Aircraft control method, device and equipment based on sensing and communication integration and storage medium

Abstract

The invention discloses an aircraft control method and device based on sensing and communication integration, equipment and a storage medium, and the method comprises the steps: generating a sensing and communication integration shared waveform based on an obtained sensing symbol frequency modulation sequence, a communication symbol sequence and a symbol period under the condition of triggering an aircraft sensing instruction; the sensing frequency modulation sequence is corrected according to the quantum sensor, the symbol period is corrected according to the quantum radar, and the sensing and communication integrated shared waveform is updated based on the correction result; and determining an interference signal, an interference frequency point and an encryption key corresponding to the aircraft, fusing the interference signal, the interference frequency point and the encryption key with the updating result of the sensing-communication integrated shared waveform, and generating an aircraft sensing-control waveform for performing sensing positioning and interference control on the aircraft. The purpose of effectively controlling the multi-band adaptive aircraft can be achieved, and the control flexibility of the aircraft and the utilization rate of system resources are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of computers, and particularly relates to an aircraft control method and device based on integrated sensing, an equipment and a storage medium. BACKGROUND

[0002] With the popularization of aircraft technology, the wide application of low-altitude aircraft has brought severe challenges to public safety. Unauthorized aircraft poses risks of interfering with airport flight takeoff and landing, damaging the normal operation of key infrastructure such as nuclear power plants, and even being used for illegal mapping, stealing secrets, and throwing dangerous objects, so accurate and real-time aircraft sensing control technology has become very important. In the prior art, aircraft control is mainly achieved by using a traditional radar system or an optical sensor to detect a target aircraft, and after the position of the target aircraft is sensed, the target aircraft is controlled by single-band electromagnetic interference or physical interception. However, the prior art is susceptible to environmental noise, which leads to inaccurate aircraft sensing and inaccurate aircraft control results. Moreover, the prior art can only interfere with a single-band aircraft and cannot flexibly control a multi-band adaptive aircraft. In addition, the sensing module and the control module of the prior art are designed separately, which results in low resource utilization of spectrum, time slots, and power in the system. SUMMARY

[0003] The embodiments of the present application provide an aircraft control method and device based on integrated sensing, an equipment and a storage medium, which solve the problems of inaccurate aircraft control results, inflexible control methods, and low system resource utilization in the prior art. By generating an integrated sensing and communication shared waveform based on a sensing symbol frequency modulation sequence, a communication symbol sequence, and a symbol period, and quantum adaptively modifying the waveform, the aircraft can be detected by a quantum radar, and the sensing module and the control module of the aircraft can be fused, thereby improving the sensing accuracy of the aircraft and the utilization of system resources. Moreover, by determining an interference signal, an interference frequency point, and an encryption key corresponding to the aircraft, fusing the interference signal, the interference frequency point, and the encryption key with the update result of the integrated sensing and communication shared waveform, and generating an aircraft sensing and control waveform, the multi-band adaptive aircraft can be effectively controlled, thereby improving the flexibility of aircraft control and the utilization of system resources.

[0004] In a first aspect, the embodiments of the present application provide an aircraft control method based on integrated sensing, which comprises: generating an integrated sensing and communication shared waveform based on a sensing symbol frequency modulation sequence, a communication symbol sequence, and a symbol period obtained under the condition that an aircraft sensing instruction is triggered; The sensing and communication integrated shared waveform is generated based on the sensing symbol frequency modulation sequence, the communication symbol sequence and the symbol period. The interference signal, the interference frequency point and the encryption key corresponding to the aircraft are determined, and the interference signal, the interference frequency point and the encryption key are fused with the update result of the sensing and communication integrated shared waveform to generate an aircraft sensing and control waveform for sensing positioning and interference control of the aircraft.

[0005] Further, the interference frequency point corresponding to the aircraft is determined, comprising: The historical interference frequency point and the channel response data of the aircraft are obtained, and the actual channel response data corresponding to the preset interference frequency point is predicted based on the historical interference frequency point and the channel response data; The frequency point occupation bandwidth corresponding to the preset interference frequency point is determined, and the preset interference frequency point is interference evaluated based on the actual channel response data, the target channel response data and the frequency point occupation bandwidth; The preset interference frequency point is iteratively optimized according to the gradient descent algorithm and the interference evaluation result to obtain the interference frequency point corresponding to the aircraft.

[0006] Further, the interference signal, the interference frequency point and the encryption key are fused with the update result of the sensing and communication integrated shared waveform to generate an aircraft sensing and control waveform, comprising: It is judged whether the current time belongs to the key validity period of the encryption key, and the interference signal is encrypted according to the encryption key in the case that the current time belongs to the key validity period of the encryption key; The communication symbol sequence in the update result of the sensing and communication integrated shared waveform is superimposed with the interference signal based on the encryption result of the interference signal and the interference frequency point to obtain the aircraft sensing and control waveform.

[0007] Further, after the sensing and communication integrated shared waveform is generated based on the obtained sensing symbol frequency modulation sequence, the communication symbol sequence and the symbol period, the method further comprises: The sensing signal-to-noise ratio corresponding to the sensing symbol frequency modulation sequence and the communication capacity corresponding to the communication symbol sequence are determined, and the sensing and communication utility of the sensing and communication integrated shared waveform is evaluated based on the preset sensing weight, the preset communication weight, the sensing signal-to-noise ratio and the communication capacity; The weight ratio of the preset sensing weight and the preset communication weight is iteratively optimized based on the Pareto optimal solution algorithm and the sensing and communication utility evaluation result to obtain an optimal sensing and communication weight ratio; The current signal processing resource is obtained, and the initial sensing resource and the initial communication resource corresponding to the sensing and communication integrated shared waveform are generated based on the optimal sensing and communication weight ratio and the current signal processing resource to transmit the sensing and communication integrated shared waveform.

[0008] Further, after determining the perceived signal-to-noise ratio corresponding to the perceived symbol frequency modulation sequence, the method further comprises: According to the number of photons emitted by the quantum radar, the perceived signal-to-noise ratio is signal-to-noise ratio corrected to obtain a quantum radar signal-to-noise ratio; Correspondingly, based on the preset perception weight, the preset communication weight, the perceived signal-to-noise ratio and the communication capacity, the perception-communication integrated shared waveform is evaluated for perception-communication utility, comprising: Based on the preset perception weight, the preset communication weight, the quantum radar signal-to-noise ratio and the communication capacity, the perception-communication integrated shared waveform is evaluated for perception-communication utility.

[0009] Further, after generating the aircraft perception-control waveform, the method further comprises: The first time delay weight and the first energy consumption weight corresponding to the initial perception resource, and the second time delay weight and the second energy consumption weight corresponding to the initial communication resource are determined respectively, and a resource allocation total cost evaluation formula is constructed according to the initial perception resource, the first time delay weight, the first energy consumption weight, the initial communication resource, the second time delay weight and the second energy consumption weight; Based on the quantum annealing algorithm, the optimal solution of the resource allocation total cost evaluation formula is calculated to determine the target perception resource and the target communication resource corresponding to the aircraft perception-control waveform, for transmitting the aircraft perception-control waveform.

[0010] Further, the gravity gradient phase difference is represented by the following formula: ; Wherein, is the phase difference of the cold atom interferometer in the quantum sensor due to the gravity gradient, is the atomic mass of the cold atom interferometer, reduced Planck constant, is the symbol period, is the gravity gradient.

[0011] In a second aspect, the embodiments of the present application provide an aircraft control device based on perception-communication integration, the device comprising: The shared waveform generation module is configured to generate a perception-communication integrated shared waveform based on the perceived symbol frequency modulation sequence, the communication symbol sequence and the symbol period obtained in the case of triggering the aircraft perception instruction; The shared waveform updating module is configured to first correct the perceived frequency modulation sequence according to the gravity gradient phase difference generated by the quantum sensor based on the symbol period, and second correct the symbol period according to the de-coherence time of the photons emitted by the quantum radar, and update the perception-communication integrated shared waveform based on the first correction result and the second correction result; The aircraft control module is used for determining an interference signal, an interference frequency point and an encryption key corresponding to the aircraft, fusing the interference signal, the interference frequency point and the encryption key with an update result of a shared waveform, generating an aircraft sensing and control waveform, and performing sensing positioning and interference control on the aircraft.

[0012] In a third aspect, an electronic device is provided, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the method according to the first aspect.

[0013] In a fourth aspect, a readable storage medium is provided, which stores a program or instructions, and the program or instructions, when executed by a processor, implement the steps of the method according to the first aspect.

[0014] In a fifth aspect, a computer program product is also provided, which includes a computer program stored in a computer readable storage medium, and at least one processor of a device reads and executes the computer program from the computer readable storage medium, so that the device executes the method according to the first aspect.

[0015] In the embodiment of the present application, in the case of triggering the aircraft perception instruction, the perception symbol frequency modulation sequence, the communication symbol sequence and the symbol period obtained are used to generate a sensing-integrated shared waveform; the sensing frequency modulation sequence is first corrected according to the gravity gradient phase difference generated by the quantum sensor based on the symbol period, and the symbol period is secondly corrected according to the decoherence time of the transmitted photons of the quantum radar, the sensing-integrated shared waveform is updated based on the first correction result and the second correction result; the interference signal, the interference frequency point and the encryption key corresponding to the aircraft are determined, the interference signal, the interference frequency point and the encryption key are fused with the update result of the sensing-integrated shared waveform, and an aircraft sensing control waveform is generated for aircraft perception positioning and interference control. Through the above-mentioned aircraft control method based on sensing-integrated, the problems of inaccurate aircraft control result, inflexible control mode and low system resource utilization rate in the prior art are solved. By generating a sensing-integrated shared waveform based on the perception symbol frequency modulation sequence, the communication symbol sequence and the symbol period, and adaptively correcting the waveform by quantum, the purpose of detecting the aircraft by quantum radar and fusing the perception module and the control module of the aircraft can be achieved, the perception accuracy of the aircraft and the utilization rate of system resources are improved, and by determining the interference signal, the interference frequency point and the encryption key corresponding to the aircraft, fusing the interference signal, the interference frequency point and the encryption key with the update result of the sensing-integrated shared waveform, and generating an aircraft sensing control waveform, the purpose of effectively controlling the multi-band adaptive aircraft can be achieved, and the flexibility of aircraft control and the utilization rate of system resources are improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a flowchart of an aircraft control method based on sensing-integrated provided by an embodiment of the present application; Figure 2 is a flowchart of determining an interference frequency point provided by an embodiment of the present application; Figure 3 is a flowchart of another aircraft control method based on sensing-integrated provided by an embodiment of the present application; Figure 4 is a structural diagram of an aircraft control system based on sensing-integrated provided by an embodiment of the present application; Figure 5 is a structural block diagram of an aircraft control device based on sensing-integrated provided by an embodiment of the present application; Figure 6 is a structural block diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the purposes, technical solutions and advantages of the present application clearer, the following will describe the optional detailed description of the embodiments of the present application in conjunction with the drawings. It can be understood that the specific embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the contents. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The processes can be terminated when the operations are completed, but can also have additional steps not included in the drawings. The processes can correspond to methods, functions, procedures, subroutines, etc.

[0018] The technical solutions in the embodiments of the present application will be described clearly in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0019] The terms "first", "second" and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be exchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second" and the like are usually a kind, and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in an "or" relationship.

[0020] Firstly, the use scenario of the scheme can be a scenario of defending the aircraft to avoid the threat of the aircraft to public safety, especially a scenario of detecting and controlling low-altitude, slow-speed, small aircraft and multi-band adaptive aircraft to avoid the threat of the aircraft to public safety. By generating a sense-integrated shared waveform based on the perception symbol frequency modulation sequence, the communication symbol sequence and the symbol period, and performing quantum adaptive correction on the waveform, the purpose of detecting the aircraft by the quantum radar and fusing the perception module and the control module of the aircraft can be achieved, the perception accuracy of the aircraft and the utilization rate of the system resources are improved, and by determining the interference signal, the interference frequency point and the encryption key corresponding to the aircraft, fusing the interference signal, the interference frequency point and the encryption key with the update result of the sense-integrated shared waveform, and generating an aircraft sensing and control waveform, the purpose of effectively controlling the multi-band adaptive aircraft can be achieved, and the flexibility of the aircraft control and the utilization rate of the system resources are improved. Based on the above use scenario, it can be understood that the execution subject of each step in the scheme can be a computer device, which refers to any electronic device with data calculation, processing and storage capabilities, such as mobile phones, PC (Personal Computer), tablet computers and other terminal devices, and can also be a server or other device, which is not limited in the embodiments of the application.

[0021] The application embodiments will be described in detail below with reference to the specific examples and their application scenarios.

[0022] Figure 1 is a flowchart of an aircraft control method based on sense-integrated provided by the application embodiments. As shown in Figure 1 , specifically includes the following steps: S101, in the case of triggering an aircraft perception instruction, generating a sense-integrated shared waveform based on the perception symbol frequency modulation sequence, the communication symbol sequence and the symbol period obtained.

[0023] The aircraft sensing instruction can be an instruction triggering the system to start sensing low-altitude, slow-speed, small (referred to as low, slow and small) aircraft. The aircraft sensing instruction can be triggered periodically according to the defense requirements, or can be used for real-time detection of the monitoring area, which is not limited here. The sensing symbol frequency modulation sequence can be a symbol sequence used for sensing detection of the aircraft. The sensing symbol frequency modulation sequence in the scheme uses the Zadoff-Chu sequence. The autocorrelation function of the Zadoff-Chu sequence has a low sidelobe characteristic, which can improve the resolution of the radar to the target, and is the core carrier of the sensing function in the waveform. The communication symbol sequence can be a symbol sequence used for carrying communication data. The communication data includes control instructions and interaction information between modules. The symbol period can be the time duration of a single communication symbol or sensing frequency modulation symbol. The rectangular window function can be used to ensure that different symbols or sequences do not overlap in the time window, so as to avoid the problem of resource occupation and spectral interference between the sensing symbol frequency modulation sequence and the communication symbol sequence in the process of sensing the aircraft, and realize the separation and cooperation of communication and sensing in time. The sensing and communication integrated shared waveform can be a single waveform that integrates the sensing symbol frequency modulation sequence and the communication symbol sequence. The sensing and communication integrated shared waveform can realize sensing of the aircraft and communication between modules at the same time, so as to realize deep integration of communication and sensing at the waveform level.

[0024] In one embodiment, the sensing symbol frequency modulation sequence algorithm can be called to generate the sensing symbol frequency modulation sequence based on the sequence length N and the root parameter u of the sensing requirement of the system, generate the communication symbol sequence according to the communication requirement, communication protocol and modulation mode of the system, and determine the symbol period according to the requirements of the system for communication rate and sensing resolution. Since the detection and control focus of the system on the low, slow and small aircraft is different under different scenarios or different sensing targets, the initial sensing symbol frequency modulation sequence, communication symbol sequence and symbol period can be generated in advance according to the sensing and communication requirements of the system and stored, and obtained directly after triggering the aircraft sensing instruction. The sensing and communication integrated shared waveform can be generated according to the expression of the shared waveform and the sensing symbol frequency modulation sequence, the communication symbol sequence and the symbol period obtained above.

[0025] The expression of the shared waveform is , wherein is the sensing and communication integrated shared waveform, is the communication symbol sequence, is the sensing symbol frequency modulation sequence, is the rectangular window function, is the symbol period, is the current time.

[0026] S102, according to the quantum sensor based on the gravity gradient phase difference generated by the symbol period to the first correction of the sensing frequency modulation sequence, and according to the decoherence time of the quantum radar emission photons to the second correction of the symbol period, update the sensing integrated shared waveform based on the first correction result and the second correction result.

[0027] Wherein, the quantum sensor can be a device for high-precision measurement of target gravity gradient. The quantum sensor in the scheme is a quantum gravity gradiometer, which can provide supplementary data for the positioning result of the aircraft to improve the positioning accuracy. The gravity gradient phase difference can be the phase difference caused by the gravity gradient when the cold atoms in the cold atom interferometer of the quantum sensor free fall. The first correction can be the operation of reverse calibration of the frequency accuracy of the sensing frequency modulation sequence based on the gravity gradient phase difference generated by the quantum sensor to suppress the phase jitter caused by vibration noise. The quantum radar can be a radar system that realizes the detection of low slow small aircraft by emitting and receiving entangled state photons. The quantum radar can improve the detection probability of low slow small aircraft in a low signal-to-noise ratio environment, and solve the problem of insufficient detection sensitivity of traditional radar. The emission photon can be a photon in an entangled state (i.e. EPR state photon pair) emitted by the quantum radar, which is the carrier of the quantum radar to realize the detection function. The decoherence time can be the time for the entangled state photon emitted by the quantum radar to maintain quantum coherence. After this time, the entangled state of the photon will be destroyed, affecting the detection performance of the quantum radar. The second correction can be to adjust the symbol period in real time according to the decoherence time of the quantum radar emission photons to ensure that the photon emission interval matches the waveform period, maintain the stability of the entangled state, and enable the quantum radar to maintain a detection probability of 95% under a signal-to-noise ratio of -35dB.

[0028] In one embodiment, the gravity gradient phase difference measured by the quantum sensor can be obtained, and the first correction of the sensing frequency modulation sequence can be performed according to the gravity gradient phase difference. Since the frequency accuracy of the sensing frequency modulation sequence can directly affect the accuracy of the signal phase measurement, that is, the frequency deviation will cause the phase jitter, and the phase jitter will introduce the error of the target position detection result, that is, the target position error, therefore, the frequency deviation of the sensing frequency modulation sequence can be deduced according to the target position error. The gravity gradient phase difference contains the phase noise introduced by the frequency deviation, and the target position error can be calculated according to the correlation between the gravity gradient phase difference and the target position error, and then the frequency deviation of the sensing frequency modulation sequence can be calculated reversely based on the mapping relationship between the target position error and the frequency deviation, to obtain the first correction result of the sensing frequency modulation sequence. The symbol period can be adjusted by comparing the photon de-coherence time and the symbol period, to ensure that the photon emission interval matches the waveform period, so as to maintain the entanglement state stability. The first correction result of the sensing frequency modulation sequence, the second correction result of the symbol period, and the communication symbol sequence are fused, and the sensing and communication integrated shared waveform is updated according to the shared waveform expression, to ensure that the waveform meets the requirements of high-precision sensing and stable communication at the same time in the case of quantum radar detection.

[0029] In one embodiment, the gravity gradient phase difference is represented by the following formula: ; Wherein, is the phase difference of the atom of the cold atom interferometer in the quantum sensor caused by the gravity gradient, is the mass of the atom of the cold atom interferometer, is the reduced Planck constant, is the symbol period, is the gravity gradient.

[0030] According to the embodiment, the phase difference can be calculated by using the gravity gradient phase difference expression related to the symbol period and the mass of the atom, so that the accuracy of the calculation result of the phase difference can be improved, and the accuracy of the correction result of the sensing frequency modulation sequence based on the phase difference can be improved.

[0031] S103, determine the interference signal, interference frequency point and encryption key corresponding to the aircraft, fuse the interference signal, interference frequency point and encryption key with the update result of the sensing and communication integrated shared waveform, and generate the aircraft sensing and control waveform, to be used for sensing positioning and interference control of the aircraft.

[0032] The interference signal can be a high-power jamming signal used to block the navigation and communication link of the aircraft. The interference signal makes the target aircraft unable to parse the instructions by drowning the normal signal received by the target aircraft. The target aircraft in the scheme can be a low, slow and small aircraft. The interference frequency point can be the frequency point used by the interference signal. The interference frequency point needs to be accurately matched with the communication or navigation frequency band of the aircraft to effectively interfere with the target aircraft. The encryption key can be an encryption algorithm used to encrypt the interference instructions and the communication data between modules to prevent quantum computing from being cracked. The encryption key in the scheme can be an anti-quantum computing key generated based on lattice cryptography. The aircraft sensing and control waveform can be a waveform that can achieve sensing, communication and interference control of the aircraft. The interference control can be an operation of blocking the navigation and communication link of the target aircraft through the interference signal and the interference frequency point in the aircraft sensing and control waveform, forcing the target aircraft to lose control and land or return.

[0033] In one embodiment, the communication and navigation frequency bands of the aircraft are generally fixed several frequency bands, and a high-power interference signal capable of covering the several frequency bands can be generated. The interference frequency point used by the interference signal is obtained by calculating the average of the interference frequency points that have historically produced effective interference to the aircraft. The anti-quantum computing key generated based on lattice cryptography is used as the encryption key. Since the interference signal is transmitted to the aircraft through the communication symbol sequence, the interference signal can be encrypted by the encryption key, and the interference frequency point can be used as the use frequency point of the interference signal encryption result. The interference signal encryption result is superimposed into the communication symbol sequence to generate an aircraft sensing and control waveform for sensing, positioning and interference control of the aircraft.

[0034] In one embodiment, the interference signal, the interference frequency point and the encryption key are fused with the update result of the sensing and communication integrated shared waveform to generate an aircraft sensing and control waveform, including: judging whether the current time belongs to the key validity period of the encryption key, and in the case that the current time belongs to the key validity period of the encryption key, encrypting the interference signal according to the encryption key; based on the encryption result of the interference signal and the interference frequency point, the communication symbol sequence in the update result of the sensing and communication integrated shared waveform is superimposed with the interference signal to obtain the aircraft sensing and control waveform.

[0035] The key validity period can be a time window in which the encryption key is valid. The key validity period can be set by a time-controllable proxy re-encryption mechanism, and the key is automatically invalidated and destroyed after the window is exceeded. The interference signal superposition can be an operation of superimposing the encrypted interference signal into the communication symbol sequence of the sensing and communication integrated shared waveform according to the interference frequency point, realizing waveform-level fusion of the sensing, communication and interference control functions.

[0036] In an embodiment, to further improve the security of the interference signal and achieve effective control of the target aircraft, a proxy re-encryption mechanism can be configured to update the encryption key. Whether the current time belongs to the key validity period of the encryption key can be determined by comparing the current time with the cutoff time corresponding to the time window of the encryption key validity period. In the case where the current time belongs to the key validity period of the encryption key, the encryption key can be used for encryption. At this time, the interference signal can be encrypted according to the encryption key, and the encrypted interference signal can be superimposed into the updated shared waveform of the integrated communication and sensing according to the interference frequency point, to achieve waveform-level fusion of the communication symbol and the interference signal, and generate the aircraft sensing and control waveform.

[0037] According to the above scheme, whether the current time belongs to the key validity period of the encryption key is determined, and in the case where the current time belongs to the key validity period of the encryption key, the interference signal is encrypted according to the encryption key, and the waveform and the interference signal are superimposed, which can further improve the security of the encryption key and the interference signal, and is conducive to improving the effectiveness of the aircraft control.

[0038] The technical scheme provided by the embodiments of the present application, in the case of triggering the aircraft sensing instruction, generates a shared waveform of integrated sensing and communication based on the acquired sensing symbol frequency modulation sequence, the communication symbol sequence and the symbol period; performs first correction on the sensing frequency modulation sequence according to the gravity gradient phase difference generated by the quantum sensor based on the symbol period, and performs second correction on the symbol period according to the decoherence time of the emitted photons of the quantum radar, updates the shared waveform of integrated sensing and communication based on the first correction result and the second correction result; determines the interference signal corresponding to the aircraft, the interference frequency point and the encryption key, and fuses the interference signal, the interference frequency point and the encryption key with the update result of the shared waveform of integrated sensing and communication, to generate an aircraft sensing and control waveform for sensing, positioning and interference control of the aircraft. Through the above aircraft control method based on integrated sensing and communication, the problems of inaccurate aircraft control results, inflexible control methods and low system resource utilization in the prior art are solved. By generating a shared waveform of integrated sensing and communication based on the sensing symbol frequency modulation sequence, the communication symbol sequence and the symbol period, and performing quantum adaptability correction on the waveform, the purpose of using a quantum radar to detect an aircraft and fusing the sensing module and the control module of the aircraft is achieved, the sensing accuracy of the aircraft and the utilization rate of system resources are improved, and by determining the interference signal corresponding to the aircraft, the interference frequency point and the encryption key, and fusing the interference signal, the interference frequency point and the encryption key with the update result of the shared waveform of integrated sensing and communication, an aircraft sensing and control waveform is generated, the purpose of effectively controlling a multi-band adaptive aircraft is achieved, and the flexibility of aircraft control and the utilization rate of system resources are improved.

[0039] Figure 2is a flowchart for determining an interference frequency point provided by the present application. As shown in Figure 2 the specific steps include the following: S201, obtaining historical interference frequency points and channel response data of the aircraft, and predicting actual channel response data corresponding to the preset interference frequency point based on the historical interference frequency points and the channel response data.

[0040] The historical interference frequency point can be a frequency point used when interfering with a target aircraft or an aircraft of the same type. The channel response data can be quantitative data of the influence of the channel on the signal, such as attenuation, delay, and phase shift of the signal when the signal is transmitted at a specific frequency point. The channel response data reflects the physical characteristics of the channel. The actual channel response data can be the response data actually fed back by the channel when the aircraft is interfered with using the preset interference frequency point.

[0041] In one embodiment, the interference frequency point and the channel response data when the aircraft is interfered with can be recorded, the historical interference frequency point and the corresponding channel response data when the target aircraft or the aircraft of the same type is interfered with are directly obtained by reading the storage module, the correlation between the historical interference frequency point and the channel response data is analyzed by using a machine learning model or a statistical analysis prediction algorithm, and then the actual channel response data fed back by the channel when the aircraft is interfered with using the preset interference frequency point is predicted.

[0042] S202, determining a frequency point occupied bandwidth corresponding to the preset interference frequency point, and performing interference evaluation on the preset interference frequency point based on the actual channel response data, target channel response data, and the frequency point occupied bandwidth.

[0043] The frequency point occupied bandwidth can be the spectrum width occupied by the preset interference frequency point. The frequency point occupied bandwidth can be used to measure the index of the interference signal consumption of the frequency band resource. The interference evaluation can be an operation of quantitatively evaluating the interference effect of the preset interference frequency point, judging whether it can effectively block the communication and navigation link of the target aircraft, and judging whether the bandwidth occupation is reasonable. The target channel response data can be standard channel response data corresponding to the preset frequency point. The smaller the error between the actual channel response data and the target channel response data, the better the interference effect of the interference signal under the frequency point.

[0044] In one embodiment, the spectrum width actually occupied by the preset interference frequency point, i.e., the frequency point occupied bandwidth, can be determined according to the modulation mode and the frequency range of the preset interference frequency point. The interference effect of the preset interference frequency point is evaluated according to the preset interference evaluation algorithm, the frequency point occupied bandwidth, the actual channel response data, and the target channel response data.

[0045] S203, iteratively optimizing the preset interference frequency point according to the gradient descent algorithm and the interference evaluation result to obtain the interference frequency point corresponding to the aircraft.

[0046] The gradient descent algorithm can be an algorithm for iteratively optimizing the interference frequency point to minimize the interference evaluation result.

[0047] In one embodiment, the gradient of the preset interference evaluation algorithm on the frequency point can be calculated by the gradient descent algorithm, reflecting the influence direction and degree of the frequency point change on the interference effect, adjusting the preset interference frequency point to move in the direction of reducing the interference evaluation result value according to the gradient direction, and re-performing interference evaluation until the interference evaluation result value is less than the preset evaluation threshold or the maximum iteration number is reached, at which time the interference frequency point is the optimal frequency point corresponding to the aircraft.

[0048] The technical means provided by the embodiments of the present application can improve the accuracy of the determination result of the frequency point used for the interference signal, and improve the effectiveness of the interference control of the target aircraft.

[0049] Figure 3 is another flowchart of the aircraft control method based on the sensing and communication integration provided by the embodiments of the present application. As shown in Figure 3 the specific steps include: S301, in the case of triggering the aircraft sensing instruction, generating a sensing-communication integrated shared waveform based on the obtained sensing symbol frequency modulation sequence, the communication symbol sequence and the symbol period.

[0050] S302, determining the sensing signal-to-noise ratio corresponding to the sensing symbol frequency modulation sequence and the communication capacity corresponding to the communication symbol sequence, and performing sensing utility evaluation on the sensing-communication integrated shared waveform based on the preset sensing weight, the preset communication weight, the sensing signal-to-noise ratio and the communication capacity.

[0051] The perception signal-to-noise ratio can be an index for measuring the detection target capability of the perception chirp sequence. The perception signal-to-noise ratio is used to reflect the ratio of the perception signal to the noise. The higher the ratio, the stronger the detection sensitivity of the perception chirp sequence to low, slow and small targets. The preset perception weight can be a parameter preset for measuring the importance of the perception performance in the joint utility. The preset perception weight can reflect the priority setting of the system for the perception function. The preset communication weight can be a parameter preset for measuring the importance of the communication performance in the joint utility. The preset communication weight can reflect the priority setting of the system for the communication function. The preset perception weight and the preset communication weight are set in proportion to the aircraft defense scenario and the defense target, and can be dynamically adjusted according to the defense requirements. For example, in the high-precision positioning scenario such as airport defense, the preset perception weight is higher, so as to timely and accurately detect the target aircraft; in the city cluster interception scenario, the control command transmission needs to be prioritized, and the preset communication weight is higher, so as to efficiently intercept the control target aircraft. The perception-communication utility evaluation can be a quantitative evaluation of the comprehensive performance of the perception and communication of the perception-communication integrated shared waveform by the joint utility function, so as to determine whether the waveform achieves the optimal balance of perception and communication.

[0052] In one embodiment, since the perception chirp sequence in the present scheme is a Zadoff-Chu sequence, the perception signal-to-noise ratio can be calculated by the autocorrelation characteristics of the Zadoff-Chu sequence. The communication capacity corresponding to the communication symbol sequence is calculated by the Shannon formula. The perception weighted sum is calculated according to the perception signal-to-noise ratio, the communication capacity, the preset perception weight, and the preset communication weight. The perception-communication utility evaluation result is obtained. The balance of the perception and communication performance of the shared waveform is determined according to the perception-communication utility evaluation result.

[0053] S303, iteratively optimizing the weight ratio of the preset perception weight and the preset communication weight based on the Pareto optimal solution algorithm and the perception-communication utility evaluation result, to obtain an optimal perception-communication weight ratio.

[0054] The Pareto optimal solution algorithm can be an algorithm for balancing the perception signal-to-noise ratio and the communication capacity, so that the performance of the two is optimally balanced. The optimal perception-communication weight ratio can be a weight ratio that optimally balances the detection capability and the communication performance. The optimal perception-communication weight ratio is generally 0.7. The optimal perception-communication weight ratio can improve the perception resolution by 15% and reduce the communication capacity by only 5%, achieving the optimal overall performance of the system.

[0055] In one embodiment, a sense-communication utility evaluation expression can be constructed based on a preset sense weight, a preset communication weight, a sense signal-to-noise ratio, and a communication capacity, and an initial weight ratio of the preset sense weight to the preset communication weight can be calculated. A constraint optimization problem is solved by a Pareto optimal solution algorithm, the initial weight ratio is adjusted so that the sense-communication utility evaluation value is improved while the communication capacity is minimized, and when the sense resolution is improved by 15% and the communication capacity is reduced by only 5%, the iteration is stopped. At this time, the initial weight ratio of the preset sense weight to the preset communication weight is the optimal sense-communication weight ratio.

[0056] In S304, the current signal processing resource is obtained, and initial sense resources and initial communication resources corresponding to the sense-communication integrated shared waveform are generated according to the optimal sense-communication weight ratio and the current signal processing resource, so as to be used for transmitting the sense-communication integrated shared waveform.

[0057] The current signal processing resource can be the sum of hardware resources available for signal processing and transmission of the system at the current time, and is the physical basis for supporting the transmission of the sense-communication integrated shared waveform. The current signal processing resource can include spectrum bandwidth, computing power, transmission power, time slot, etc. The initial sense resource can be a resource allocated to the sense symbol frequency modulation sequence from the current signal processing resource according to the optimal sense-communication weight ratio. The initial sense resource is used to support the generation, transmission and processing of the sense symbol frequency modulation sequence, and ensures accurate detection of low, slow and small flying objects. The initial communication resource can be a resource allocated to the communication symbol sequence from the current signal processing resource according to the optimal sense-communication weight ratio. The initial communication resource is used to support the generation, transmission and processing of the communication symbol sequence, and ensures efficient interaction of control instructions and data between modules.

[0058] In one embodiment, the current available signal processing resource can be determined according to the occupation of the resources such as radio frequency module, processor, power amplifier, etc. of the system. According to the optimal sense-communication weight ratio, the current available signal processing resource is proportionally divided into initial sense resource and initial communication resource. The initial sense resource is matched with the parameters of the sense symbol frequency modulation sequence, and the initial communication resource is matched with the parameters of the communication symbol sequence, so as to ensure that the shared waveform can realize the functions of sensing and communication through the cooperative transmission of the two types of resources.

[0059] In S305, the sense frequency modulation sequence is first corrected according to the gravity gradient phase difference generated by the quantum sensor based on the symbol period, and the symbol period is second corrected according to the de-coherence time of the transmitted photons of the quantum radar, and the sense-communication integrated shared waveform is updated based on the first correction result and the second correction result.

[0060] In an example, after determining the perception signal-to-noise ratio corresponding to the perception symbol frequency modulation sequence, the method further comprises: performing signal-to-noise ratio correction on the perception signal-to-noise ratio according to the number of photons emitted by the quantum radar to obtain a quantum radar signal-to-noise ratio; accordingly, performing perception-communication utility evaluation on the perception-communication integrated shared waveform based on the preset perception weight, the preset communication weight, the perception signal-to-noise ratio, and the communication capacity, comprising: performing perception-communication utility evaluation on the perception-communication integrated shared waveform based on the preset perception weight, the preset communication weight, the quantum radar signal-to-noise ratio, and the communication capacity.

[0061] In an example, the signal-to-noise ratio correction can be an operation of adjusting the perception signal-to-noise ratio according to the number of photons emitted by the quantum radar, so that the perception signal-to-noise ratio is more suitable for the actual performance of quantum detection. The quantum radar signal-to-noise ratio can be an index that can reflect the actual detection sensitivity of the quantum radar. The quantum radar signal-to-noise ratio integrates quantum entanglement gain, and can more accurately reflect the performance of quantum enhanced detection.

[0062] In an example, the number of entangled state photons emitted by the quantum radar can be obtained, the perception signal-to-noise ratio is corrected by using a preset signal-to-noise ratio correction formula, and the quantum radar signal-to-noise ratio is calculated. The quantum radar signal-to-noise ratio can be substituted into the perception-communication utility evaluation formula, combined with the preset weight and the communication capacity, and the utility value is recalculated to evaluate the comprehensive performance of the shared waveform after quantum enhancement.

[0063] The scheme can achieve the purpose of introducing quantum gain, improve the accuracy of the evaluation of the perception performance of the shared waveform, and be beneficial to the accuracy of subsequent resource allocation based on the evaluation result, by performing signal-to-noise ratio correction on the perception signal-to-noise ratio according to the number of photons emitted by the quantum radar to obtain a quantum radar signal-to-noise ratio, and re-evaluating the perception-communication utility of the perception-communication integrated shared waveform based on the quantum radar signal-to-noise ratio.

[0064] S306, determining the interference signal, the interference frequency point, and the encryption key corresponding to the aircraft, fusing the interference signal, the interference frequency point, and the encryption key with the update result of the perception-communication integrated shared waveform, and generating an aircraft sensing control waveform for sensing, positioning, and interference control of the aircraft.

[0065] In an example, after generating the aircraft sensing control waveform, the method further comprises: determining a first time delay weight and a first energy consumption weight corresponding to the initial perception resource, and a second time delay weight and a second energy consumption weight corresponding to the initial communication resource, respectively; constructing a resource allocation total cost evaluation formula according to the initial perception resource, the first time delay weight, the first energy consumption weight, the initial communication resource, the second time delay weight, and the second energy consumption weight; calculating the optimal solution of the resource allocation total cost evaluation formula based on a quantum annealing algorithm, and determining target perception resource and target communication resource corresponding to the aircraft sensing control waveform for transmitting the aircraft sensing control waveform.

[0066] The first time delay weight can be a parameter for measuring the degree of influence of the initial perception resource allocation operation on the system time delay. The higher the value of the first time delay weight, the stronger the time delay sensitivity of the perception resource. The first energy consumption weight can be a parameter for measuring the degree of influence of the initial perception resource allocation operation on the system energy consumption. The higher the value of the first energy consumption weight, the higher the energy consumption priority of the perception resource. The second time delay weight can be a parameter for measuring the degree of influence of the initial communication resource allocation operation on the system time delay. The higher the value of the second time delay weight, the stronger the time delay sensitivity of the communication resource. The second energy consumption weight can be a parameter for measuring the degree of influence of the initial communication resource allocation on the system energy consumption. The higher the value of the second energy consumption weight, the higher the energy consumption priority of the communication resource. The resource allocation total cost evaluation formula can be used to quantitatively evaluate the total cost of the resource allocation scheme. The formula of the quadratic unconstrained binary optimization model (QUBO) is adopted in the present scheme. The quantum annealing algorithm can be an optimization algorithm that quickly solves the global optimal solution by using the quantum tunneling effect. The target perception resource can be a resource that supports the perception function in the aircraft control waveform after being optimized by the quantum annealing algorithm. The target perception resource meets the low time delay and low energy consumption requirements. The target communication resource can be a resource that supports the communication function after being optimized by the quantum annealing algorithm. The target communication resource can ensure efficient transmission of control instructions.

[0067] In one embodiment, the initial perception resource can be assigned a first time delay weight and a first energy consumption weight according to the time delay sensitivity and energy consumption requirements of the perception and communication functions, and the initial communication resource can be assigned a second time delay weight and a second energy consumption weight. The initial perception resource, the initial communication resource, and their corresponding weights are substituted into the QUBO model to construct a resource allocation total cost evaluation formula, which quantifies the total cost of time delay and energy consumption of resource allocation. The quantum annealing algorithm is used to calculate the resource allocation scheme that minimizes the total cost to determine the target perception resource and the target communication resource. The target perception resource and the target communication resource are used for transmission of the aircraft control waveform to ensure efficient control under the premise of meeting the real-time and energy efficiency requirements.

[0068] The present scheme determines the time delay weight and the energy consumption weight corresponding to the perception resource, and the time delay weight and the energy consumption weight corresponding to the communication resource, respectively, constructs a resource allocation total cost evaluation formula, and calculates the optimal solution of the resource allocation total cost evaluation formula to allocate resources to the aircraft control waveform. This can achieve unified quantification of the resource requirements, time delay, and energy consumption constraints of perception and communication, minimize the time delay and energy consumption while meeting the transmission requirements of the control waveform, and improve the rationality of resource allocation.

[0069] In one embodiment, after determining the target sensing resource and the target communication resource corresponding to the aircraft sensing control waveform, the real-time interference strategy can be executed by transmitting the aircraft sensing control waveform through the target sensing resource and the target communication resource, controlling the interference device to emit an interference signal at the optimized frequency and power, and blocking the navigation and communication link of the target. By using a high-power suppression signal to flood the normal signal received by the target, the target cannot parse the instructions, achieving real-time dynamic control of the target aircraft and forcing the target to lose control and land or return. The position and speed change data of the target aircraft after interference are collected, and the parameters of the sensing-communication integrated waveform and the subsequent resource allocation are adjusted according to the collected data to solve the multi-frequency adaptive characteristics of the target aircraft and improve the adaptive ability of the system, ensuring the persistence of the interference effect. When the target aircraft is successfully intercepted and landed in a safe area, the operation of each module is terminated, and the signal emission and quantum state generation device is turned off.

[0070] The technical scheme provided by the embodiments of the present application can achieve the purpose of resource allocation based on sensing and communication needs by determining the sensing signal-to-noise ratio corresponding to the sensing symbol frequency modulation sequence, the communication capacity corresponding to the communication symbol sequence, and the preset weight to evaluate the sensing-communication utility of the integrated sensing-communication waveform, and iteratively optimizing to obtain the optimal sensing-communication weight ratio for initial resource allocation, solving the coordination problem of integrated sensing-communication, and improving the system resource utilization.

[0071] Figure 4 is a structural diagram of an aircraft control system based on integrated sensing-communication provided by the embodiments of the present application. As shown in Figure 4 , it specifically includes the following: The starting module 401 is used to start the low-slow-small aircraft sensing control system under the condition of triggering the aircraft sensing instruction, and initialize the sensing-communication integrated architecture module, the quantum enhanced detection module, the dynamic anti-interference control module, and the end-to-end optimization module.

[0072] The sensing-communication integrated architecture module 402 is used to construct a sensing-communication shared waveform and resource scheduling model by using a 5G-A multi-frequency fusion technology (FSA / MB-SC). It includes: generating a Zadoff-Chu sequence to provide a basis for subsequent waveform construction; constructing a joint utility function to comprehensively consider the sensing and communication performance; verifying a Pareto optimal solution to determine the optimal sensing and communication resource allocation ratio; generating a shared waveform based on the verification result to realize the deep integration of sensing and communication functions. The sensing part in the shared waveform can sense the position, speed, acceleration, flight trajectory and other motion state data of the low, slow and small aircraft, as well as the physical feature data such as the reflection characteristics and size of the target. It provides real-time state information of the target for the system, which is the basis for realizing accurate detection and subsequent interference control. The communication part can transmit target data obtained by the sensing module, control instructions between modules, system state information, etc., to realize information interaction and collaborative work between modules, ensure the overall efficient operation of the system, and support dynamic decision-making and real-time control.

[0073] The joint utility function can be represented by the following formula: ; wherein, is a sensing weight coefficient, is a communication weight coefficient, is a signal-to-noise ratio of a sensing symbol frequency modulation sequence, is a channel capacity.

[0074] The channel capacity can be represented by the following formula: ; wherein, is a bandwidth, is a transmission power, is a noise power spectral density.

[0075] The quantum enhanced detection module 403 is used to combine the entangled photon source of quantum radar and the high-precision gravity gradient detection of quantum sensor to improve the target recognition ability in a low signal-to-noise ratio environment. It includes: generating an EPR state photon source to provide a basis for quantum radar detection; performing quantum SNR calculation to show the advantages of quantum radar in detection sensitivity by comparing with classical SNR; carrying out gravity gradient phase difference analysis combined with a cold atom interferometer phase difference model to deduce the target position error; and comprehensively considering the detection results of quantum radar and quantum sensor to improve the target recognition ability in a low signal-to-noise ratio environment. The sensing-communication integrated architecture module and the quantum enhanced detection module jointly generate a shared waveform.

[0076] The quantum state of the EPR state photon source can be represented by the following formula: ; Wherein, A and B are two entangled photons.

[0077] The quantum SNR calculation can be represented by the following formula: ; Wherein, is the quantum SNR calculation result, is the SNR calculation result of the traditional radar, is the number of transmitted photons of the quantum radar.

[0078] The gravity gradient phase difference can be represented by the following formula: ; Wherein, is the phase difference of the atoms of the cold atom interferometer in the quantum sensor due to the gravity gradient, is the mass of the atoms of the cold atom interferometer, is the reduced Planck constant, is the symbol period, is the gravity gradient.

[0079] The target position error can be represented by the following formula: ; Wherein, is the atomic wavelength, is the gravity gradient change rate.

[0080] The shared waveform generation module 404 is configured to fuse the all-sensing parameter of the all-sensing integrated architecture module and the quantum detection parameter of the quantum enhanced detection module, generate a shared waveform based on the above shared waveform formula, and perform all-sensing symbol frequency modulation sequence correction, symbol period correction, and SNR signal-to-noise ratio correction on the generated shared waveform based on the quantum enhanced detection module to obtain a final aircraft all-sensing integrated shared waveform.

[0081] The dynamic anti-interference control module 405 is configured to generate interference parameters. The dynamic anti-interference control module 405 includes: generating an LWE key including a public key matrix and vector and a private key to ensure communication encryption security; performing frequency point gradient optimization, iteratively updating the frequency point based on the target function by the gradient descent method until the target function converges; triggering proxy re-encryption to realize secure transmission and permission management of encrypted information according to a time control mechanism; and executing a real-time interference strategy to effectively interfere with the multi-frequency-band adaptive aircraft according to the optimized frequency point and the encryption protocol.

[0082] The LWE key includes a public key matrix and a vector ; Wherein, s is a private key, and e is an error vector.

[0083] The objective function can be represented by the following formula: ; wherein, may be a frequency point to be updated, i.e., the preset frequency point, is an actual channel response corresponding to the preset frequency point, is a preset target channel response, is a bandwidth occupied by the preset frequency point.

[0084] The multi-frequency fusion signal transmitting module 406 is configured to control the signal transmitter to fuse the shared waveform generated by the shared waveform generating module and the interference parameter generated by the dynamic anti-interference control module, generate a multi-frequency band sensing control signal, and transmit the signal to cover possible communication and navigation frequency bands of the target aircraft. The multi-frequency band signal can block multiple channels of communication of the target aircraft at the same time, avoiding the limitation of single frequency band interference. The interference effect on the multi-frequency band adaptive aircraft is improved, and the response time is shortened to 50 ms.

[0085] The end-to-end optimization module 407 is configured to perform resource allocation on the multi-frequency band sensing control signal generated by the multi-frequency fusion signal transmitting module. The end-to-end optimization module 407 includes: constructing a QUBO model to quantify the time delay and energy consumption optimization; quantum annealing solving, solving the model by a D-Wave quantum computer to obtain an optimal solution of resource allocation; resource allocation decision, optimizing the resource allocation of the sensing-control link according to the optimal solution of resource allocation. The resource allocation result is fed back to the whole system to realize end-to-end optimization and reduce the system time delay.

[0086] The QUBO model can be represented by the following formula: ; wherein, is a resource allocation state, is a time delay weight, is an energy consumption weight.

[0087] The interference strategy real-time execution module 408 is configured to control the interference device to emit an interference signal according to the optimized frequency point and power according to the resource allocation result, and block the navigation and communication link of the target. The normal signal received by the target is flooded by a high-power suppression signal, so that the target cannot parse the instructions, and the real-time dynamic control of the low, slow and small aircraft is realized, and the target is forced to lose control and land or return.

[0088] The cooperative optimization feedback module 409 is configured to collect target state data of the target aircraft after interference by the computer, and feed back the data to the sensing and control integrated architecture module and the end-to-end optimization module to adjust the waveform parameter and the resource allocation strategy. Through the closed-loop feedback mechanism, the system error is dynamically corrected, the target maneuvering change is adapted, the adaptive ability of the system is improved, and the persistence of the interference effect is ensured.

[0089] The system termination module 410 is configured to terminate the operation of each module, and turn off the signal emission and quantum state generation device after the target aircraft is successfully intercepted.

[0090] The technical scheme provided by the embodiment of the application improves the detection probability and reduces the positioning error by using quantum radar to perceive the target aircraft. The spectrum utilization rate is improved by 30% by using the integrated sensing and communication waveform design, and the false alarm rate is reduced to below 5%. The response time is shortened to 50ms by using the dynamic interference strategy, which is 3 times faster than the traditional scheme. The end-to-end delay is less than 100ms by using quantum annealing optimization, which meets the real-time control requirement. The LWE encryption protocol can resist Shor algorithm attacks, and the key cracking difficulty is large. The sensing and communication resource reuse rate is more than 80%, and the modular design can adapt to various unmanned aerial vehicle defense scenarios. The key bottleneck in the low, slow and small aircraft sensing and control is solved.

[0091] Figure 5 is a structural block diagram of an aircraft control device based on integrated sensing and communication provided by the embodiment of the application. As shown in Figure 5 specifically includes the following: The shared waveform generation module 501 is configured to generate an integrated sensing and communication shared waveform based on the obtained sensing symbol frequency modulation sequence, the communication symbol sequence and the symbol period when the aircraft sensing instruction is triggered. The shared waveform updating module 502 is configured to perform first correction on the sensing frequency modulation sequence according to the gravity gradient phase difference generated by the quantum sensor based on the symbol period, and perform second correction on the symbol period according to the decoherence time of the emitted photons of the quantum radar, and update the integrated sensing and communication shared waveform based on the first correction result and the second correction result. The aircraft control module 503 is configured to determine the interference signal, the interference frequency point and the encryption key corresponding to the aircraft, fuse the interference signal, the interference frequency point and the encryption key with the update result of the integrated sensing and communication shared waveform, and generate an aircraft sensing and control waveform for sensing, positioning and interference control of the aircraft.

[0092] Further, the aircraft control module 503 is specifically configured to: obtain the historical interference frequency point and the channel response data of the aircraft, and predict the actual channel response data corresponding to the preset interference frequency point based on the historical interference frequency point and the channel response data; determine the frequency point occupied bandwidth corresponding to the preset interference frequency point, and perform interference evaluation on the preset interference frequency point based on the actual channel response data, the target channel response data and the frequency point occupied bandwidth; iteratively optimize the preset interference frequency point according to the gradient descent algorithm and the interference evaluation result to obtain the interference frequency point corresponding to the aircraft.

[0093] Further, the aircraft control module 503 is specifically used for: determining whether the current time belongs to the key validity period of the encryption key, and in the case that the current time belongs to the key validity period of the encryption key, encrypting the interference signal according to the encryption key; based on the encryption result of the interference signal and the interference frequency point, superimposing the interference signal on the communication symbol sequence in the update result of the sense-control integrated shared waveform, to obtain the aircraft sense-control waveform.

[0094] Further, the shared waveform generation module 501 is specifically used for: determining the sense-to-noise ratio corresponding to the sense symbol frequency modulation sequence and the communication capacity corresponding to the communication symbol sequence, and performing sense-communication utility evaluation on the sense-communication integrated shared waveform based on the preset sense weight, the preset communication weight, the sense-to-noise ratio and the communication capacity; iteratively optimizing the weight ratio of the preset sense weight and the preset communication weight based on the Pareto optimal solution algorithm and the sense-communication utility evaluation result, to obtain an optimal sense-communication weight ratio; obtaining the current signal processing resource, and generating initial sense resources and initial communication resources corresponding to the sense-communication integrated shared waveform according to the optimal sense-communication weight ratio and the current signal processing resource, for transmitting the sense-communication integrated shared waveform.

[0095] Further, the shared waveform generation module 501 is specifically used for: performing signal-to-noise ratio correction on the sense-to-noise ratio according to the number of emitted photons of the quantum radar, to obtain a quantum radar signal-to-noise ratio; Correspondingly, the sense-communication utility evaluation on the sense-communication integrated shared waveform based on the preset sense weight, the preset communication weight, the sense-to-noise ratio and the communication capacity, includes: performing sense-communication utility evaluation on the sense-communication integrated shared waveform based on the preset sense weight, the preset communication weight, the quantum radar signal-to-noise ratio and the communication capacity.

[0096] Further, the aircraft control module 503 is specifically used for: determining a first time delay weight and a first energy consumption weight corresponding to the initial sense resource, and a second time delay weight and a second energy consumption weight corresponding to the initial communication resource, and constructing a resource allocation total cost evaluation formula according to the initial sense resource, the first time delay weight, the first energy consumption weight, the initial communication resource, the second time delay weight and the second energy consumption weight; calculating the optimal solution of the resource allocation total cost evaluation formula based on the quantum annealing algorithm, to determine target sense resources and target communication resources corresponding to the aircraft sense-control waveform, for transmitting the aircraft sense-control waveform.

[0097] Further, the gravity gradient phase difference is represented by the following formula: ; wherein, is a phase difference of atoms of a cold atom interferometer in a quantum sensor due to a gravity gradient, is a mass of the atoms of the cold atom interferometer, is a reduced Planck constant, is a symbol period, is a gravity gradient.

[0098] The technical scheme provided by the embodiments of the present application comprises a shared waveform generation module, which is configured to generate a sensing-communication integrated shared waveform based on an acquired sensing symbol frequency modulation sequence, a communication symbol sequence and a symbol period in the case of triggering an aircraft sensing instruction; a shared waveform updating module, which is configured to perform a first correction on the sensing frequency modulation sequence according to a gravity gradient phase difference generated by a quantum sensor based on the symbol period, perform a second correction on the symbol period according to a decoherence time of a photon emitted by a quantum radar, and update the sensing-communication integrated shared waveform based on the first correction result and the second correction result; and an aircraft control module, which is configured to determine an interference signal, an interference frequency point and an encryption key corresponding to the aircraft, fuse the interference signal, the interference frequency point and the encryption key with the update result of the sensing-communication integrated shared waveform, and generate an aircraft sensing-control waveform for sensing positioning and interference control of the aircraft. The above-mentioned aircraft control device based on sensing-communication integration solves the problems of inaccurate aircraft control result, inflexible control mode and low system resource utilization rate in the prior art. The sensing-communication integrated shared waveform is generated based on the sensing symbol frequency modulation sequence, the communication symbol sequence and the symbol period, and the waveform is adaptively corrected by quantum, so as to achieve the purposes of aircraft detection by quantum radar and fusion of the sensing module and the control module of the aircraft, improve the sensing accuracy of the aircraft and the utilization rate of system resources, and generate the aircraft sensing-control waveform by fusing the interference signal, the interference frequency point and the encryption key corresponding to the aircraft with the update result of the sensing-communication integrated shared waveform, so as to achieve the purpose of effectively controlling the multi-band adaptive aircraft, and improve the flexibility of aircraft control and the utilization rate of system resources.

[0099] The aircraft control device based on the sense-through integrated technology in the embodiments of the present application can be configured in a device, or a component, an integrated circuit, or a chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), and the like, and the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, and the like, which are not limited in the embodiments of the present application.

[0100] The aircraft control device based on the sense-through integrated technology in the embodiments of the present application can be an operating system. The operating system can be an Android operating system, an ios operating system, or other possible operating systems, which are not limited in the embodiments of the present application.

[0101] The aircraft control device based on the sense-through integrated technology provided in the embodiments of the present application can implement the processes implemented by the method embodiments, which are not repeated here.

[0102] As shown in Figure 6 The embodiments of the present application further provide an electronic device 600, which includes a processor 601, a memory 602, and a program or instruction stored in the memory 602 and executable on the processor 601. When the program or instruction is executed by the processor 601, the processes of the aircraft control method based on the sense-through integrated technology are implemented, and the same technical effects are achieved, which are not repeated here.

[0103] It should be noted that the electronic device in the embodiments of the present application includes the mobile electronic device and the non-mobile electronic device.

[0104] The embodiments of the present application further provide a readable storage medium, which stores a program or instruction. When the program or instruction is executed by a processor, the processes of the aircraft control method based on the sense-through integrated technology are implemented, and the same technical effects are achieved, which are not repeated here.

[0105] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0106] The program product includes program codes for causing a computer device to perform the steps in the methods according to various exemplary embodiments of the present application described in the specification when the program product is run on the computer device. For example, the computer device can perform the aircraft control method based on the integrated sensing and communication described in the embodiments of the present application. The program product can be realized by any combination of one or more readable media.

[0107] It should be noted that, in this document, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that processes, methods, articles, or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent to such processes, methods, articles, or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article, or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to the order of performing functions as shown or discussed, but can also include performing functions in a substantially simultaneous manner or in a reverse order, for example, the described method can be performed in an order different from the described order, and various steps can be added, omitted, or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0108] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by software and necessary general hardware platform, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0109] The embodiments of the present application are described above with reference to the drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative, but not restrictive, and those of ordinary skill in the art can make many forms without departing from the purpose of the present application and the scope protected by the claims under the inspiration of the present application, which all belong to the protection of the present application.

[0110] The above are only the preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and replacements made by those skilled in the art without departing from the scope of the present application do not deviate from the scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and more other equivalent embodiments can be included without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A flight control method based on sensor-communication integration, characterized in that, The method includes: When the aircraft's sensing command is triggered, an integrated sensing and communication shared waveform is generated based on the acquired sensing symbol frequency modulation sequence, communication symbol sequence, and symbol period. The sensing frequency modulation sequence is first corrected based on the phase difference of the gravity gradient generated by the quantum sensor based on the symbol period, and the symbol period is second corrected based on the decoherence time of the emitted photon of the quantum radar. The sensing and communication integrated shared waveform is updated based on the first correction result and the second correction result. The interference signal, interference frequency, and encryption key corresponding to the aircraft are determined. The interference signal, interference frequency, and encryption key are then fused with the update result of the integrated sensing and communication shared waveform to generate an aircraft sensing and control waveform for sensing, positioning, and interference control of the aircraft.

2. The aircraft control method based on sensor-communication integration according to claim 1, characterized in that, Determining the interference frequency point corresponding to the aircraft includes: The historical interference frequency points and channel response data of the aircraft are obtained, and the actual channel response data corresponding to the preset interference frequency points are predicted based on the historical interference frequency points and channel response data. Determine the frequency point occupied bandwidth corresponding to the preset interference frequency point, and perform interference assessment on the preset interference frequency point based on the actual channel response data, the target channel response data, and the frequency point occupied bandwidth; The preset interference frequency points are iteratively optimized based on the gradient descent algorithm and interference assessment results to obtain the interference frequency points corresponding to the aircraft.

3. The aircraft control method based on sensor-communication integration according to claim 1, characterized in that, The interference signal, the interference frequency, and the encryption key are fused with the update result of the integrated sensing and communication shared waveform to generate an aircraft sensing and control waveform, including: Determine whether the current time is within the key validity period of the encryption key. If the current time is within the key validity period of the encryption key, encrypt the interference signal according to the encryption key. The communication symbol sequence in the updated result of the integrated sensing and communication waveform based on the encryption result of the interference signal and the interference frequency point is superimposed to obtain the aircraft sensing and control waveform.

4. The aircraft control method based on sensor-communication integration according to claim 1, characterized in that, After generating an integrated sensing and communication shared waveform based on the acquired sensing symbol frequency modulation sequence, communication symbol sequence, and symbol period, the method further includes: Determine the sensing signal-to-noise ratio corresponding to the frequency modulation sequence of the sensing symbol and the communication capacity corresponding to the communication symbol sequence. Evaluate the sensing and communication utility of the integrated sensing and communication shared waveform based on preset sensing weights, preset communication weights, the sensing signal-to-noise ratio and the communication capacity. The ratio of the preset perception weight and the preset communication weight is iteratively optimized based on the Pareto optimal solution algorithm and the evaluation results of the perceptual utility to obtain the optimal perceptual weight ratio. The current signal processing resources are obtained, and initial sensing resources and initial communication resources corresponding to the integrated sensing and communication shared waveform are generated based on the optimal sensing and communication weight ratio and the current signal processing resources, so as to transmit the integrated sensing and communication shared waveform.

5. The aircraft control method based on sensor-communication integration according to claim 4, characterized in that, After determining the sensing signal-to-noise ratio corresponding to the sensing symbol frequency modulation sequence, the method further includes: The signal-to-noise ratio of the sensing system is corrected based on the number of photons emitted by the quantum radar to obtain the quantum radar signal-to-noise ratio. Accordingly, the evaluation of the sensing utility of the integrated sensing and communication shared waveform based on preset sensing weights, preset communication weights, the sensing signal-to-noise ratio, and the communication capacity includes: The sensing and communication utility of the integrated sensing and communication shared waveform is evaluated based on preset sensing weights, preset communication weights, the quantum radar signal-to-noise ratio, and the communication capacity.

6. The aircraft control method based on sensor-communication integration according to claim 4, characterized in that, After generating the aircraft sensing and control waveforms, the method further includes: A first delay weight and a first energy consumption weight corresponding to the initial sensing resources are determined, as well as a second delay weight and a second energy consumption weight corresponding to the initial communication resources. A total resource allocation cost evaluation formula is constructed based on the initial sensing resources, the first delay weight, the first energy consumption weight, the initial communication resources, the second delay weight, and the second energy consumption weight. The optimal solution of the total cost evaluation formula for resource allocation is calculated based on the quantum annealing algorithm, and the target sensing resources and target communication resources corresponding to the aircraft sensing and control waveform are determined for use in transmitting the aircraft sensing and control waveform.

7. The aircraft control method based on sensor-communication integration according to claim 1, characterized in that, The phase difference of the gravity gradient is expressed by the following formula: ； in, It refers to the phase difference between atoms in a cold atom interferometer within a quantum sensor due to gravitational gradients. It is the atomic mass of the cold atom interferometer. Reduce Planck's constant, It is the symbol period, It is the gravitational gradient.

8. A flight control device based on sensor-communication integration, characterized in that, The device includes: The shared waveform generation module is used to generate an integrated sensing and communication shared waveform based on the acquired sensing symbol frequency modulation sequence, communication symbol sequence, and symbol period when the aircraft sensing command is triggered. The shared waveform update module is used to perform a first correction on the sensing frequency modulation sequence based on the phase difference of the gravity gradient generated by the quantum sensor based on the symbol period, and to perform a second correction on the symbol period based on the decoherence time of the emitted photons of the quantum radar, and to update the sensing and communication integrated shared waveform based on the first correction result and the second correction result. The aircraft control module is used to determine the interference signal, interference frequency point and encryption key corresponding to the aircraft, and to fuse the interference signal, interference frequency point and encryption key with the update result of the integrated sensing and communication shared waveform to generate the aircraft sensing and control waveform for sensing, positioning and interference control of the aircraft.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and running on the processor, wherein when the program or instructions are executed by the processor, they implement the steps of the sensor-integrated aircraft control method as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions, which, when executed by a processor, implement the steps of the sensor-integrated aircraft control method as described in any one of claims 1-7.

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