Interference source positioning method, system, device, equipment, storage medium and program product

Abstract

The invention discloses an interference source positioning method, system, device and equipment, a storage medium and a program product, and the method comprises the steps: determining an interference direction corresponding to a first detection point for a target interference signal; wherein the interference direction represents the direction with the strongest signal intensity of the target interference signal detected at the detection point; determining at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point; and determining the position of the interference source based on the interference direction corresponding to the first detection point and the interference directions corresponding to the at least two second detection points. Therefore, the interference source positioning method provided by the invention can automatically determine the detection position of the interference source, and an operator does not need to determine the detection position of the interference source according to the operation experience, thereby reducing the dependence on the personal experience of the operator in the interference source positioning operation, improving the positioning precision of the interference source, and reducing the positioning error.

Description

TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, the technical field of computer technology, and in particular to an interference source positioning method, system, device, equipment, storage medium and program product. BACKGROUND

[0002] In the process of radio communication, the electromagnetic energy of some radio interference signals enters the receiving system or channel of the useful radio signals through direct or indirect coupling with the useful radio signals, resulting in the quality of the useful radio signals being reduced, information being generated or lost, or even normal radio communication being blocked. Therefore, monitoring and analyzing the positioning of radio interference sources plays an important role in the field related to radio communication, such as civil aviation navigation communication, airport operation management, air traffic control, operator base station interference investigation management, etc.

[0003] The traditional radio interference monitoring method is mainly ground monitoring, which is slow in investigation and difficult to monitor the radio interference signals in the air. In addition, although the method of using multiple monitoring devices for cooperative interference monitoring can improve the monitoring efficiency, it is necessary to operate multiple monitoring devices by multiple people to complete the work, resulting in high monitoring cost. Therefore, how to position the radio interference source becomes a problem to be solved. SUMMARY

[0004] Therefore, the present application provides at least an interference source positioning method, system, device, equipment, storage medium and program product.

[0005] The technical solution of the present application is implemented as follows:

[0006] In one aspect, the present application provides an interference source positioning method, which comprises:

[0007] For a target interference signal, determining an interference direction corresponding to a first detection point; wherein the interference direction represents the direction in which the signal strength of the target interference signal detected at the detection point is the strongest;

[0008] Based on the first detection point and the interference direction corresponding to the first detection point, determining at least two second detection points;

[0009] Based on the interference direction corresponding to the first detection point and the interference direction corresponding to the at least two second detection points, determining the position of the interference source.

[0010] In some embodiments, the determining of the at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point comprises:

[0011] determine at least two groups of discrete points and an initial detection point in each group of discrete points based on the first detection point and the interference direction corresponding to the first detection point, wherein each group of discrete points represents a predicted position of a corresponding second detection point;

[0012] determine a second detection point corresponding to each initial detection point based on the at least two groups of discrete points and the initial detection point in each group of discrete points.

[0013] In some embodiments, the determining at least two groups of discrete points and an initial detection point in each group of discrete points based on the first detection point and the interference direction corresponding to the first detection point comprises:

[0014] determine the first detection point as a current detection point, and determine a first group of discrete points based on the current detection point and the interference direction corresponding to the current detection point;

[0015] determine a first initial detection point from the first group of discrete points;

[0016] update a first number of times, and in a case where the first number of times is not greater than a threshold number of times, determine the first initial detection point as a current detection point, and determine an interference direction corresponding to the current detection point for the target interference signal, so as to determine a next group of discrete points and an initial detection point in the next group of discrete points based on the current detection point and the interference direction corresponding to the current detection point.

[0017] In some embodiments, the determining a first group of discrete points based on the current detection point and the interference direction corresponding to the current detection point comprises:

[0018] determine a first ray based on the current detection point and the interference direction corresponding to the current detection point;

[0019] determine a first region based on the first ray, a first angle range and a first distance range, wherein the first angle range represents an angle range of the first ray rotating along a specified direction, and the first distance range represents a distance range relative to the current detection point;

[0020] determine a plurality of discrete points in the first region, and take the plurality of discrete points as the first group of discrete points.

[0021] In some embodiments, the determining a first initial detection point from the first group of discrete points comprises:

[0022] determine a plurality of Thiessen polygons based on the first region and the first group of discrete points;

[0023] determine a target Thiessen polygon from the Thiessen polygons, and determine a discrete point contained in the target Thiessen polygon as the first initial detection point.

[0024] In some embodiments, the determining, based on the at least two groups of discrete points and the initial detection point in each group of discrete points, a second detection point corresponding to each initial detection point comprises:

[0025] performing clustering processing on the at least two groups of discrete points with each initial detection point as an initial cluster center to obtain a group of clustering points corresponding to each initial detection point;

[0026] determining a target cluster center corresponding to each group of clustering points, and taking the target cluster center as the second detection point corresponding to the corresponding initial detection point.

[0027] In some embodiments, the determining, based on the interference direction corresponding to the first detection point and the interference direction corresponding to the at least two second detection points, the location of the interference source comprises:

[0028] determining, based on the determination sequence of the initial detection point corresponding to each second detection point, a first number of second detection points from the at least two second detection points as target detection points;

[0029] determining, based on the target interference signal, an interference direction corresponding to each target detection point;

[0030] determining a second region based on the interference direction corresponding to the first detection point and the interference direction corresponding to each target detection point;

[0031] in a case where an area of the second region is less than a preset area threshold, determining the location of the interference source based on the second region.

[0032] In some embodiments, the method further comprises:

[0033] in a case where the area of the second region is not less than the preset area threshold, determining, based on the determination sequence of the initial detection point corresponding to each second detection point, a second number of second detection points from the second detection points other than the first number of second detection points as updated target detection points;

[0034] determining the location of the interference source based on the second region and the interference direction corresponding to each updated target detection point.

[0035] In some embodiments, the location of the interference source comprises three-dimensional coordinate information, and the method further comprises:

[0036] respectively detecting at multiple heights and determining the location information of the interference source to determine at least three interference source locations; wherein each interference source location corresponds to a different height;

[0037] acquire power intensity information corresponding to each of the interference source positions;

[0038] determine target three-dimensional coordinate information of the interference source based on the three-dimensional coordinate information and the power intensity information corresponding to each of the interference source positions.

[0039] In still another aspect, the present application provides an interference source positioning system, comprising: an aircraft; an airborne positioning terminal carried on the aircraft and in communication connection with the aircraft; a first control terminal in communication connection with the aircraft and the airborne positioning terminal respectively; wherein,

[0040] the first control terminal is configured to send an interference source detection instruction and target interference signal information to the airborne positioning terminal in response to a control instruction input by a user;

[0041] the airborne positioning terminal is configured to:

[0042] control the aircraft to take off to a first detection point based on the interference source detection instruction and the target interference signal, and determine an interference direction corresponding to the first detection point; wherein the interference direction represents a direction in which the signal strength of the target interference signal detected at the detection point is the strongest;

[0043] determine at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point;

[0044] determine a flight route of the aircraft based on the determination order of the at least two second detection points;

[0045] determine interference directions corresponding to the at least two second detection points in response to the aircraft flying to the at least two second detection points according to the flight route;

[0046] determine the position of the interference source based on the interference direction corresponding to the first detection point and the interference directions corresponding to the at least two second detection points, and send the position of the interference source to the first control terminal.

[0047] In some embodiments, the system further comprises a second control terminal in communication connection with the airborne positioning terminal; wherein,

[0048] the second control terminal is configured to send a first request to the airborne positioning terminal to request control of the airborne positioning terminal;

[0049] in response to the first request, the airborne positioning terminal sends request confirmation information to the first control terminal to prompt the first control terminal to confirm whether to switch the control to the second control terminal;

[0050] In response to the request confirmation information, the first control terminal sends control right response information to the airborne positioning terminal;

[0051] Based on the control right response information, the airborne positioning terminal determines whether to switch the control right to the second control terminal.

[0052] In some embodiments, the first control terminal is further configured to send a second request to the airborne positioning terminal to request the control right of the airborne positioning terminal;

[0053] In response to the second request, the airborne positioning terminal sends a notification of returning the control right to the second control terminal, and switches the control right to the first control terminal.

[0054] In some embodiments, the system further comprises a ground positioning terminal in communication connection with the first control terminal; wherein,

[0055] The ground positioning terminal is configured to detect the interference source position on the ground when the area of the interference source position determined by the airborne positioning terminal is greater than a preset area threshold.

[0056] In another aspect, the present application provides an interference source positioning device, comprising:

[0057] A first determination module is configured to determine an interference direction corresponding to a first detection point for a target interference signal; wherein, the interference direction represents a direction in which the signal strength of the target interference signal detected at the detection point is the strongest;

[0058] A second determination module is configured to determine at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point.

[0059] A third determination module is configured to determine the interference source position based on the interference direction corresponding to the first detection point and the interference directions corresponding to the at least two second detection points.

[0060] In another aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor implements part or all steps of the above method when executing the program.

[0061] In another aspect, the present application provides a computer readable storage medium, which stores a computer program capable of being executed by a processor to implement part or all steps of the above method.

[0062] In yet another aspect, the present application provides a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, wherein the computer program is read and executed by a computer to implement some or all of the steps of the above method.

[0063] In yet another aspect, the present application provides a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, wherein the computer program is read and executed by a computer to implement some or all of the steps of the above method.

[0064] The interference source positioning method provided by the present application first determines the interference direction corresponding to the first detection point for the target interference signal, then determines at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point, and finally determines the interference source position based on the interference direction corresponding to the first detection point and the interference directions corresponding to the at least two second detection points. In this way, the interference source positioning method provided by the present application can determine at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point, that is, the interference source positioning method provided by the present application can automatically determine the interference source detection position without the need for the operating personnel to determine the interference source detection position based on operating experience, thereby reducing the dependence on personal experience of the operating personnel in the interference source positioning operation, and further reducing the personnel cost in the interference source positioning operation, while effectively improving the interference source positioning accuracy and reducing the positioning error. In addition, in the case of using an airborne interference positioning terminal for interference source positioning, it can be suitable for large-area interference source positioning detection.

[0065] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, but not limiting the technical solutions of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0066] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the technical solutions of the present application.

[0067] Figure 1 An implementation flowchart of the interference source positioning method provided by the present application;

[0068] Figure 2 A schematic diagram of the discrete point group and the initial detection point in the discrete point group determined according to the interference source positioning method provided by the present application;

[0069] Figure 3 A schematic diagram of the at least two initial detection points determined according to the interference source positioning method provided by the present application;

[0070] Figure 4A schematic diagram of a component structure of an interference source positioning system provided by the present application is provided.

[0071] Figure 5 A schematic diagram of an implementation process of an embodiment in which the second control terminal of the interference source positioning system provided by the present application requests control right from the airborne positioning terminal is provided.

[0072] Figure 6 A schematic diagram of an implementation process of an embodiment in which the first control terminal of the interference source positioning system provided by the present application requests control right from the airborne positioning terminal is provided.

[0073] Figure 7 A schematic diagram of an implementation process of an embodiment in which the interference source positioning system provided by the present application performs interference source positioning is provided.

[0074] Figure 8 A schematic diagram of a component structure of a ground positioning terminal in the interference source positioning system provided by the present application is provided.

[0075] Figure 9 A schematic diagram of a component structure of an interference source positioning device provided by the present application is provided.

[0076] Figure 10 A hardware entity schematic diagram of a computer device provided by the present application is provided. DETAILED DESCRIPTION

[0077] In order to make the purposes, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further described in detail below in combination with the drawings and embodiments, and the described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by those skilled in the art without making creative efforts fall within the protection scope of the present application.

[0078] In the following description, "some embodiments" are related to a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0079] The terms "first / second / third" involved are only to distinguish similar objects, and do not represent a specific order of the objects, and it can be understood that "first / second / third" can interchange specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0080] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the present application, and are not intended to limit the present application.

[0081] In order to better understand the interference source positioning method provided by the embodiments of the present application, the positioning scheme of the radio interference source in the related art will be described first.

[0082] In the related art, the common radio signal positioning technologies mainly include radar positioning technology, GPS positioning technology using a global positioning system (GPS), and positioning technology for realizing interference source positioning using sensor network nodes, etc.

[0083] The common process for positioning the interference source based on ground equipment is as follows: first, at least two radio fixed monitoring stations or mobile monitoring stations are used to preliminarily monitor and position the radio interference source signal to determine the approximate range of the interference source; then, a radio monitoring vehicle is used to position the interference source in the determined approximate range to further narrow the positioning range of the interference source; finally, the actual position of the interference source is found by the on-site operator using a portable direction-finding device in the further narrowed interference source positioning range.

[0084] Meanwhile, the scheme for positioning the interference source using airborne equipment is also proposed in the related art. Here, the aircraft for carrying the interference source positioning terminal mainly includes airships, helicopters, civil aviation passenger planes, and unmanned aerial vehicles, etc. The common process for positioning the interference source based on the airborne interference source positioning terminal is as follows: first, four or more airborne interference source positioning terminals are used to monitor the interference signal at multiple monitoring points respectively; then, the monitoring information of the multiple airborne interference source positioning terminals is transmitted to the ground data processing equipment; finally, the actual position of the interference source is determined by the ground data processing equipment processing the multiple detection information.

[0085] In the above scheme for positioning the interference source based on airborne equipment, multiple interference source positioning terminals and aircrafts carrying the interference source positioning terminals are needed, so the equipment cost and personnel cost are both high. In addition, in the above scheme, the on-site operator needs to determine the flight route of the aircraft and the approximate position of the interference source according to the interference signal information returned by the interference source positioning terminal and the personal experience of the operator, so the above scheme has a high requirement on the operation experience of the on-site operator.

[0086] To solve the problem of high cost of equipment and personnel in the above-mentioned scheme of locating the interference source based on the airborne device, the related technology further proposes a scheme of locating the interference source based on the geographic information system (GIS) by using an airborne interference source positioning terminal. In the scheme of locating the interference source based on the GIS, first, the field operation personnel control the unmanned aerial vehicle to fly to a specified height to collect the electromagnetic wave signals emitted by the interference source, and use the unmanned aerial vehicle to collect the images of the area where the interference source may exist; then, based on the collected electromagnetic wave signals, the field operation personnel determine the next detection point according to the work experience, and control the unmanned aerial vehicle to fly to the determined detection point to collect the electromagnetic wave signals of the interference source, while using the unmanned aerial vehicle to collect the images; thereafter, geographic information modeling is performed based on the collected electromagnetic wave signals and image information; finally, the interference source is located based on the modeling result.

[0087] It can be seen that in the above-mentioned scheme of locating the interference source based on the GIS modeling by using the unmanned aerial vehicle to carry the interference source detection terminal, the cost of modeling based on the GIS is high, and the work experience of the field interference troubleshooting personnel is required to be high, which is not suitable for rapid application in large area or unmodeled scene; in addition, the control of the flight route of the unmanned aerial vehicle is realized in a manual manner, and the whole process cannot be completed automatically.

[0088] Based on this, the present application provides an interference source positioning method, which can be executed by the processor of a computer device. The computer device can be a server, a notebook computer, a tablet computer, a mobile device, a control computer (such as an industrial control computer (microcomputer), a single-chip microcomputer, and a digital signal processor DSP, etc.), and other devices with control capabilities. Figure 1 The implementation flowchart of the interference source positioning method provided by the present application is shown in FIG. 1, which includes the following steps S101-S103. Figure 1 As shown in FIG. 1, the method includes the following steps S101-S103:

[0089] Step S101, for a target interference signal, determining an interference direction corresponding to a first detection point; wherein the interference direction represents the direction with the strongest signal strength of the target interference signal detected at the detection point.

[0090] Here, the target interference signal is the signal emitted by the interference source that interferes with the jammed signal, for example, an electromagnetic wave signal, etc.

[0091] In some embodiments, after the frequency band information of the jammed signal is input into the signal detection device, a plurality of jamming signals corresponding to the jammed signal can be seen from the spectrum waterfall diagram output by the signal detection device; then, one jamming signal is determined as a target jamming signal from the plurality of jamming signals for interference source positioning.

[0092] The first detection point is an initial detection point in the interference source positioning method provided by the present application.

[0093] In some embodiments, the first detection point can be any position selected by the operation personnel in the area where the target jamming signal exists. For example, in the case of using an airborne interference positioning terminal for interference source positioning, the position where the aircraft takes off to a specified height and then detects the jamming signal can be used as the first detection point; here, the first detection point has three-dimensional coordinate information. For another example, in the case of using a ground interference positioning terminal for interference source positioning, the position where the operation personnel starts the ground interference positioning terminal to detect the interference source can be used as the first detection point; here, the first detection point has two-dimensional coordinate information.

[0094] The interference direction represents the direction in which the signal strength of the target jamming signal detected at the detection point (e.g., the first detection point) is the strongest, that is, after the frequency band information of the target jamming signal is input into the interference positioning terminal, when the interference positioning terminal detects the target jamming signal at the detection point, the direction in which the signal power determined by the interference positioning terminal is the strongest. It can be seen that the interference direction can indicate the direction of the interference source.

[0095] In step S102, at least two second detection points are determined based on the first detection point and the interference direction corresponding to the first detection point.

[0096] Here, the second detection point is a position determined based on the first detection point and the interference direction corresponding to the first detection point for further detection of the target jamming signal.

[0097] In some embodiments, at least two second detection points can be determined according to a preset detection point position calculation method. For example, based on the first detection point and the interference direction corresponding to the first detection point, and the angle range and distance range between adjacent detection points, at least two second detection points are determined.

[0098] In this way, in the case of using an airborne interference positioning terminal for interference source positioning, by determining at least two second detection points, the flight route of the aircraft can be automatically planned; in the case of using a ground interference positioning terminal for interference positioning, by determining at least two second detection points, the detection route of the operation personnel can be planned. It can be seen that through the above scheme, the goal of automatically planning the interference source detection route can be achieved, thereby reducing the dependence on the operation experience of the operation personnel and improving the interference source positioning accuracy.

[0099] Step S103, determining the interference source position based on the interference direction corresponding to the first detection point and the interference direction corresponding to at least two second detection points.

[0100] Here, the interference direction corresponding to the second detection point refers to the direction in which the signal strength of the target interference signal is the strongest after moving the interference positioning terminal to the corresponding second detection point.

[0101] In some embodiments, after determining at least two second detection points, the determination order of the target interference signal detection using the interference positioning terminal can be determined according to the determination order of each second detection point.

[0102] For example, in step S102, four second detection points B, C, D and E are determined in sequence (here, the first detection point is referred to as detection point A), and in step S103, at least two detection points are determined from the four second detection points B, C, D and E to detect the target interference signal using the interference positioning terminal, and the interference direction corresponding to each detection point is determined.

[0103] Here, since there is a certain error in determining the direction of the strongest target interference signal for the interference positioning terminal, especially when the interference source position is far away from the detection point, this error is multiplied and magnified, resulting in that the actual position of the interference source is not necessarily in the direction of the strongest signal strength corresponding to the detection point. Therefore, at least two second detection points (for example, second detection points B and C) and the interference direction corresponding to the two second detection points are determined, so as to determine the specific position of the interference source based on the area formed by the intersection of multiple interference directions.

[0104] In some embodiments, in the case that the area of the region where the interference source is located is large, determined by the airborne interference positioning terminal, the ground interference positioning terminal can be further used to locate the position of the interference source within the range determined by the airborne interference positioning terminal, by using the interference source positioning method disclosed in steps S101 to S103. In this way, by combining the airborne interference positioning terminal and the ground interference positioning terminal, the positioning scheme for the interference source is more flexible and efficient.

[0105] In some embodiments, in the case that the area of the region where the interference source is located is large, determined by the interference positioning terminal, more second detection points (for example, the second detection point D is further selected) can be selected from the at least two second detection points determined in step S102, so as to determine the direction of the strongest signal strength of the target interference signal at the second detection point D, i.e. the interference direction corresponding to the second detection point D, and then determine the position of the interference source using the interference direction corresponding to more detection points, so as to reduce the area of the region where the interference source is located.

[0106] From the above, the interference source positioning method provided in the application, first, for the target interference signal, the interference direction corresponding to the first detection point is determined; then, based on the first detection point and the interference direction corresponding to the first detection point, at least two second detection points are determined; finally, based on the interference direction corresponding to the first detection point and the interference direction corresponding to the at least two second detection points, the interference source position is determined. In this way, in the interference source positioning method provided in the application, the positioning work of the interference source can be completed by using one interference positioning terminal (for example, an airborne interference positioning terminal or a ground interference positioning terminal); in addition, based on the first detection point and the interference direction corresponding to the first detection point, at least two second detection points can be determined, that is, the detection position of the interference positioning terminal is automatically determined by using a preset positioning algorithm, without the need for an operator to determine the detection point according to the work experience, thereby reducing the dependence on the personal experience of the operator in the interference source positioning work, and further reducing the personnel cost of the interference source positioning work, while effectively improving the interference source positioning accuracy and reducing the positioning error.

[0107] In some embodiments, the determination of the at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point, that is, the above step S102, can be implemented as the following steps S1021 to S1022:

[0108] Step S1021, based on the first detection point and the interference direction corresponding to the first detection point, at least two groups of discrete points and initial detection points in each group of discrete points are determined; wherein each group of discrete points represents the predicted position of the corresponding second detection point.

[0109] Here, the discrete points are points whose positions are separated from each other.

[0110] In some embodiments, each group of discrete points can be a plurality of points determined in a corresponding specified area based on a specified random algorithm.

[0111] In some embodiments, each group of discrete points can be a dot matrix determined in a corresponding specified area based on a specified density.

[0112] In some embodiments, the determination of the at least two groups of discrete points and the initial detection points in each group of discrete points based on the first detection point and the interference direction corresponding to the first detection point can include: first, the first group of discrete points and the initial detection points in the first group of discrete points are determined based on the first detection point and the interference direction corresponding to the first detection point; then, other discrete point groups and corresponding initial detection points are sequentially determined based on the first group of discrete points and the initial detection points in the first group of discrete points.

[0113] In some embodiments, the determining the at least two groups of discrete points and the initial probe point in each group of discrete points based on the first probe point and the interference direction corresponding to the first probe point can further include: first, determining at least two regions of a specified area according to a specified direction and a ray formed by the first probe point and the interference direction corresponding to the first probe point; then, determining a specified number of points in each region as a group of discrete points according to a specified random algorithm or a specified density; and finally, determining the initial probe point in each group of discrete points.

[0114] At step S1022, the second probe point corresponding to each initial probe point is determined based on the at least two groups of discrete points and the initial probe point in each group of discrete points.

[0115] Here, the position of the determined initial probe point is updated based on each group of discrete points and the corresponding initial probe point by using a preset probe point determination algorithm, so as to determine the second probe point corresponding to each initial probe point.

[0116] In some embodiments, the at least two groups of discrete points can be clustered by using a specified clustering algorithm and the at least two initial probe points, so as to determine the second probe point corresponding to each initial probe point.

[0117] In some embodiments, the determining the at least two groups of discrete points and the initial probe point in each group of discrete points based on the first probe point and the interference direction corresponding to the first probe point can be implemented as steps S1023 to S1025.

[0118] At step S1023, the first probe point is determined as a current probe point, and a first group of discrete points is determined based on the current probe point and the interference direction corresponding to the current probe point.

[0119] Here, the first probe point is determined as the current probe point, that is, the first probe point is used as a reference for determining the next group of discrete points and the initial probe.

[0120] In some embodiments, the determining the first group of discrete points based on the current probe point and the interference direction corresponding to the current probe point can be determining the first group of discrete points according to a specified range condition based on a ray formed by the current probe point and the interference direction corresponding to the current probe point.

[0121] In some embodiments, the first group of discrete points can be discrete points determined in a specified range by using a specified random algorithm.

[0122] In some embodiments, the first group of discrete points can be a dot matrix determined in a specified range based on a specified density condition.

[0123] Step S1024, determining a first initial detection point from the first set of discrete points.

[0124] In some embodiments, the first initial detection point can be randomly determined from the first set of discrete points.

[0125] In some embodiments, the first initial detection point can also be a point determined from the first set of discrete points and satisfying a preset condition, for example, the first initial detection point can be a point in the first set of discrete points closest to the center of the region composed of the first set of discrete points.

[0126] In some embodiments, the first initial detection point can also be a point determined from the first set of discrete points based on a specified algorithm.

[0127] Step S1025, updating the first number of times, in the case that the first number of times is not greater than a number of times threshold, determining the first initial detection point as a current detection point, and determining an interference direction corresponding to the current detection point for the target interference signal, to determine a next set of discrete points and an initial detection point in the next set of discrete points based on the current detection point and the interference direction corresponding to the current detection point.

[0128] Here, the number of times threshold is determined based on the number of sets of discrete points to be determined. For example, when the number of sets of discrete points to be determined is N sets, the number of times threshold is set to N; where N is an integer greater than or equal to 2.

[0129] In this way, after determining the first set of discrete points and the first initial detection point in the first set of discrete points based on the current detection point and the interference direction corresponding to the current detection point, the first number of times is updated to 1.

[0130] When the value of the first number of times is 1, the first number of times is not greater than the number of times threshold, the first initial detection point is determined as the current detection point; then, the interference positioning terminal is moved to the current detection point to determine the direction corresponding to the current detection point with the strongest signal strength of the target interference signal; thereafter, based on the current detection point (i.e., the first initial detection point) and the interference direction corresponding to the current detection point, a next set of discrete points (i.e., a second set of discrete points) and an initial detection point in the next set of discrete points (i.e., a second initial detection point) are determined; finally, the first number of times is updated again, at this time, the value of the first number of times is 2.

[0131] In the case that the updated first number of times is still not greater than the number of times threshold, the last determined initial detection point is updated to the current detection point according to the above steps, and the next set of discrete points and the initial detection point in the next set of discrete points are continued to be determined based on the current detection point.

[0132] Thus, at least two groups of discrete points and initial detection points in each group of discrete points can be automatically determined through the above embodiments without human intervention, and automatic determination of the groups of discrete points and the initial detection points is achieved.

[0133] In some embodiments, the determining, in the step S1023, the first group of discrete points based on the current detection point and the interference direction corresponding to the current detection point can be implemented as the following steps S1026 to S1028:

[0134] In the step S1026, a first ray is determined based on the current detection point and the interference direction corresponding to the current detection point.

[0135] As shown in Figure 2 , the first detection point A is taken as the current detection point, and the direction in which the point M is located relative to the point A is taken as the interference direction corresponding to the first detection point A, so as to determine the first ray AM.

[0136] In the step S1027, a first region is determined based on the first ray, a first angle range and a first distance range. The first angle range represents an angle range in which the first ray rotates along a specified direction, and the first distance range represents a distance range relative to the current detection point.

[0137] Here, by rotating the first ray along the specified direction by the first angle range, a ray with the current detection point as an end point can be formed.

[0138] In some embodiments, the specified direction is a predetermined ray rotation direction, and the specified direction is the same direction when the region in which each group of discrete points is located is determined. For example, when the first angle range is an angle range in which the first ray rotates in a counterclockwise direction when the region in which the first group of discrete points is located is determined, the first angle range is a direction in which a ray corresponding to the initial detection point in the first group of discrete points rotates in the counterclockwise direction when the region in which the first group of discrete points is located is determined.

[0139] As shown in Figure 2 , the ray AM is rotated by an angle β1 in a counterclockwise direction with the current detection point A as a vertex. Here, since β1 is subject to the first angle range, the ray AE and the ray AF can be obtained through the rotation operation.

[0140] Here, if β1 is small, for example, less than 30°, the angle between the interference direction corresponding to the next detection point determined based on the current detection point and the interference direction corresponding to the current detection point may be too small, resulting in the two rays failing to intersect. If β1 is large, for example, greater than 90°, the angle between the interference direction corresponding to the next detection point determined based on the current detection point and the interference direction corresponding to the current detection point may be too large, resulting in a large intersection range formed by the two rays, leading to a large error in the localization of the interference source. Therefore, in some embodiments, the first angle range is greater than or equal to 30° and less than or equal to 90°, that is, 30°≤β1≤90°.

[0141] The first distance range is the distance range relative to the current detection point. In some embodiments, after determining two rays with the current detection point as the endpoint based on the first ray and the first angle range, two points on the two rays with a distance from the current detection point equal to the boundary value of the first distance range are determined based on the first distance range, thereby forming a trapezoidal region; this trapezoidal region is designated as the first region.

[0142] like Figure 2 As shown, after determining rays AE and AF based on the first ray AM and the first angle range, points M and N are further determined on ray AE based on the first distance range, and points P and Q are determined on ray AF, thereby forming the trapezoidal region MNQP.

[0143] In some embodiments, after determining two rays with the current detection point as the endpoint based on the first ray and the first angle range, a ring with the current detection point as the center is further determined based on the first distance range, and the area where the ring intersects with the two rays is taken as the first region.

[0144] Here, if the distance selected relative to the current detection point is too small or too large, it will also cause the interference directions corresponding to the two adjacent detection points to be unable to intersect. Therefore, in some embodiments, the first distance range is set to 100m to 1000m, that is, the distance relative to the current detection point A is 100m≤L≤1000m.

[0145] like Figure 2 As shown, the distance between point M on ray AE and point P on ray AF and the current detection point A is 100m, and the distance between point N on ray AE and point Q on ray AF and the current detection point A is 1000m, thus forming a trapezoidal region MNQP.

[0146] Step S1028: Determine multiple discrete points within the first region and use the multiple discrete points as the first set of discrete points.

[0147] In some embodiments, a plurality of discrete points can be randomly generated within the first region; a plurality of discrete points in a lattice arrangement can also be generated within the first region according to a specified density.

[0148] In some embodiments, a specified number of discrete points are determined within the first region.

[0149] In some embodiments, the determining of the first initial probe from the first set of discrete points, i.e., step S1024, can be implemented as steps S1029 to S10210:

[0150] Step S1029, based on the first region and the first set of discrete points, a plurality of Voronoi polygons are determined.

[0151] Here, a Voronoi polygon is a set of continuous polygons composed of perpendicular bisectors of line segments connecting adjacent points. Any point within a Voronoi polygon is closer to the discrete point within the Voronoi polygon than to the discrete points within other Voronoi polygons.

[0152] In some embodiments, a plurality of Voronoi polygons are determined based on the first region and the first set of discrete points within the first region using a Voronoi polygon model.

[0153] Step S10210, a target Voronoi polygon is determined from the plurality of Voronoi polygons, and a discrete point contained in the target Voronoi polygon is determined as the first initial probe point.

[0154] In some embodiments, the target Voronoi polygon is determined based on the edge length of each Voronoi polygon. For example, the Voronoi polygon with the longest or shortest edge length among the plurality of Voronoi polygons is determined as the target Voronoi polygon.

[0155] In some embodiments, the target Voronoi polygon is determined based on the area of each Voronoi polygon. For example, the Voronoi polygon with the largest or smallest area among the plurality of Voronoi polygons is determined as the target Voronoi polygon.

[0156] Thus, after the target Voronoi polygon is determined, the discrete point contained in the target Voronoi polygon is determined as the initial probe point in the set of discrete points, i.e., the first initial probe point. As shown, the Voronoi polygon with the largest area among the plurality of Voronoi polygons is determined as the target Voronoi polygon, and the discrete point in the target Voronoi polygon is determined as the first initial probe point. Figure 2 determined as the first initial probe point.

[0157] ​Here, based on the step S1025, in the case that the first number of times is not greater than the number of times threshold, the first initial probe is determined as the current probe point, and the next set of discrete points and the initial probe point in the next set of discrete points are determined by using the steps S1026 to S10210.

[0158] In one embodiment, as shown in FIG. 10, after determining the first initial probe point B by using the first probe point A; the interference positioning terminal is controlled to move to the first initial probe point B, and the interference direction corresponding to the first initial probe point B is determined, the second initial probe point C is determined based on the steps S1026 to S10210, wherein the interference direction corresponding to the first initial probe point B and the angle β2 between the line segment between the first initial probe point B and the second initial probe point C; the interference positioning terminal is controlled to move to the second initial probe point C, and the interference direction corresponding to the second initial probe point C is determined, and the third initial probe point D is determined based on the steps S1026 to S10210, wherein the interference direction corresponding to the second initial probe point C and the angle β3 between the line segment between the second initial probe point C and the third initial probe point D. Figure 3 In some embodiments, the determination of the second probe point corresponding to each initial probe point based on the at least two sets of discrete points and the initial probe point in each set of discrete points, i.e., the step S1022, can be implemented as the following steps S10211 to S10212:

[0159] Step S10211, taking each initial probe point as an initial cluster center, clustering the at least two sets of discrete points to obtain a set of clustering points corresponding to each initial probe point.

[0160] Here, the at least two sets of discrete points and the corresponding initial probe points are processed based on the clustering method to obtain a set of clustering points corresponding to each initial probe point.

[0161] Next, taking three sets of discrete points as an example, the clustering process is described by the following steps SA0 to SA5:

[0162] Step SA0, determining the cluster number K of clustering as 3, and determining the initial probe point

[0163] and corresponding to each set of discrete points as the initial cluster center of the corresponding cluster; Step SA1, based on the following formula (1), associating each discrete point in the three clusters to the initial cluster center closest to the discrete point to obtain a new first clustering cluster corresponding to each initial cluster center:

[0164]

[0165]

[0166] ​wherein, i represents the i-th discrete point; x i and y i respectively represent the x-axis coordinate and the y-axis coordinate corresponding to the i-th discrete point; and respectively represent the x-axis coordinate and the y-axis coordinate corresponding to the n-th cluster center, wherein 0 < n ≤ N; K i represents the set of discrete points in the three clusters; K represents the number of discrete points in the three clusters.

[0167] Step SA2, for the three first clustering clusters, based on the coordinate information of the discrete points in each first clustering cluster, updating the cluster center of the corresponding first clustering cluster, obtaining the first cluster center corresponding to each first clustering cluster;

[0168] Here, by calculating the average value of the coordinates of the discrete points in each first clustering cluster, the three first cluster centers and

[0169] Step SA3, based on the three first clustering clusters and the first cluster center corresponding to each first clustering cluster, iteratively performing the above steps SA0 to SA2 until the discrete points in each cluster determined no longer change, and the final determined discrete points in each clustering cluster as the clustering points corresponding to the corresponding initial detection points.

[0170] Step S10212, determining the target cluster center corresponding to each group of clustering points, and taking the target cluster center as the second detection point corresponding to the corresponding initial detection point.

[0171] Here, the cluster center corresponding to the final determined each clustering cluster is calculated, and the cluster center is taken as the target cluster center of the corresponding clustering cluster, and the target cluster center is taken as the second detection point corresponding to the corresponding initial detection point. Here, the average value of the clustering points in the final determined each clustering cluster is calculated, and the average value is taken as the second detection point corresponding to the corresponding initial detection point.

[0172] In the above embodiment, by using the Thiessen polygon combined with the clustering algorithm, the automatic calculation of the detection point position based on the initial detection result in the interference positioning is realized, and then the flight trajectory of the aircraft is automatically controlled based on the calculated detection point position, or the detection trajectory of the operator is guided.

[0173] In some embodiments, the determination of the interference source position based on the interference direction corresponding to the first detection point and the interference direction corresponding to the at least two second detection points, i.e., the above step S103, can be implemented as the following steps S1031 to S1034:

[0174] Step S1031, determining a first number of second probe points as target probe points from the at least two second probe points based on the determined order of the initial probe points corresponding to each of the second probe points.

[0175] Here, the determined order of the initial probe points refers to the order of determining the at least two initial probe points based on the first probe point and the interference direction corresponding to the first probe point by using the steps S1023 to S1025.

[0176] The first number refers to the number of second probe points for which the first-time interference source positioning detection is performed by the interference positioning terminal after the at least two second probe points are determined.

[0177] In some embodiments, in order to make the interference direction corresponding to the second probe point intersect with the interference direction corresponding to the first probe point and form a determined area, the first number is set to 2. For example, according to the determined order of the initial probe points corresponding to the second probe points B, C, D and E, the second probe points B and C are determined as the target probe points.

[0178] In this way, in the case of using the airborne interference positioning terminal for interference source positioning, the flight route of the aircraft can be planned based on the determined order of the initial probe points corresponding to each of the target probe points; in the case of using the ground interference positioning terminal for interference source positioning, the on-site detection route of the operating personnel can be guided based on the determined order of the initial probe points corresponding to each of the target probe points.

[0179] Step S1032, determining the interference direction corresponding to each of the target probe points based on the target interference signal.

[0180] Here, the interference positioning terminal is controlled to detect the target interference signal at each of the target probe points, and the direction with the strongest intensity of the target interference signal is determined as the interference direction corresponding to each of the target probe points.

[0181] Step S1033, determining a second area based on the interference direction corresponding to the first probe point and the interference direction corresponding to each of the target probe points.

[0182] Here, a corresponding line is generated for the interference direction corresponding to the first probe point and the interference direction corresponding to each of the target probe points, respectively; then, the area formed by the intersection of the plurality of lines is taken as the second area.

[0183] In some embodiments, a corresponding ray is generated with the first probe point or each of the target probe points as an end point and with the corresponding interference direction as a ray direction, i.e., a first ray corresponding to the first probe point and a second ray corresponding to each of the target probe points are generated; the area formed by the intersection of the first ray and each of the second rays is taken as the second area.

[0184] In step S1034, if the area of the second region is smaller than the preset area threshold, the position of the interference source is determined based on the second region.

[0185] Here, the preset area threshold refers to the maximum area of the second region that can be used to determine the position of the interference source.

[0186] In some embodiments, after the second region is determined, the specific position of the interference source can be manually determined by the on-site operator within the second region.

[0187] In some embodiments, after the second region is determined, the centroid position of the second region can be calculated, and the centroid position is determined as the specific position of the interference source.

[0188] In some embodiments, when the second region is determined by the airborne interference positioning terminal, the video or image information within the second region can be obtained by the camera mounted on the aircraft, and the specific position of the interference source can be determined by the operator based on the obtained video or image information.

[0189] In some embodiments, when the second region is determined by the airborne interference positioning terminal, the specific position of the interference source within the second region can be further determined by the ground interference positioning terminal using the interference source positioning method provided in the above embodiments.

[0190] In some embodiments, the interference source positioning method provided in the present application further includes the following steps S1034 to S1035:

[0191] In step S1034, if the area of the second region is not smaller than the preset area threshold, the second number of second detection points are determined as updated target detection points from the second detection points other than the first number of second detection points based on the determination order of the initial detection points corresponding to each second detection point.

[0192] Here, the area of the second region is not smaller than the preset area threshold, that is, the area of the second region determined by the first detection point and the first number of target detection points is too large, which makes it inconvenient for the operator to further determine the specific position of the interference source by manual or ground interference positioning terminal. Therefore, it is necessary to determine the target detection point again to reduce the area of the second region by more detection results.

[0193] The second number of second detection points are determined from the second detection points other than the first number of second detection points based on the determination order of the initial detection points corresponding to each second detection point, and the second number of second detection points are determined as updated target detection points.

[0194] For example, in continuation of the above embodiment, according to the determined order of the second probe points B, C, D and E, among the remaining second probe points C and D, the second probe point C is determined as the second quantity of second probe points, i.e., the second probe point C is determined as the updated target probe point.

[0195] In step S1035, the interference source position is determined based on the second area and the interference direction corresponding to each of the updated target probe points.

[0196] Here, after the second quantity of second probe points is determined as the updated target probe points, the interference positioning terminal detects the direction in which the signal strength of the target interference signal is the strongest at each updated target probe point to determine the interference direction corresponding to each updated target probe point.

[0197] In this way, based on each updated target probe point and the interference direction corresponding thereto, a ray with each updated target probe point as an end point can be determined; and based on the ray corresponding to each updated target probe point and the second area, a third area in which the interference source is located can be determined. The area of the third area is smaller than that of the second area, which is more convenient for determining the specific position of the interference source.

[0198] In some embodiments, in the case where the area of the third area is not smaller than a preset area threshold, the area of the third area can be further reduced based on the above steps S1034 to S1035.

[0199] It should be noted that the above embodiments are all described based on the interference positioning terminal performing detection on the same horizontal plane, but in actual applications, the discrete points, probe points, rays, angle ranges, distance ranges and area ranges described in the above embodiments are all concepts in three-dimensional space, which have corresponding three-dimensional coordinates.

[0200] In this way, since there is signal strength attenuation in the process of radio signal propagation in three-dimensional space, some unavoidable errors will exist in the positioning result determined by the interference positioning terminal based on signal strength, which leads to the fact that the rays generated at multiple probe points cannot intersect at a point. Therefore, in view of the attenuation of radio signals in the process of propagation in three-dimensional space, the interference source positioning method provided in the present application further provides the following scheme.

[0201] In some embodiments, the interference source position includes three-dimensional coordinate information, and the interference source positioning method further includes the following steps S104 to S106:

[0202] In step S104, the position information of the interference source is detected and determined at multiple heights respectively to determine at least three interference source positions; wherein each of the interference source positions corresponds to a different height.

[0203] Here, the at least three interference source positions can be determined by using the airborne interference positioning terminal, based on the above interference source positioning method, and detecting the interference sources at at least three different altitudes. Here, each of the at least three interference source positions corresponds to a different altitude.

[0204] In some embodiments, the plurality of altitudes can be determined according to the actual detection environment. For example, in an open area with small obstructions, the detection environment is more suitable for the flight of the aircraft, and therefore, a plurality of altitudes with large height differences can be selected. For example, 60m, 80m and 100m can be selected for detection.

[0205] In some embodiments, the position of each interference source is represented by three-dimensional coordinates. For example, the three interference source positions obtained by the above step S104 correspond to three-dimensional coordinates M1(x1, y1, z1), M2(x2, y2, z2) and M3(x3, y3, z3), respectively.

[0206] Step S105, obtaining power intensity information corresponding to each of the interference source positions.

[0207] Here, after determining the at least three interference source positions, the interference positioning terminal is controlled to move to the corresponding interference source positions and detect the signal intensity of the target interference signal, i.e., the power intensity information of the target interference signal.

[0208] Step S106, based on the three-dimensional coordinate information and the power intensity information corresponding to each of the interference source positions, determining target three-dimensional coordinate information corresponding to the interference source.

[0209] In some embodiments, the target three-dimensional coordinate information corresponding to the interference source is determined based on the three-dimensional coordinate information and the power intensity information corresponding to each of the interference source positions by using a low-altitude propagation model.

[0210] Here, considering that the flight altitude of the aircraft used for interference source positioning is generally about 100 meters, and below 300 meters, the wireless signal propagates along a straight path (i.e., line of sight, LOS path), therefore, in some embodiments, a LOS path low-altitude propagation model is used to determine the signal intensity attenuation of the target interference signal at different interference source positions; wherein the LOS path propagation model can be represented by the following formula (2):

[0211] PL UMa-AV-LOS = 28.0 + 22log 10 (d 3D ) + 20log 10 (f c ) (2);

[0212] wherein PL UMa-AV-LOS represents the path loss; d 3Drepresents the three-dimensional distance between the radio signal transmitting end and the signal receiving point; f c represents the signal frequency. In addition, the above formula is applicable to the height of the signal receiving point (i.e., the detection point of the interference positioning terminal) being between 22.5 meters and 300 meters, and the horizontal distance between the interference source and the signal receiving point being less than 4 kilometers.

[0213] Accordingly, in the case of determining the three-dimensional coordinate information and the power information corresponding to at least three interference source positions, for example, the interference source positions M1(x1, y1, z1), M2(x2, y2, z2), and M3(x3, y3, z3), the three-dimensional coordinate information and the power information corresponding to each interference source position can be substituted into the above LOS path propagation model (i.e., the above formula (2)) respectively, to obtain the following formulas (3) to (5):

[0214]

[0215]

[0216]

[0217] By calculating the above formulas (3) to (5), more accurate coordinate information of the interference source position, i.e., the target three-dimensional coordinates of the interference source position, can be obtained.

[0218] In this way, in the interference positioning method provided by the present application, the signal strength attenuation of the target interference signal is combined with the low-altitude propagation model as the condition for positioning the interference source, so that the positioning result of the interference source is more accurate and reliable.

[0219] In some embodiments, after the target three-dimensional coordinates of the interference source position are determined, the specific position of the interference source can also be determined by the operator in an artificial manner in combination with the video or image information collected by the camera device carried by the aircraft.

[0220] As can be seen, in the interference source positioning method provided in the application, firstly, at least two groups of discrete points and an initial detection point corresponding to each group of discrete points are determined based on a first detection point and an interference direction corresponding to the first detection point; then, a second detection point corresponding to each initial detection point is determined by using a Thiessen polygon model and a clustering algorithm; after that, at least two target detection points are determined from the at least two second detection points based on a determination sequence of the initial detection points corresponding to each second detection point, and a moving route of the interference positioning terminal is planned; finally, a position of the interference source is determined based on the interference direction corresponding to the first detection point and an interference direction corresponding to each target detection point. In this way, the interference positioning method provided in the application realizes automatic determination of the positions of the target detection points and planning of the moving route of the interference positioning terminal based on the positions of the target detection points without relying on the work experience of the workers, and in addition, the interference source positioning system can be applied to large-area interference source positioning detection when the airborne interference positioning terminal is used for interference source positioning.

[0221] On the other hand, based on the interference positioning method in the foregoing embodiments, the application further provides an interference source positioning system. As shown in the Figure 4 The interference source positioning system 400 includes an aircraft 410, an airborne positioning terminal 420 and a first control terminal 430.

[0222] The aircraft 410 refers to any kind of flight device for carrying the airborne positioning terminal 420 and capable of communicating with the airborne positioning terminal 420. In some embodiments, the aircraft 410 communicates with the airborne positioning terminal 420 through a cable or a wireless communication module. For example, the aircraft 410 can communicate with the airborne positioning terminal 420 through an adapter cable of a Universal Serial Bus (USB) interface to a Type C interface.

[0223] In some embodiments, the aircraft 410 can include an airship, a helicopter, a civil passenger plane and a drone, etc.

[0224] In some embodiments, the aircraft 410 is provided with a camera 411. The camera 411 can communicate with the first control terminal 430 to transmit the photographed video or image information to the first control terminal 430.

[0225] The airborne positioning terminal 420 refers to a terminal device capable of executing the interference source positioning method provided in the application.

[0226] In some embodiments, the airborne positioning terminal 420 can be a computer, a notebook computer, a mobile phone, a single-chip microcomputer, a personal digital device and a control computer (for example, an industrial control computer (microcomputer), a single-chip microcomputer and a digital signal processor DSP, etc.) and other devices with control capability.

[0227] In some embodiments, the test bandwidth of the airborne positioning terminal 420 is between 100 KHz and 9 GHz, the image rejection is greater than 90 dB, the intermediate frequency rejection is greater than 95 dB; the average noise level is less than -155 dBm / Hz.

[0228] In some embodiments, the airborne positioning terminal 420 includes an edge server 421; the edge server 421 is built-in with logic for implementing the above-mentioned interference source positioning method. In this way, through the edge server 421, data calculation and analysis work can be front-end to the interference positioning terminal device, realizing first-time calculation of air interface data, reducing data transmission between the terminal device and the background server, reasonably utilizing computing power, reducing the data processing pressure of the background server, realizing real-time and efficient precise analysis of the target interference signal, and improving the interference source positioning efficiency.

[0229] In some embodiments, the airborne positioning terminal 420 further includes a temperature and humidity detection module 422. The temperature and humidity detection module 422 is used to detect the temperature and humidity information in the working environment of the airborne positioning terminal 420, so as to adjust the working state of the airborne positioning terminal 420 according to the temperature and humidity information. For example, when the environmental temperature and humidity are high, the airborne positioning terminal 420 is suspended.

[0230] In some embodiments, the airborne positioning terminal 420 further includes an alarm and fault diagnosis module 423. The alarm and fault diagnosis module 423 is used to alarm and diagnose the fault reason when the airborne positioning terminal appears a fault.

[0231] In some embodiments, the airborne positioning terminal 420 further includes a wireless receiving module 424 and a 5th Generation Mobile Communication Technology (5G) module 425, so as to communicate with the first control terminal 420 through the wireless receiving module 424 and the 5G module 425, and transmit the calculation result of the edge server 421 to the first control terminal 430 in real time.

[0232] In some embodiments, the airborne positioning terminal 420 further includes a power supply module 426 with Electro Magnetic Compatibility (EMC). The power supply module 426 is used to supply power for the airborne positioning terminal 426, and reduce the influence of electromagnetic signals in the working environment on power supply, and reduce the influence of electromagnetic signals generated by power supply on other components in the airborne positioning terminal 420.

[0233] In some embodiments, the airborne positioning terminal 420 further includes a voltage monitoring module 427. The voltage monitoring module 427 is used to monitor the voltage of the airborne positioning terminal 420, so as to ensure that the airborne positioning terminal 420 can work within a specified voltage range.

[0234] The airborne positioning terminal 420 also has an antenna 428. The antenna 428 is used to detect radio signals.

[0235] In some embodiments, the antenna 427 includes 1 directional antenna and 4 omnidirectional antennas; wherein the directional antenna is used to determine the direction in which the signal strength of the target interference signal detected at the detection point is the strongest.

[0236] The first control terminal 430 is used to send an interference source detection instruction and target interference signal information to the airborne positioning terminal 420 in response to a user input control instruction. In some embodiments, the first control terminal 430 can include a tablet terminal, a notebook computer, an all-in-one machine, a mobile device (such as a mobile phone, a personal digital assistant, etc.), and other devices with data processing capabilities.

[0237] Here, the first control terminal 430 is a control terminal used by field operation personnel, that is, in the interference source positioning operation, the first control terminal 430 is used by field operation personnel.

[0238] In actual application, the user inputs the frequency band information of the interfered signal into the first control terminal 430; the first control terminal 430 sends the frequency band information of the interfered signal to the airborne positioning terminal 420, so that the airborne positioning terminal 420 detects the interference signal and returns the detection data to the first control terminal 430; the first control terminal displays the corresponding spectrum waterfall based on the data returned by the airborne positioning terminal 420, so that the user determines the frequency band information of the target interference signal to be detected based on the spectrum waterfall.

[0239] In this way, after the user determines the frequency band information of the target interference signal, the first control terminal 430 creates an interference source positioning task based on the frequency band information of the target interference signal, and sends the target interference signal to the airborne positioning terminal 420, so that the airborne positioning terminal 420 locates the corresponding interference source based on the frequency band information of the target interference signal.

[0240] After that, the airborne positioning terminal 420 is used to:

[0241] Based on the interference source detection instruction and the target interference signal, the aircraft 410 is controlled to take off to a first detection point, and a first interference direction corresponding to the first detection point is determined; wherein the interference direction represents the direction in which the signal strength of the target interference signal detected at the detection point is the strongest.

[0242] Based on the first detection point and the first interference direction corresponding to the first detection point, at least two second detection points are determined.

[0243] Based on the determination order of the at least two second detection points, a flight route of the aircraft is determined.

[0244] In response to the aircraft flying to at least two second detection points according to the flight route, interference directions corresponding to the at least two second detection points are determined;

[0245] Based on the interference direction corresponding to the first detection point and the interference directions corresponding to the at least two second detection points, the position of the interference source is determined, and the position of the interference source is sent to the first control terminal 430.

[0246] In some embodiments, the interference source positioning system further comprises a remote controller 450.

[0247] The remote controller 450 is matched with the aircraft 410 and is used to control the flight route of the aircraft 410.

[0248] Here, the remote controller 450 communicates with the aircraft 410 through a wireless communication link built by the manufacturer of the aircraft 410.

[0249] In some embodiments, the remote controller 450 is connected to the first control terminal 430 through a cable, so that the operator can control the flight route of the aircraft 410 through the communication path between the first control terminal 430 and the remote controller 450.

[0250] In some embodiments, the interference source positioning system further comprises a second control terminal 440 in communication connection with the airborne positioning terminal 420; wherein,

[0251] The second control terminal 440 is used to send a first request to the airborne positioning terminal 420 to request to obtain control right of the airborne positioning terminal 420;

[0252] In response to the first request, the airborne positioning terminal 420 sends request confirmation information to the first control terminal 430 to prompt the first control terminal 430 to confirm whether to switch the controller to the second control terminal 440;

[0253] In response to the request confirmation information, the first control terminal 430 sends control right response information to the airborne positioning terminal 420;

[0254] Based on the control right response information, the airborne positioning terminal 420 determines whether to switch the control right to the second control terminal 440.

[0255] Here, the second control terminal 440 is a remote control platform, that is, the second control terminal is used by non-site operators to monitor the interference source positioning operation.

[0256] Since various complex and unexpected situations may occur in the interference source positioning operation, the on-site operator needs to handle them in time, therefore, in some embodiments of the present application, the authority of the second control terminal 440 is less than that of the first control terminal 430, so that the on-site operator can use the first control terminal 430 to handle the unexpected situations in time.

[0257] In some embodiments, the second control terminal 440 communicates with the airborne positioning terminal 420 through a mobile operator network (for example, a 4G or 5G network) to obtain the detection data of the target interference signal from the airborne positioning terminal 420.

[0258] In some embodiments, the second control terminal 440 communicates with the camera 411 arranged on the aircraft 410 through a mobile operator network (for example, a 4G or 5G network) to obtain video or image information from the camera 411.

[0259] In this way, by using the second control terminal 440 to communicate with the camera 411 and the airborne positioning terminal 420, the relevant professional and technical personnel can remotely monitor the interference source positioning operation through the second control terminal 440.

[0260] Here, during the monitoring of the interference source positioning operation by the professional and technical personnel through the second control terminal 440, when the remote professional and technical personnel needs to provide professional support or the remote professional and technical personnel needs to manually control the on-site operation, the second control terminal 440 can initiate a seizure request to the airborne positioning terminal 420, that is, send a first request to the airborne positioning terminal 420.

[0261] After receiving the first request sent by the second control terminal 440, since the authority of the second control terminal 440 is lower than that of the first control terminal 430, the airborne positioning terminal 420 sends request confirmation information to the first control terminal 430 to prompt the first control terminal 430 to confirm whether to switch the controller to the second control terminal 440.

[0262] In response to the request confirmation information, the operator of the first control terminal 430 can choose to agree or refuse the request and send control right response information to the airborne positioning terminal 420.

[0263] In response to the control right response information sent by the first control terminal 430, the airborne positioning terminal 420 determines whether to switch the controller to the second control terminal 440.

[0264] In some embodiments, the first control terminal 430 is further configured to send a second request to the airborne positioning terminal 420 to request control right of the airborne positioning terminal 420;

[0265] In response to the second request, the airborne positioning terminal 420 sends a notification of the recovery of the control right to the second control terminal 440 and switches the control right to the first control terminal 430.

[0266] Here, since the authority of the first control terminal 430 is higher than that of the second control terminal 440, when the first control terminal 430 applies for the control right of the airborne positioning terminal 420, the airborne positioning terminal 420 only needs to send the information of the transfer of the control right to the second control terminal 440, and does not need to confirm whether the second control terminal 440 agrees to transfer the control right.

[0267] Next, taking the tablet terminal as the first control terminal and the cloud platform located at the remote end as the second control terminal as an example, the embodiments of the second control terminal in the interference source positioning system provided in the present application will be described in combination with the flowcharts shown in FIG. 5 and FIG. 6. Figure 5 As shown in FIG. 5, the embodiment includes the following steps S501 to S506: Figure 5

[0268] Step S501, the cloud platform 510 sends a first request to the airborne positioning terminal 520; then, step S502 is performed.

[0269] Here, the first request is used to request the control right of the airborne positioning terminal 420 from the airborne positioning terminal 520.

[0270] Step S502, the airborne positioning terminal 520 sends request confirmation information to the tablet terminal 530; then, step S503 is performed.

[0271] Step S503, the tablet terminal 530 returns the control right response information of the agreement to switch the control right to the airborne positioning terminal 520; then, step S504 is performed.

[0272] Step S504, the airborne positioning terminal 520 switches the control right to the cloud platform 510; then, step S505 is performed.

[0273] Step S505, the airborne positioning terminal 520 sends the control right switching reply to the cloud platform 510; then, step S506 is performed.

[0274] Here, the control right switching reply is used to notify the cloud platform 510 that the control right has been switched to the cloud platform 510. At this time, the cloud platform 510 obtains the control right of the airborne positioning terminal 520 and can send the control instruction to the airborne positioning terminal 520; meanwhile, the tablet terminal 530 loses the control right of the airborne positioning terminal 520 and can only obtain the detection data from the airborne positioning terminal 520.

[0275] ​Step S506, the airborne positioning terminal 520 sends a controller switching notification to the tablet terminal 530.

[0276] Here, the control right switching notification is used to notify the tablet terminal 530 that the control right has been successfully switched to the cloud platform 510.

[0277] After the second control terminal obtains the control right of the airborne positioning terminal based on the control right seizure agreement, if an emergency situation occurs at the work site, the first control terminal can send a control right seizure application to the airborne positioning terminal based on the control right seizure agreement to obtain the control right of the airborne positioning terminal and respond to the emergency situation in a timely manner.

[0278] Next, taking the tablet terminal as the first control terminal and the cloud platform located at a remote end as the second control terminal as an example, the implementation of the first control terminal in the interference source positioning system provided in the present application will be described in combination with Figure 6 the interference source positioning system provided in the present application will be described in combination with Figure 6 As shown in the figure, this embodiment includes the following steps S601 to S605:

[0279] Step S601, the tablet terminal 610 sends a second request to the airborne positioning terminal 620; then, step S602 is performed.

[0280] Here, the second request is used to request the airborne positioning terminal 620 to obtain the control right of the airborne positioning terminal 620.

[0281] Step S602, the airborne positioning terminal 620 sends a control right recovery notification to the cloud platform 630; then, step S603 is performed.

[0282] Here, since the authority of the tablet terminal 610 is higher than that of the cloud platform 630, when the tablet terminal 610 requests to obtain the control right from the airborne positioning terminal 620, the airborne positioning terminal 620 directly switches the control right to the tablet terminal 610 without the need to send a request confirmation message to the cloud platform 630. Therefore, the airborne positioning terminal 620 sends a controller switching notification to the cloud platform 630 to inform the cloud platform 630 of the controller switching matter.

[0283] Step S603, the cloud platform 630 sends a notification reply message to the airborne positioning terminal 620; then, step S604 is performed.

[0284] Here, the cloud platform 630 sends a notification reply message to the airborne positioning terminal 620, which is only used to inform the airborne positioning terminal 620 that the controller switching notification has been received.

[0285] Step S604, the airborne positioning terminal 620 switches the controller to the tablet terminal 610; then, step S605 is performed.

[0286] Step S605, the airborne positioning terminal 620 sends a control right switching answer message to the tablet terminal 610.

[0287] Here, the control right switching notification is used to notify the tablet terminal 610 that the control right has been successfully switched to the tablet terminal 610.

[0288] From the above embodiments, it can be seen that by setting the control right protocol between the first control terminal and the second control terminal, an expert with work experience can perform interference source positioning on the interference positioning terminal through the second control terminal set at the remote end to guide the work flow of the on-site operator. At the same time, the work experience requirement for the on-site operator is also reduced, i.e., the on-site operator only needs to have the ability to operate the first control terminal (e.g., the tablet terminal) or operate the aircraft. In addition, in the case of an emergency on site, the first control terminal is allowed to send a control right application to the interference positioning terminal without the consent of the second control terminal, so that the first control terminal can quickly obtain the control right of the interference positioning terminal to timely solve the emergency on site.

[0289] Next, taking the aircraft as a drone and the first control terminal as a tablet terminal as an example, an embodiment of interference source positioning using the interference positioning system provided in the present application is described in detail. Referring to Figure 7 The interference source positioning embodiment can be implemented through the following steps S701 to S706:

[0290] Step S701, input the interfered frequency band information on the tablet terminal; the tablet terminal sends a radio signal detection instruction to the airborne interference positioning terminal; then, step S702 is executed;

[0291] Step S702, the airborne interference positioning terminal performs radio signal detection and returns the detection result to the tablet terminal; then, step S703 is executed;

[0292] Step S703, according to the detection result returned by the airborne interference positioning terminal, the tablet terminal judges whether the frequency band information of the target interference source is detected; if yes, step S704 is executed; if no, step S701 is returned to be executed;

[0293] Here, according to the detection result returned by the airborne interference positioning terminal, the tablet terminal generates a frequency spectrum waterfall chart; based on the frequency spectrum waterfall chart, the operator can determine whether the frequency band information of the target interference source is detected.

[0294] Step S704, create an interference source positioning task on the tablet terminal; input the frequency band information of the target interference source in the interference source positioning task; set the interference source positioning mode to the full-automatic mode; then, step S705 is executed;

[0295] Step S705, the tablet terminal sends the above-mentioned interference source positioning task and interference source positioning mode to the airborne interference positioning terminal; then, step S706 is executed;

[0296] Step S706, based on the built-in interference source positioning algorithm, the airborne interference positioning terminal automatically determines the interference source position.

[0297] Here, based on the received interference source positioning task and interference source positioning mode, the airborne interference positioning terminal: controls the UAV to take off to the target height and reaches the first detection point A; controls the UAV to rotate horizontally by 360° to determine the interference direction corresponding to the first detection point A; generates a first ray on the map information, with the first detection point A as the end point and the interference direction as the extending direction of the ray; determines the detection points B, C and D in turn based on the first detection point A and the interference direction corresponding to the first detection point A; controls the UAV to fly to the detection points B and C in turn, and determines the interference direction corresponding to the detection point B and the interference direction corresponding to the detection point C respectively; generates a second ray and a third ray on the map respectively, with the detection points B and C as the end points and the corresponding interference directions as the extending directions of the rays; calculates the area of the region formed by the intersection of the first ray, the second ray and the third ray, and judges whether the area is not greater than the area threshold; if yes, the specific position of the interference source is determined by the operator in the region; if not, controls the UAV to fly to the detection point D, and determines the fourth ray corresponding to the detection point D, so as to reduce the area of the region formed by the intersection of the first ray, the second ray and the third ray by using the fourth ray; further determines the position of the interference source in the area after the area is reduced by the on-site operator.

[0298] It should be noted that the detailed process of automatically determining the position of the interference source by the airborne interference positioning terminal based on the built-in interference source positioning algorithm can be referred to the embodiments provided in the interference source positioning method part of the present application, which will not be described here.

[0299] In addition, in the above-mentioned embodiments, after the tablet terminal creates the interference source positioning task, the interference source positioning mode is set to the full-automatic mode, but in some other embodiments of the present application, the interference source positioning system provided by the present application can also perform interference source positioning based on the semi-automatic mode or the manual mode.

[0300] In the semi-automatic mode, after the worker creates the interference source positioning task on the tablet terminal and sets the interference source positioning mode as the semi-automatic mode, the worker determines the positions of the detection points B and C after the first detection point in step S706, and manually controls the UAV to fly to the detection points B and C in sequence; the UAV automatically rotates 360° at each detection point, so that the airborne interference positioning terminal determines the interference directions corresponding to the detection points B and C; at the same time, after determining the region formed by the intersection of the first ray corresponding to the detection point A, the second ray corresponding to the detection point B, and the third ray corresponding to the detection point C, the worker artificially judges whether to control the UAV to fly to the detection point D, and determines the specific position of the interference source based on the detection result at the detection point D.

[0301] In a complex flight environment scenario (for example, an urban scenario), the semi-automatic mode can be used to more accurately control the flight route of the UAV by the worker, so as to avoid the UAV colliding with objects in the scenario, thereby improving the safety of the interference source positioning process.

[0302] In the manual mode, the above processes of determining the positions of the detection points, controlling the UAV to fly, controlling the UAV to rotate 360°, and determining whether to control the UAV to fly to the detection point D for further detection are all artificially completed by the worker.

[0303] In some embodiments, the interference source positioning system provided in the present application further includes a ground positioning terminal. The ground positioning terminal is used in cooperation with the airborne positioning terminal to improve the efficiency and flexibility of interference source positioning.

[0304] As shown in Figure 8 , the ground positioning terminal 800 includes a host part 810 and a handheld positioning part 820; wherein the handheld positioning part 820 is used to install the host part 810.

[0305] In some embodiments, the handheld positioning part 820 communicates with the host part 810 in a wired or wireless manner. In some embodiments, the host part 810 and the handheld positioning part 820 are connected by a cable, for example, connected by an adapter cable converting a USB interface to a Type-C interface.

[0306] Here, the structure and function of the host part 810 in the ground positioning terminal 800 are the same as those of the airborne positioning terminal 420, that is, the edge server 811, the temperature and humidity detection module 812, the alarm and fault diagnosis module 813, the wireless receiving module 814, the 5G module 815, the power module 816, the voltage monitoring module 817, and the antenna 818 in the host part 810 correspond to the structure and function of the edge computing system 421, the temperature and humidity detection module 422, the alarm and fault diagnosis module 423, the wireless receiving module 424, the 5G module 425, the power module 426, the voltage monitoring module 427, and the antenna 428 in the airborne positioning terminal 420, respectively.

[0307] The difference is that a positioning module is arranged in the aircraft 410 carrying the airborne positioning terminal 420, which is used to determine the current position information of the unmanned aerial vehicle. Correspondingly, in order to realize the positioning function, a positioning module 821 and a handheld directional antenna 823 are arranged in the handheld positioning part 820 of the ground positioning terminal 800.

[0308] Meanwhile, the handheld positioning part 820 further includes a signal amplifier 822. The signal amplifier 822 is used to amplify the weak signal received by the positioning probe in the positioning module 821, improve the signal strength, and at the same time, perform shaping, filtering and other processing on the signal, so as to reduce the measurement error and improve the positioning accuracy.

[0309] In some embodiments, the ground positioning terminal 800 can communicate with the first control terminal and the second control terminal through the 4G / 5G module or the wireless communication module, so as to receive the control instruction from the first control terminal or the second control terminal, and transmit the detection result of the target interference signal to the first control terminal and the second control terminal.

[0310] Here, the ground positioning terminal is built-in with an interference source positioning algorithm, which can execute each embodiment of the interference source positioning method described above. Therefore, the ground positioning terminal 800 can also be used as an interference source positioning device alone, and cooperate with the first control terminal and / or the second control terminal to perform interference source positioning.

[0311] Meanwhile, as described above, the ground positioning terminal can cooperate with the airborne positioning terminal to realize the positioning of the interference source. For example, first, the position of the interference source is positioned by the airborne positioning terminal to determine the area containing the position of the interference source; then, the ground positioning terminal is used to further approach the interference source in the area determined by the airborne positioning terminal to determine the specific position of the interference source.

[0312] As can be seen from the above, by arranging the ground positioning terminal in the interference source positioning system, the airborne positioning terminal and the ground positioning terminal can be used to cooperate to position the interference source, so that the interference source positioning scheme is more flexible and efficient.

[0313] The description of the above system embodiments is similar to that of the above method embodiments, and has similar beneficial effects as the method embodiments. In some embodiments, the system provided by the embodiments of the present disclosure has functions or includes components that can be used to perform the methods described in the above method embodiments. For technical details not disclosed in the system embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0314] Based on the foregoing embodiments, the embodiments of the present application provide an interference positioning device, which includes units and modules included in the units, and can be implemented by a processor in a computer device. Of course, it can also be implemented by a specific logic circuit. In the implementation process, the processor can be a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0315] Figure 9 The interference positioning device provided by the present application is shown in the component structure diagram as Figure 9 The interference positioning device 900 includes a first determination module 910, a second determination module 920, and a third determination module 930, wherein:

[0316] The first determination module 910 is configured to determine, for a target interference signal, an interference direction corresponding to a first detection point; wherein the interference direction represents a direction in which the signal strength of the target interference signal detected at the detection point is the strongest.

[0317] The second determination module 920 is configured to determine at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point.

[0318] The third determination module 930 is configured to determine the location of the interference source based on the interference direction corresponding to the first detection point and the interference directions corresponding to the at least two second detection points.

[0319] In some embodiments, the second determination module 920 includes:

[0320] The first determination sub-module 921 is configured to determine, based on the first detection point and the interference direction corresponding to the first detection point, at least two groups of discrete points and an initial detection point in each group of discrete points; wherein each group of discrete points represents a predicted location of a corresponding second detection point.

[0321] The second determining sub-module 922 is configured to determine a second detection point corresponding to each initial detection point based on the at least two groups of discrete points and the initial detection point in each group of discrete points.

[0322] In some embodiments, the first determining sub-module 921 includes:

[0323] The discrete point determining module 923 is configured to determine the first detection point as a current detection point, and determine a first group of discrete points based on the current detection point and an interference direction corresponding to the current detection point.

[0324] The initial detection point determining module 924 is configured to determine a first initial detection point from the first group of discrete points.

[0325] The iteration module 925 is configured to update a first number of times, and in a case where the first number of times is not greater than a threshold number of times, determine the first initial detection point as a current detection point, and determine an interference direction corresponding to the current detection point for the target interference signal, so as to determine a next group of discrete points and an initial detection point in the next group of discrete points based on the current detection point and the interference direction corresponding to the current detection point.

[0326] In some embodiments, the discrete point determining module 923 is configured to:

[0327] determine a first ray based on the current detection point and the interference direction corresponding to the current detection point.

[0328] determine a first region based on the first ray, a first angle range and a first distance range, where the first angle range represents an angle range of the first ray rotating along a specified direction, and the first distance range represents a distance range relative to the current detection point.

[0329] determine a plurality of discrete points in the first region, and take the plurality of discrete points as the first group of discrete points.

[0330] In some embodiments, the initial detection point determining module 924 is configured to:

[0331] determine a plurality of Thiessen polygons based on the first region and the first group of discrete points.

[0332] determine a target Thiessen polygon from the Thiessen polygons, and determine a discrete point contained in the target Thiessen polygon as the first initial detection point.

[0333] In some embodiments, the second determining sub-module 922 is configured to:

[0334] cluster the at least two groups of discrete points with each of the initial detection points as an initial cluster center, to obtain a group of clustered points corresponding to each initial detection point;

[0335] determine a target cluster center corresponding to each group of clustered points, and take the target cluster center as a second detection point corresponding to the corresponding initial detection point.

[0336] In some embodiments, the third determination module 930 is configured to:

[0337] determine a first number of second detection points from the at least two second detection points as target detection points based on a determination order of the initial detection points corresponding to each of the second detection points;

[0338] determine an interference direction corresponding to each of the target detection points based on the target interference signal;

[0339] determine a second region based on the interference direction corresponding to the first detection point and the interference direction corresponding to each of the target detection points;

[0340] In a case where an area of the second region is less than a preset area threshold, determine the interference source position based on the second region.

[0341] In some embodiments, the third determination module 930 is further configured to:

[0342] In a case where the area of the second region is not less than the preset area threshold, determine a second number of second detection points from the second detection points of the at least two second detection points, except for the first number of second detection points, as updated target detection points based on the determination order of the initial detection points corresponding to each of the second detection points;

[0343] determine the interference source position based on the second region and the interference direction corresponding to each of the updated target detection points.

[0344] In some embodiments, the interference source position includes three-dimensional coordinate information, and the device 900 further includes a three-dimensional correction module 940; the three-dimensional correction module 940 is configured to:

[0345] respectively detect and determine the position information of the interference source at multiple heights to determine at least three interference source positions; wherein each of the interference source positions corresponds to a different height;

[0346] obtain power intensity information corresponding to each of the interference source positions;

[0347] determine target three-dimensional coordinate information corresponding to the interference source based on the three-dimensional coordinate information and the power intensity information corresponding to each of the interference source positions.

[0348] The description of the above device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. In some embodiments, the device provided by the embodiments of the present disclosure has functions or includes modules that can be used to perform the methods described in the above method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0349] It should be noted that, in the embodiments of the present application, if the interference source positioning method described above is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various program code storage media. Thus, the embodiments of the present application are not limited to any specific hardware, software or firmware, or any combination of hardware, software and firmware.

[0350] The embodiments of the present application provide a computer device, including a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements part or all of the steps in the above method when executing the program.

[0351] The embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement part or all of the steps in the above method. The computer readable storage medium can be transitory or non-transitory.

[0352] The embodiments of the present application provide a computer program, which includes computer readable code, and when the computer readable code runs in a computer device, a processor in the computer device executes part or all of the steps in the above method.

[0353] The embodiment of the present application provides a computer program product, which comprises a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, part or all of the steps in the above method are implemented. The computer program product can be implemented by hardware, software or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium. In other embodiments, the computer program product is embodied as a software product, such as a software development kit (SDK) and the like.

[0354] It should be noted that the above description of various embodiments tends to emphasize the differences between various embodiments, and the same or similar parts can be referred to each other. The above description of the device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the device, storage medium, computer program and computer program product embodiments of the present application, please refer to the description of the method embodiments of the present application.

[0355] It should be noted that, Figure 10 A hardware entity of a computer device in the embodiment of the present application is shown in FIG. 10, which comprises a processor 1001, a communication interface 1002 and a memory 1003. Figure 10 The hardware entity of the computer device 1000 comprises a processor 1001, a communication interface 1002 and a memory 1003, wherein:

[0356] The processor 1001 generally controls the overall operation of the computer device 1000.

[0357] The communication interface 1002 can enable the computer device to communicate with other terminals or servers through a network.

[0358] The memory 1003 is configured to store instructions and applications executable by the processor 1001, and can also cache data to be processed by the processor 1001 and modules in the computer device 1000 (for example, image data, audio data, voice communication data and video communication data) to be processed or having been processed. It can be realized by FLASH or RAM. The processor 1001, the communication interface 1002 and the memory 1003 can transmit data through the bus 1004.

[0359] It should be understood that every feature, structure, or characteristic described in relation to one embodiment is applicable to at least one other embodiment. Therefore, the appearance of the phrase "in one embodiment" or "in an embodiment" in various places throughout the specification is not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that the sequence of steps / processes in various embodiments of the present application does not mean the order of execution, the execution order of the steps / processes should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above sequence number of the embodiments of the present application is only for description, not representing the pros and cons of the embodiments.

[0360] It should be noted that the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a... " does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0361] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The above-described device embodiments are only illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed components can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0362] The units described above as separate components can or can not be physically separate, and the components shown as units can or can not be physical units; they can be located in one place or distributed on multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0363] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be realized in the form of hardware or hardware plus software functional unit.

[0364] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware, and the foregoing program can be stored in a computer readable storage medium, and the program executes the steps of the above-mentioned method embodiments when executed; and the foregoing storage medium includes a mobile storage device, a read only memory (ROM), a magnetic disc or an optical disc and various storage medium capable of storing program codes.

[0365] Alternatively, the integrated units of the present application can be stored in a computer readable storage medium if they are realized in the form of software function modules and sold or used as independent products. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes a mobile storage device, a ROM, a magnetic disc or an optical disc and various storage medium capable of storing program codes.

[0366] The above is only an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application.

Claims

1. A method for locating interference sources, characterized in that, include: For the target interference signal, the interference direction corresponding to the first detection point is determined; wherein, the interference direction represents the direction in which the signal strength of the target interference signal detected at the detection point is the strongest; Based on the first detection point and the interference direction corresponding to the first detection point, at least two second detection points are determined. The location of the interference source is determined based on the interference direction corresponding to the first detection point and the interference directions corresponding to at least two second detection points.

2. The method according to claim 1, characterized in that, The determination of at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point includes: Based on the first detection point and the interference direction corresponding to the first detection point, at least two sets of discrete points and an initial detection point in each set of discrete points are determined; wherein, each set of discrete points represents the predicted position of the corresponding second detection point; Based on the at least two sets of discrete points and the initial detection point in each set of discrete points, determine the second detection point corresponding to each initial detection point.

3. The method according to claim 2, characterized in that, The step of determining at least two sets of discrete points and an initial detection point in each set of discrete points based on the first detection point and the interference direction corresponding to the first detection point includes: The first detection point is determined as the current detection point, and based on the current detection point and the interference direction corresponding to the current detection point, a first set of discrete points is determined; Determine the first initial detection point from the first set of discrete points; Update the first count. If the first count is not greater than the count threshold, determine the first initial detection point as the current detection point, and determine the interference direction corresponding to the current detection point for the target interference signal. Based on the current detection point and the interference direction corresponding to the current detection point, determine the next set of discrete points and the initial detection point in the next set of discrete points.

4. The method according to claim 3, characterized in that, The step of determining the first set of discrete points based on the current detection point and the interference direction corresponding to the current detection point includes: Based on the current detection point and the interference direction corresponding to the current detection point, the first ray is determined; A first region is determined based on the first ray, the first angle range, and the first distance range; wherein, the first angle range represents the angle range of the first ray rotating along a specified direction; and the first distance range represents the distance range relative to the current detection point. Multiple discrete points are determined within the first region, and these multiple discrete points are used as the first set of discrete points.

5. The method according to claim 3, characterized in that, Determining the first initial detection point from the first set of discrete points includes: Based on the first region and the first set of discrete points, multiple Thiessen polygons are determined; The target Thiessen polygon is determined from the Thiessen polygon, and the discrete points contained in the target Thiessen polygon are determined as the first initial detection points.

6. The method according to claim 2, characterized in that, The step of determining the second detection point corresponding to each initial detection point based on the at least two sets of discrete points and the initial detection point in each set of discrete points includes: Using each of the initial detection points as the initial cluster center, clustering is performed on the at least two sets of discrete points to obtain a set of cluster points corresponding to each initial detection point. Determine the target cluster center corresponding to each group of cluster points, and use the target cluster center as the second detection point corresponding to the initial detection point.

7. The method according to claim 3, characterized in that, Determining the location of the interference source based on the interference direction corresponding to the first detection point and the interference directions corresponding to the at least two second detection points includes: Based on the determination order of the initial detection points corresponding to each second detection point, a first number of second detection points are determined from the at least two second detection points as target detection points; Based on the target interference signal, the interference direction corresponding to each target detection point is determined; The second region is determined based on the interference direction corresponding to the first detection point and the interference direction corresponding to each of the target detection points. If the area of ​​the second region is less than a preset area threshold, the location of the interference source is determined based on the second region.

8. The method according to claim 7, characterized in that, Also includes: If the area of ​​the second region is not less than the preset area threshold, based on the determination order of the initial detection points corresponding to each second detection point, a second number of second detection points are determined from the second detection points other than the first number of second detection points as updated target detection points. The location of the interference source is determined based on the interference direction corresponding to the second region and each of the updated target detection points.

9. The method according to claim 1, characterized in that, The location of the interference source includes three-dimensional coordinate information, and the method further includes: The location information of the interference sources is detected and determined at multiple altitudes to identify at least three interference source locations; wherein each interference source location corresponds to a different altitude. Obtain the power intensity information corresponding to the location of each interference source; Based on the three-dimensional coordinate information and power intensity information corresponding to the location of each interference source, the target three-dimensional coordinate information corresponding to the interference source is determined.

10. An interference source localization system, characterized in that, include: Aircraft; An airborne positioning terminal mounted on the aircraft and in communication with the aircraft; A first control terminal is communicatively connected to both the aircraft and the airborne positioning terminal; wherein... The first control terminal is used to send interference source detection instructions and target interference signal information to the airborne positioning terminal in response to control commands input by the user. The airborne positioning terminal is used for: Based on the interference source detection command and the target interference signal, the aircraft is controlled to take off to the first detection point, and the interference direction corresponding to the first detection point is determined; wherein, the interference direction represents the direction in which the signal strength of the target interference signal detected at the detection point is the strongest; Based on the first detection point and the interference direction corresponding to the first detection point, at least two second detection points are determined. The flight path of the aircraft is determined based on the order in which the at least two second detection points are determined. In response to the aircraft flying along the flight path to at least two second detection points, the interference direction corresponding to at least two second detection points is determined; Based on the interference direction corresponding to the first detection point and the interference directions corresponding to at least two second detection points, the location of the interference source is determined and the location of the interference source is sent to the first control terminal.

11. The system according to claim 10, characterized in that, It also includes a second control terminal that is communicatively connected to the airborne positioning terminal; wherein, The second control terminal is used to send a first request to the airborne positioning terminal to request control over the airborne positioning terminal; In response to the first request, the airborne positioning terminal sends a request confirmation message to the first control terminal to prompt the first control terminal to confirm whether to switch the control to the second control terminal; In response to the request confirmation information, the first control terminal sends control response information to the airborne positioning terminal; Based on the control response information, the airborne positioning terminal determines whether to switch control to the second control terminal.

12. The system according to claim 11, characterized in that, The first control terminal is further configured to send a second request to the airborne positioning terminal to request control over the airborne positioning terminal; In response to the second request, the airborne positioning terminal sends a notification to the second control terminal to reclaim control and switches control to the first control terminal.

13. The system according to claim 10, characterized in that, It also includes a ground positioning terminal that is communicatively connected to the first control terminal; wherein, The ground positioning terminal is used to detect the location of the interference source on the ground when the area of ​​the region where the interference source location is determined by the airborne positioning terminal is greater than a preset area threshold.

14. An interference source locating device, characterized in that, include: The first determining module is used to determine the interference direction corresponding to the first detection point for the target interference signal; wherein, the interference direction represents the direction in which the signal strength of the target interference signal detected at the detection point is the strongest; The second determining module is used to determine at least two second detection points based on the first detection point and the interference direction corresponding to the first detection point; The third determining module is used to determine the location of the interference source based on the interference direction corresponding to the first detection point and the interference directions corresponding to at least two second detection points.

15. A computer device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 1 to 9.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 9.

17. A computer program product comprising a non-transitory computer-readable storage medium storing a computer program, wherein when read and executed by a computer, the computer program implements the steps of the method of any one of claims 1 to 9.

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