope connecting the unmanned aerial vehicle and the corner reflector is increased based on a preset adjustment length, and / or the angle between the unmanned aerial vehicle, the sensing transceiver device, and the corner reflector is increased based on a preset adjustment angle, to update the current test state of the test assembly and perform resolution testing again until there is a difference between adjacent test results. If the current test result is two continuous tracks, the length of the rope connecting the unmanned aerial vehicle and the corner reflector is decreased based on a preset adjustment length, and / or the angle between the unmanned aerial vehicle, the sensing transceiver device, and the corner reflector is decreased based on a preset adjustment angle, to update the current test state of the test assembly and perform resolution testing again until there is a difference between adjacent test results.

6. The method of claim 1, wherein, The method further includes: If the adjacent test results change from one continuous track to two continuous tracks, the length of the rope connecting the unmanned aerial vehicle and the corner reflector in the current test state is determined as the distance resolution of the low-altitude sensing system, and / or the angle between the unmanned aerial vehicle, the sensing transceiver device, and the corner reflector in the current test state is determined as the angle resolution of the low-altitude sensing system. If the adjacent test results change from two continuous tracks to one continuous track, the length of the rope connecting the unmanned aerial vehicle and the corner reflector in the previous test state is determined as the distance resolution of the low-altitude sensing system, and / or the angle between the unmanned aerial vehicle, the sensing transceiver device, and the corner reflector in the previous test state is determined as the angle resolution of the low-altitude sensing system.

7. An apparatus for resolution testing of a low altitude awareness system, characterized by The apparatus includes: a resolution test request obtaining module configured to obtain a resolution test request for a low-altitude sensing system; a current test state determining module configured to determine a current test state of a test assembly based on the resolution test request; a current test result determining module configured to determine a current test result of the low-altitude sensing system based on the resolution test request; a current test state updating module configured to determine a current state adjustment manner corresponding to the current test result, and update the current test state of the test assembly according to the current state adjustment manner and perform resolution testing again until there is a difference between adjacent test results; a target resolution determining module configured to determine a target resolution of the low-altitude sensing system based on the adjacent test results.

8. An electronic device, comprising: The electronic device includes: one or more processors; a memory configured to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the method for performing resolution testing on a low-altitude sensing system according to any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program, when executed by a processor, implements the method for performing resolution testing on a low-altitude sensing system according to any one of claims 1-6.

10. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the method of testing resolution of a low altitude awareness system as claimed in any of claims 1-6.

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