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

Abstract

Embodiments of the present application disclose a method, device and equipment for resolution testing of a low-altitude sensing system. The method comprises: obtaining a resolution testing request for the low-altitude sensing system; adjusting the state of a test component based on the resolution testing request, and determining the current test state of the test component; controlling the test component in the current test state to perform resolution testing based on the resolution testing request, and determining the current test result of the low-altitude sensing system; determining the current state adjustment mode corresponding to the current test result, and updating the current test state of the test component according to the current state adjustment mode and re-performing resolution testing until there is a difference between adjacent two test results; and determining the target resolution of the low-altitude sensing system based on the adjacent two test results. Through the technical solution of the embodiments of the present application, the resolution of the low-altitude sensing system can be accurately and conveniently tested, the testing cost is reduced, and the accuracy of resolution calibration is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of system parameter calibration technology, and in particular to a method, apparatus and equipment for resolution testing of low-altitude sensing systems. Background Technology

[0002] With technological advancements, low-altitude sensing systems (LAS) are widely used in areas such as drone surveillance, airspace management, and environmental monitoring. Target perception resolution is one of the key performance indicators for LAS. Therefore, accurately calibrating the resolution of a LAS is crucial for selecting one that meets user needs.

[0003] Currently, static target testing is commonly used to calibrate the resolution of low-altitude sensing systems. This method uses static targets at a fixed distance for testing. While simple and easy to implement, this method cannot simulate dynamic flight environments, leading to discrepancies between test results and actual application scenarios, and thus failing to achieve accurate system resolution calibration. Simulation testing is also frequently used to calibrate the resolution of low-altitude sensing systems. This method uses computer simulations to model the performance of the low-altitude sensing system. Although this method is low-cost and highly repeatable, differences can exist between simulation results and actual hardware performance, resulting in discrepancies between test results and actual application scenarios, and again failing to achieve accurate system resolution calibration. Summary of the Invention

[0004] This invention provides a method, apparatus, and device for resolution testing of low-altitude sensing systems, enabling accurate and convenient resolution testing of low-altitude sensing systems, reducing testing difficulty and cost, and improving the accuracy of resolution calibration.

[0005] In a first aspect, embodiments of the present invention provide a method for resolution testing of a low-altitude sensing system, applied in a controller of a test component, the test component further including an unmanned aerial vehicle (UAV) and a corner reflector, the controller being connected to the UAV, and the UAV being connected to the corner reflector, comprising:

[0006] Obtain a resolution test request for the low-altitude sensing system;

[0007] Based on the resolution test request, the state of the test component is adjusted to determine the current test state of the test component;

[0008] Based on the resolution test request, control the test component currently in the test state to perform a resolution test and determine the current test result of the low-altitude perception system;

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

[0010] The target resolution of the low-altitude sensing system is determined based on the results of the two consecutive tests.

[0011] Secondly, embodiments of the present invention also provide an apparatus for performing resolution testing on a low-altitude sensing system, the apparatus comprising:

[0012] The resolution test request acquisition module is used to acquire resolution test requests for low-altitude sensing systems.

[0013] The current test status determination module is used to adjust the status of the test component based on the resolution test request and determine the current test status of the test component.

[0014] The current test result determination module is used to control the test component in the current test state to perform resolution testing based on the resolution test request, and to determine the current test result of the low-altitude perception system.

[0015] The current test status update module is used to determine the current status adjustment method corresponding to the current test result, update the current test status of the test component according to the current status adjustment method, and re-perform the resolution test until there is a difference between two adjacent test results;

[0016] The target resolution determination module is used to determine the target resolution of the low-altitude sensing system based on the results of two consecutive tests.

[0017] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising:

[0018] One or more processors;

[0019] Memory, used 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 testing on a low-altitude sensing system as provided in any embodiment of the present invention.

[0021] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for performing resolution testing on a low-altitude sensing system as provided in any embodiment of the present invention.

[0022] Fifthly, embodiments of the present invention provide a computer program product, including a computer program that, when executed by a processor, implements the method for performing resolution testing on a low-altitude sensing system as provided in any embodiment of the present invention.

[0023] The technical solution of this invention is applied to the controller of a test component. The test component further includes an unmanned aerial vehicle (UAV) and a corner reflector. The controller is connected to the UAV, and the UAV is connected to the corner reflector, thereby enabling the corner reflector to follow the movement of the UAV while maintaining a consistent distance between the corner reflector and the UAV during movement. This design reduces the control difficulty and cost of the test component. By acquiring a resolution test request for the low-altitude sensing system; adjusting the state of the test component based on the resolution test request to determine the current test state of the test component, thus preparing the hardware foundation for this test; controlling the test component in the current test state to perform a resolution test based on the resolution test request to determine the current test result of the low-altitude sensing system; determining the current state adjustment method corresponding to the current test result, and updating the current test state of the test component according to the current state adjustment method and re-performing the resolution test until there is a difference between two adjacent test results, indicating that there is a test result in two adjacent test results that can accurately identify the movement trajectory of the UAV and the corner reflector, and determining the target resolution of the low-altitude sensing system based on the two adjacent test results, the resolution test of the low-altitude sensing system can be performed accurately and conveniently, reducing the test difficulty and test cost, and improving the accuracy of resolution calibration.

[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a method for performing resolution testing on a low-altitude sensing system according to Embodiment 1 of the present invention;

[0027] Figure 2 This is an example diagram of an included angle according to Embodiment 1 of the present invention;

[0028] Figure 3 This is a flowchart of a method for performing resolution testing on a low-altitude sensing system according to Embodiment 2 of the present invention;

[0029] 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.

[0030] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the method for performing resolution testing on a low-altitude sensing system according to an embodiment of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] Figure 1 This is a flowchart illustrating a method for performing resolution testing on a low-altitude sensing system, as provided in Embodiment 1 of the present invention. This embodiment is applicable to sensing system testing, particularly to performing resolution testing on low-altitude sensing systems. The method can be executed by a device for performing resolution testing on a low-altitude sensing system. This device can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes:

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

[0036] In this embodiment, the low-altitude sensing system can be used to monitor, identify, and analyze aircraft, the environment, and targets in low-altitude areas (typically referring to the range from the ground to 1000 meters in altitude) in real time, thereby achieving comprehensive perception and dynamic management of 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. A resolution test request can be used to initiate a resolution test operation for the low-altitude sensing system.

[0037] Specifically, the system receives a resolution test request from the user for the low-altitude sensing system, and then initiates a resolution test for the low-altitude sensing system based on the resolution test request.

[0038] S120. Adjust the state of the test component based on the resolution test request to determine the current test state of the test component.

[0039] In this embodiment, a test component assists the low-altitude sensing system in completing resolution testing. The test component may include a controller, an unmanned aerial vehicle (UAV), and a corner reflector. The controller is connected to the UAV, and the UAV is connected to the corner reflector. The corner reflector can be a passive device that enhances electromagnetic wave reflection through a special geometric structure. For example, the corner reflector can use common metal materials, and its size can be determined based on the reflective cross-section and the radio wave bands transmitted and received by the sensing device. The low-altitude sensing system is used to sense the respective movement trajectories of the UAV and the corner reflector within the test component.

[0040] The state adjustment function can be used to adjust the relative positional relationship between the UAV and the corner reflector. The current test state can be a state that indicates the relative positional relationship between the UAV and the corner reflector. After each test, the test state will be adjusted according to an initialization adjustment method different from that before the first test.

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

[0042] It should be noted that range resolution represents the minimum distance between two targets that a sensing system can distinguish. If the distance between two targets is less than this value, they will be regarded as a single target. For example, if the radar's range resolution is 1 meter, then two targets 1.2 meters apart can be distinguished, while two targets 0.5 meters apart will not be distinguishable.

[0043] As an optional implementation of this disclosure, adjusting the state of the test component based on the resolution test request to determine the current test state of the test component may specifically include: initializing the adjustment of the rope length connecting the UAV and the corner reflector in the test component based on the resolution test request to determine the distance test state of the test component; and / or, initializing the adjustment of the included angle formed by the UAV, the sensing transceiver, and the corner reflector with the sensing transceiver as the vertex based on the resolution test request to determine the angle test state of the test component; the low-altitude sensing system includes: the sensing transceiver.

[0044] In this embodiment, the test components further include an electric winch and a rope. The controller can be a small embedded device that connects to the UAV (such as a drone) via a pre-existing hardware and software interface. It primarily acquires the UAV's latitude and longitude location information, and its output is connected to the electric winch to control the rope length. In this example, both the electric winch and the rope are required to be lightweight so that they can be carried by the UAV during flight. The rope has low elasticity so that its length does not change due to the UAV's acceleration during the test.

[0045] Distance test state refers to the initial state of the test component during distance resolution testing. Angle test state refers to the initial state of the test component during angular resolution testing. Sensing transceivers can be used to sense targets (i.e., UAVs and corner reflectors) and their movement trajectories within the test component. For example, if the low-altitude sensing system is a low-altitude radar, then the sensing transceiver is the radar; if the low-altitude sensing system is a 5G-A integrated sensing base station, then the sensing transceiver is the sensing base station AAU.

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

[0047] For example, in response to a resolution test request, if the angle resolution is to be tested, a preset initial angle is obtained, and the angle formed by the UAV, the sensing transceiver and the corner reflector with the sensing transceiver as the vertex is initialized and adjusted based on the preset initial angle, so that the corner reflector is perpendicular to the UAV directly below it, and the angle formed is the preset initial angle. At this time, the test component is in the angle test state.

[0048] in, Figure 2An example diagram of the included angle is given, see Figure 2. The included angle (i.e., the preset angle θ in the diagram) is determined as follows, and the method of determining the included angle can be used to determine the rope adjustment length each time the included angle is adjusted using the rope. Assume the unmanned aerial vehicle is located at point A (three-dimensional coordinates p). uav =x uav ,y uav ,z uav ] T Where x and y represent two orthogonal directions on the horizontal plane, and z represents the vertical direction, the sensing transceiver is located at B (three-dimensional coordinates p). b =[x b ,y b ,z b ] T The corner reflector is connected to an electric winch via a rope, and the unmanned aerial vehicle is suspended at C (three-dimensional coordinates p). c =[x c ,y c ,z c ] T Point A, with a fixed length of rope AC, and under test conditions generally no wind or a light breeze, rope AC is considered to be approximately plumb. The distance l between A and B can be obtained through the position of the unmanned aerial vehicle and sensing transceiver equipment: l = ||p uav -p b ||2, where ||·||2 represents the 2-norm. Figure 2 The horizontal distance d shown can also be obtained from the coordinates of the two. Then we can get α = cos -1 (d / l), thus obtaining the aforementioned included angle θ = 2α = 2cos -1 (d / l).

[0049] It should be noted that the controller pre-stores the latitude and longitude information of the sensing transceiver device located at 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 acquire the latitude and longitude position information of the unmanned aerial vehicle (UAV) A, so as to obtain the UAV's latitude and longitude in real time. By converting both to a Cartesian coordinate system, such as Gaussian projection or UTM (Universal Transverse Mercator), the three-dimensional coordinates corresponding to the position information of both are obtained.

[0050] For example, in response to a resolution test request, if both distance resolution and angular resolution are tested simultaneously, a preset initial angle and a preset initial length are obtained. Angle adjustment can be performed first, and the angle remains constant once the angle conditions are met. Within the sensing range of the transceiver device, the horizontal distance between the test component and the transceiver device is adjusted. To maintain a constant angle, the rope needs to be shortened appropriately as the horizontal distance decreases, and conversely, the rope needs to be lengthened appropriately as the horizontal distance increases, thereby adjusting the test state.

[0051] It should be noted that angular resolution is the minimum angular difference that a low-altitude sensing system (such as radar, infrared, optical, etc.) can distinguish between two adjacent targets in the angular dimension, reflecting the system's ability to resolve spatial orientation.

[0052] S130. Based on the resolution test request, control the test component currently in the test state to perform a resolution test and determine the current test result of the low-altitude perception system.

[0053] In this embodiment of the disclosure, the current test result may refer to the perception result of the low-altitude sensing system on the unmanned aerial vehicle (UAV) and corner reflector in the test components under the current test state. For example, the current test result may be a continuous movement trajectory or two continuous movement trajectories. A continuous movement trajectory can be understood as a single trajectory, indicating that the sensing transceiver cannot distinguish the target (i.e., the UAV and corner reflector) in the current test state.

[0054] Specifically, in response to a resolution test request, a preset test trajectory is acquired, and the test component in the current test state is controlled to fly. During the flight of the test component, the low-altitude perception system senses the test component and its flight trajectory, and uses the sensed flight trajectory as the current test result of the low-altitude perception system. The preset test trajectory is the flight trajectory of the test component pre-set by the user. The flight trajectory can be a straight line, a curve, or a trajectory simulating a real flight scenario.

[0055] As an optional implementation of this disclosure, the test component in the current test state is controlled to perform a resolution test based on a resolution test request to determine the current test result of the low-altitude perception system. Specifically, this may include: responding to the resolution test request, controlling the test component in the current test state to fly based on a preset test trajectory so that the low-altitude perception system can perform trajectory perception throughout the flight process; and at the end of this flight, obtaining the perception result output by the low-altitude perception system as the current test result.

[0056] Specifically, in response to a resolution test request, a corresponding preset test trajectory and preset test rate are obtained based on the type of test resolution. Based on the preset test rate, the test component in the current test state is controlled to fly according to the preset test trajectory, enabling the low-altitude perception system to perform target and trajectory perception throughout the entire flight process of the UAV and corner reflector. At the end of this flight, the perception result output by the low-altitude perception system is acquired as the current test result.

[0057] S140. Determine the current state adjustment method corresponding to the current test result, update the current test state of the test component according to the current state adjustment method, and re-perform the resolution test until there is a difference between two adjacent test results.

[0058] In this embodiment, the current state adjustment method can be used to provide an effective basis for test adjustments before the next test. For example, if the current test result is a continuous trajectory, indicating that the distance or angle between the two sensed targets is less than the minimum distance or angle that the low-altitude sensing system can resolve, then the distance or angle between the two sensed targets needs to be increased according to a preset step size. If the current test result is two continuous trajectories, indicating that the distance or angle between the two sensed targets is greater than or equal to the minimum distance or angle that the low-altitude sensing system can resolve, then the distance or angle between the two sensed targets needs to be decreased according to a preset step size. The preset step size can be 10% of the theoretical distance resolution or 10% of the theoretical angle resolution.

[0059] A difference between two consecutive test results can refer to a discrepancy between the previous and current test results. For example, the previous test result showed a single continuous trajectory, meaning it couldn't accurately distinguish between the UAV and the corner reflector, while the current test result shows two consecutive trajectories, meaning it can accurately distinguish between the UAV and the corner reflector. Or, the previous test result showed two consecutive trajectories, meaning it could accurately distinguish between the UAV and the corner reflector, while the current test result shows a single continuous trajectory, meaning it cannot distinguish between the UAV and the corner reflector.

[0060] Specifically, the current test results are analyzed to determine the corresponding adjustment method for the current state. Based on the adjustment method, the electric winch is controlled to extend or shorten the rope by a preset step size, thereby updating the current test state of the test component. The resolution test is then performed again based on the updated test state to obtain the corresponding test results, until a difference exists between two adjacent test results.

[0061] As an optional implementation of this disclosure, the current state adjustment method corresponding to the current test result is determined, and the current test state of the test component is updated according to the current state adjustment method, and the resolution test is repeated until there is a difference between two adjacent test results. Specifically, this may include: if the current test result is only one continuous trajectory, increasing the length of the rope connecting the UAV and the corner reflector based on a preset adjustment length, and / or increasing the angle formed by the UAV, the sensing transceiver device, and the corner reflector based on a preset adjustment angle, to update the current test state of the test component and repeat the resolution test until there is a difference between two adjacent test results; if the current test result is two continuous trajectories, decreasing the length of the rope connecting the UAV and the corner reflector based on a preset adjustment length, and / or decreasing the angle formed by the UAV, the sensing transceiver device, and the corner reflector based on a preset adjustment angle, to update the current test state of the test component and repeat the resolution test until there is a difference between two adjacent test results.

[0062] The preset adjustment length and preset adjustment angle can be understood as preset step sizes. In this embodiment, the preset adjustment length can be a pre-set adjustable length that gradually decreases with the number of tests. The preset adjustment angle can be a pre-set adjustable angle that gradually decreases with the number of tests.

[0063] Specifically, if the current test result shows only one continuous trajectory, the length of the rope connecting the UAV and the corner reflector is increased by using an electric winch according to a preset adjustment length, and / or the rope is extended by using an electric winch according to a preset adjustment angle to increase the angle formed by the UAV, the sensing transceiver and the corner reflector, thereby updating the current test status of the test components and re-performing the resolution test until there is a difference between two adjacent test results.

[0064] If the current test result is two consecutive trajectories, the length of the rope connecting the UAV 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 angle adjustment to reduce the included angle formed by the UAV, the sensing transceiver and the corner reflector, thereby updating the current test status of the test components and re-performing the resolution test until there is a difference between two adjacent test results.

[0065] For example, the signal for the end of the loop test can be whether the number of tests reaches the preset test end number. Before the current number of tests reaches the preset test end number, if there is a difference between two adjacent test results, the rope is adjusted in the opposite direction based on the preset adjustment length and / or preset adjustment angle. This repeated adjustment aims to narrow the test state interval between the two test states corresponding to adjacent difference test results, effectively narrowing the resolution confirmation interval and further improving the accuracy of target resolution determination.

[0066] S150. Determine the target resolution of the low-altitude sensing system based on the results of two consecutive tests.

[0067] In this embodiment of the disclosure, the target resolution may be at least one of distance resolution and angular resolution.

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

[0069] As an optional implementation of this disclosure, determining the target resolution of the low-altitude sensing system based on the results of two adjacent tests may specifically include: if the results of two adjacent tests change from one continuous trajectory to two continuous trajectories, then the length of the rope connecting the UAV 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 formed by the UAV, the sensing transceiver, and the corner reflector in the current test state is determined as the angular resolution of the low-altitude sensing system; if the results of two adjacent tests change from two continuous trajectories to one continuous trajectory, then the length of the rope connecting the UAV 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 formed by the UAV, the sensing transceiver, and the corner reflector in the previous test state is determined as the angular resolution of the low-altitude sensing system.

[0070] In this embodiment of the disclosure, when the number of preset test completions is sufficient, the test result with two consecutive trajectories in two adjacent test results can be used as the test result for determining the target resolution. The advantage of this setting is that the target resolution of the low-altitude sensing system can be accurately determined within the allowable error range, without the need to perform calculations by combining two adjacent test results, thus avoiding the calculation result being a single continuous trajectory, which would prevent the two targets from being distinguished, and further improving the accuracy of target resolution determination.

[0071] The technical solution of this invention is applied to the controller of a test component. The test component also includes an unmanned aerial vehicle (UAV) and a corner reflector. The controller is connected to the UAV, and the UAV is connected to the corner reflector, enabling the corner reflector to follow the movement of the UAV while maintaining a consistent distance between them during movement. This design reduces the control difficulty and cost of the test component. The process involves: acquiring a resolution test request for the low-altitude perception system; adjusting the state of the test component based on the resolution test request to determine the current test state and prepare the hardware foundation for the test; controlling the test component in the current test state to perform a resolution test based on the resolution test request to determine the current test result of the low-altitude perception system; determining the current state adjustment method corresponding to the current test result, updating the current test state of the test component according to the current state adjustment method, and re-performing the resolution test until a difference exists between two adjacent test results. This indicates that there is a test result between the two adjacent test results that can accurately identify the movement trajectories of the UAV and the corner reflector. Based on the two adjacent test results, the target resolution of the low-altitude perception system is determined, thereby accurately and conveniently performing resolution testing on the low-altitude perception system, reducing testing difficulty and cost, and improving the accuracy of resolution calibration.

[0072] It should be noted that using a single UAV combined with a rope and corner reflector for testing during flight has the following advantages: resolution testing can be completed with only a single UAV, eliminating the need for two UAVs, thus reducing the cost of purchasing / renting UAVs; simultaneous close-range flight of two UAVs can easily cause control signal interference, while the combination of a single UAV and a reflector can effectively avoid collisions caused by signal interference or operational errors during flight; requiring only one UAV for testing can effectively reduce the manpower and time costs for UAV operators; and using a rope to connect the UAV and the reflector ensures that the distance between the two targets being tested remains consistent with the preset distance during the test flight.

[0073] Example 2

[0074] Figure 3 This is a flowchart illustrating a method for performing resolution testing on a low-altitude sensing system according to Embodiment 2 of the present invention. Based on the above embodiments, this embodiment provides a detailed description of the process for obtaining a resolution test request for the low-altitude sensing system. Explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here. Figure 3 As shown, the method includes:

[0075] S310. Obtain a test trajectory generation request for the low-altitude sensing system; the test trajectory generation request includes: test trajectory generation instructions and resolution test instructions.

[0076] In this embodiment of the disclosure, the test trajectory generation command can be used to initiate the generation of the movement trajectory of the test component during resolution testing of the low-altitude sensing system. The resolution test command can be used to initiate the resolution test operation for the low-altitude sensing system.

[0077] Specifically, the system receives a test trajectory generation request from the user for the low-altitude perception system, and then starts generating the movement trajectory of the test components during the resolution test based on the resolution test request.

[0078] S320, in response to the test trajectory generation command, determines the environmental information of the environment in which the low-altitude sensing system is located.

[0079] In this embodiment of the disclosure, environmental information can be used to quantify the level of interference and openness of the environment in which the low-altitude sensing system is located. For example, environmental information may include the spatial distribution of environmental clutter and noise.

[0080] For example, taking a low-altitude radar as a low-altitude sensing system, in response to the test trajectory generation command before testing, data is collected from the sensing device in the actual environment where the device is deployed to obtain the spatial distribution of environmental clutter and noise collected by the sensing device. The three-dimensional spatial region centered on the radar is divided into grids, and the cumulative number of clutter and noise points acquired by the sensing system in each cube is counted. During subsequent flight tests, this statistical information is used as an important reference to avoid areas with more clutter points when drawing test routes.

[0081] S330. Based on the preset area division method, environmental information, and preset test trajectory conditions, determine the target test trajectory of the test component.

[0082] In this embodiment, the preset region division method can refer to a region division method that pre-sets the region size. For example, the space can be divided into multiple cubic regions, i.e., grids, with preset length, width, and height, using the three axes of a Cartesian coordinate system. The preset test trajectory condition can refer to the condition that regions with a cumulative number of clutter and noise scatter points below a preset 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 used in previous resolution test processes, i.e., the preset test trajectory.

[0083] For example, with the center of the sensing device as the origin, and using the three axes of a Cartesian coordinate system—horizontal to the right, horizontal forward, and vertical upward—the space is divided into cubes with length, width, and height all 10m. Data is collected for a period of time under conditions where there are few obviously moving targets in the airspace (such as birds or other drones). The scattered coordinates (x, y, z) obtained from the sensing echo data are then used to... i ,y i ,zi The number of scattered points in each grid is counted. The grid set with the fewest accumulated scattered points in the main beam coverage area of ​​the sensing device can be taken as the test area, and a flight path can be drawn in this area.

[0084] S340: Based on the resolution test command and the target test trajectory, generate a resolution test request for the low-altitude sensing system.

[0085] Specifically, a resolution test request for the low-altitude perception system is generated using resolution test commands and target test trajectories. This allows for the initiation of resolution test operations for the low-altitude perception system based on the resolution test commands in the resolution test request, and the control of the test component to fly during the test based on 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 the test trajectory, test adjustment length, test adjustment angle, and number of test adjustments. If the resolution test request does not provide specific information, the test will be executed according to the pre-set default values ​​(such as the preset test trajectory).

[0087] S350. Adjust the state of the test component based on the resolution test request to determine the current test state of the test component.

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

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

[0090] S380. Determine the target resolution of the low-altitude sensing system based on the results of two consecutive tests.

[0091] The technical solution of this invention involves obtaining a test trajectory generation request for a low-altitude sensing system. The test trajectory generation request includes a test trajectory generation command and a resolution test command. In response to the test trajectory generation command, environmental information about the environment where the low-altitude sensing system is located is determined, thus considering interference and clutter in the actual test environment before conducting resolution testing of the low-altitude sensing system, avoiding the impact of false alarm targets on the resolution test. Based on a preset area division method, environmental information, and preset test trajectory conditions, the target test trajectory of the test component is determined. By accumulating collected data over a period of time, combined with grid division and statistical information on the spatial distribution of echo scatter points, the area for resolution testing is optimized, improving the test success rate and effectiveness. Based on the resolution test command and the target test trajectory, a resolution test request for the low-altitude sensing system is generated.

[0092] Based on the aforementioned technical solutions, low-altitude sensing systems with calibrated target resolution can better coordinate area surveillance and target perception. For example, relying solely on a single sensor or a single type of sensor for low-altitude target monitoring makes it difficult to guarantee the surveillance coverage area and target perception and positioning accuracy. Therefore, solutions are developing towards multi-source, heterogeneous data fusion. Fusion of different sensors typically employs methods such as Kalman filtering and its extensions, and particle filtering. In this process, obtaining the perception and positioning accuracy (or confidence level) of each sensor is essential. After testing and obtaining the perception and positioning accuracy (i.e., target resolution), this invention can use this parameter as a key parameter in subsequent fusion algorithms, improving the perception and positioning capabilities of multi-source fusion.

[0093] Optionally, this embodiment of the invention also provides an optional method for performing resolution testing on a low-altitude sensing system, as follows: (1) The controller has pre-stored the latitude and longitude information of the transceiver device of the sensing system (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 acquired in real time, and the two are converted to a rectangular coordinate system such as Gaussian projection or UTM (Universal Transverse Mercator); (3) The two coordinate systems are compared, and the distance between the unmanned aerial vehicle and the transceiver device of the sensing system is calculated; (4) If a distance resolution test of the sensing device is performed, the rope length is gradually adjusted from the theoretical distance resolution; if an angle resolution test is performed, the rope length is kept unchanged; (5) The trajectory results obtained by the data processing of the sensing device are used to determine whether the two trajectories corresponding to the unmanned aerial vehicle and the corner reflector can be obtained.

[0094] The drone and the rope can be connected using a winch, making it easy to adjust the rope length. The length of the rope when it is fully extended during flight is the preset test distance, and it will not change with rope swinging.

[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 system includes: a resolution test request acquisition module 410 for acquiring a resolution test request for the low-altitude sensing system; a current test state determination module 420 for adjusting the state of the test component based on the resolution test request to determine the current test state of the test component; a current test result determination module 430 for controlling the test component in the current test state to perform a resolution test based on the resolution test request to determine the current test result of the low-altitude sensing system; a current test state update module 440 for determining the current state adjustment method corresponding to the current test result, updating the current test state of the test component according to the current state adjustment method, and re-performing the resolution test until there is a difference between two adjacent test results; and a target resolution determination module 450 for determining the target resolution of the low-altitude sensing system based on two adjacent test results.

[0101] The technical solution of this invention is applied to the controller of a test component. The test component also includes an unmanned aerial vehicle (UAV) and a corner reflector. The controller is connected to the UAV, and the UAV is connected to the corner reflector, enabling the corner reflector to follow the movement of the UAV while maintaining a consistent distance between them during movement. This design reduces the control difficulty and cost of the test component. The process involves: acquiring a resolution test request for the low-altitude perception system; adjusting the state of the test component based on the resolution test request to determine the current test state and prepare the hardware foundation for the test; controlling the test component in the current test state to perform a resolution test based on the resolution test request to determine the current test result of the low-altitude perception system; determining the current state adjustment method corresponding to the current test result, updating the current test state of the test component according to the current state adjustment method, and re-performing the resolution test until a difference exists between two adjacent test results. This indicates that there is a test result between the two adjacent test results that can accurately identify the movement trajectories of the UAV and the corner reflector. Based on the two adjacent test results, the target resolution of the low-altitude perception system is determined, thereby accurately and conveniently performing resolution testing on the low-altitude perception system, reducing testing difficulty and cost, and improving the accuracy of resolution calibration.

[0102] Based on the above technical solution, the resolution test request acquisition module 410 is specifically used for: acquiring a test trajectory generation request for the low-altitude sensing system; the test trajectory generation request includes: a test trajectory generation instruction and a resolution test instruction; responding to the test trajectory generation instruction, determining the environmental information of the environment where the low-altitude sensing system is located; determining the target test trajectory of the test component based on the preset area division method, environmental information and preset test trajectory conditions; and generating a resolution test request for the low-altitude sensing system based on the resolution test instruction and the target test trajectory.

[0103] Based on the above technical solution, the current test state determination module 420 is specifically used to: initialize and adjust the length of the rope connecting the UAV and the corner reflector in the test component based on the resolution test request, and determine the distance test state of the test component; and / or, initialize and adjust the included angle of the UAV, the sensing transceiver and the corner reflector with the sensing transceiver as the vertex based on the resolution test request, and determine the angle test state of the test component; the low-altitude sensing system includes: the sensing transceiver.

[0104] Based on the above technical solution, the current test result determination module 430 is specifically used to: respond to the resolution test request, control the test component in the current test state to fly based on the preset test trajectory, so that the low-altitude perception system can perform trajectory perception of the entire flight process; at the end of this flight, obtain the perception result output by the low-altitude perception system as the current test result.

[0105] Based on the above technical solution, the current test state update module 440 is specifically used for: if the current test result is only one continuous trajectory, increasing the length of the rope connecting the UAV and the corner reflector based on a preset adjustment length, and / or increasing the angle formed by the UAV, the sensing transceiver, and the corner reflector based on a preset adjustment angle, in order to update the current test state of the test component and re-perform the resolution test until there is a difference between two adjacent test results; if the current test result is two continuous trajectories, decreasing the length of the rope connecting the UAV and the corner reflector based on a preset adjustment length, and / or decreasing the angle formed by the UAV, the sensing transceiver, and the corner reflector based on a preset adjustment angle, in order to update the current test state of the test component and re-perform the resolution test until there is a difference between two adjacent test results.

[0106] Based on the above technical solution, the target resolution determination module 450 is specifically used for: if the result of two consecutive tests is that the trajectory changes from one continuous trajectory to two continuous trajectories, then the length of the rope connecting the UAV 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 formed by the UAV, the sensing transceiver, and the corner reflector in the current test state is determined as the angular resolution of the low-altitude sensing system; if the result of two consecutive tests is that the trajectory changes from two continuous trajectories to one continuous trajectory, then the length of the rope connecting the UAV 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 formed by the UAV, the sensing transceiver, and the corner reflector in the previous test state is determined as the angular resolution of the low-altitude sensing system.

[0107] The apparatus for testing the resolution of a low-altitude sensing system provided in this embodiment of the invention can execute the method for testing the resolution of a low-altitude sensing system provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method for testing the resolution of a low-altitude sensing system.

[0108] It is worth noting that in the above embodiments for resolution testing of the low-altitude sensing system, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0109] Example 4

[0110] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0111] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

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

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

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

[0115] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0117] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0118] To provide interaction with a user, the systems and techniques described herein 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; 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 sound input, voice input, or tactile input).

[0119] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0120] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0121] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the method for performing resolution testing on a low-altitude sensing system as provided in any embodiment of this application.

[0122] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider). This program product belongs to the same inventive concept as the method for resolution testing of a low-altitude sensing system disclosed in the embodiments of this application, and therefore will not be described further here.

[0123] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0124] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. 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 substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for resolution testing of a low-altitude sensing system, characterized in that, The method is applied in a controller for a test component, the test component further including an unmanned aerial vehicle (UAV) and a corner reflector, the controller being connected to the UAV and the UAV being connected to the corner reflector, the method comprising: Obtain a resolution test request for the low-altitude sensing system; Based on the resolution test request, the state of the test component is adjusted to determine the current test state of the test component; Based on the resolution test request, control the test component currently in the test state to perform a resolution test and determine the current test result of the low-altitude perception system; Determine the current state adjustment method corresponding to the current test result, update the current test state of the test component according to the current state adjustment method, and re-perform the resolution test until there is a difference between two adjacent test results; The target resolution of the low-altitude sensing system is determined based on the results of the two consecutive tests. The step of determining the current state adjustment method corresponding to the current test result, updating the current test state of the test component according to the current state adjustment method, and re-performing the resolution test until there is a difference between two adjacent test results includes: If the current test result is that there is only one continuous trajectory, the length of the rope connecting the UAV and the corner reflector is increased based on the preset adjustment length, and / or the angle formed by the UAV, the sensing transceiver and the corner reflector is increased based on the preset adjustment angle, so as to update the current test state of the test component and re-perform the resolution test until there is a difference between two adjacent test results. If the current test result is two continuous trajectories, the length of the rope connecting the UAV and the corner reflector is reduced based on the preset adjustment length, and / or the angle formed by the UAV, the sensing transceiver and the corner reflector is reduced based on the preset adjustment angle, so as to update the current test state of the test component and re-perform the resolution test until there is a difference between two adjacent test results.

2. The method according to claim 1, characterized in that, The process of obtaining a resolution test request for the low-altitude sensing system includes: Obtain a test trajectory generation request for the low-altitude sensing system; the test trajectory generation request includes: a test trajectory generation instruction and a resolution test instruction; In response to the test trajectory generation command, determine the environmental information of the environment in which the low-altitude sensing system is located; Based on the preset region division method, the environmental information, and the preset test trajectory conditions, the target test trajectory of the test component is determined; Based on the resolution test command and the target test trajectory, a resolution test request for the low-altitude sensing system is generated.

3. The method according to claim 1, characterized in that, The step of adjusting the state of the test component based on the resolution test request to determine the current test state of the test component includes: Based on the resolution test request, the length of the rope connecting the UAV and the corner reflector in the test component is initialized and adjusted to determine the distance test state of the test component; and / or, Based on the resolution test request, the included angle of the unmanned aerial vehicle, the sensing transceiver, and the corner reflector, with the sensing transceiver as the vertex, is initialized and adjusted to determine the angle test state of the test components; the low-altitude sensing system includes: the sensing transceiver.

4. The method according to claim 1, characterized in that, The process of controlling the test component currently in the test state to perform a resolution test based on the resolution test request, and determining the current test result of the low-altitude perception system, includes: In response to a resolution test request, the test component in the current test state is controlled to fly based on a preset test trajectory, so that the low-altitude perception system can perceive the trajectory of the entire flight process. At the end of this flight, the perception results output by the low-altitude perception system are obtained as the current test results.

5. The method according to claim 1, characterized in that, Determining the target resolution of the low-altitude sensing system based on the results of two consecutive tests includes: If the result of two consecutive tests is that the trajectory changes from one continuous trajectory to two continuous trajectories, then the length of the rope connecting the UAV 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 formed by the UAV, the sensing transceiver and the corner reflector in the current test state is determined as the angular resolution of the low-altitude sensing system. If the result of two consecutive tests is that the trajectory changes from two consecutive trajectories to one consecutive trajectory, then the length of the rope connecting the UAV 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 formed by the UAV, the sensing transceiver and the corner reflector in the previous test state is determined as the angular resolution of the low-altitude sensing system.

6. A device for testing the resolution of a low-altitude sensing system, characterized in that, The device includes: The resolution test request acquisition module is used to acquire resolution test requests for low-altitude sensing systems. The current test status determination module is used to adjust the status of the test component based on the resolution test request and determine the current test status of the test component. The current test result determination module is used to control the test component in the current test state to perform resolution testing based on the resolution test request, and to determine the current test result of the low-altitude perception system. The current test status update module is used to determine the current status adjustment method corresponding to the current test result, update the current test status of the test component according to the current status adjustment method, and re-perform the resolution test until there is a difference between two adjacent test results; The target resolution determination module is used to determine the target resolution of the low-altitude sensing system based on the results of two consecutive tests. The current test state update module is specifically used to: if the current test result is that there is only one continuous trajectory, increase the length of the rope connecting the UAV and the corner reflector based on the preset adjustment length, and / or increase the angle formed by the UAV, the sensing transceiver and the corner reflector based on the preset adjustment angle, so as to update the current test state of the test component and re-perform the resolution test until there is a difference between two adjacent test results; If the current test result is two continuous trajectories, the length of the rope connecting the UAV and the corner reflector is reduced based on the preset adjustment length, and / or the angle formed by the UAV, the sensing transceiver and the corner reflector is reduced based on the preset adjustment angle, so as to update the current test status of the test components and re-perform the resolution test until there is a difference between two adjacent test results.

7. An electronic device, characterized in that, The electronic device includes: One or more processors; Memory, used 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 as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the method for performing resolution testing on a low-altitude sensing system as described in any one of claims 1-5.

9. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the method for performing resolution testing on a low-altitude sensing system as described in any one of claims 1-5.

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