Interference source positioning method, flight device, interference source positioning system and storage medium

Abstract

The application provides a jamming source positioning method, a flight device, a jamming source positioning system and a storage medium, and relates to the technical field of communication. The method comprises the following steps: a grid space covering a target space range is constructed; for each grid, the number of times that all grid vertices are located on a measurement ray is counted, the grid with the maximum number of times is determined as a jamming source region; wherein the measurement ray is a ray emitted based on an optimal observation point; the number of times is used to represent the credibility of the grid as the jamming source region; and the center position of the jamming source region is determined as the jamming source position. The application constructs a grid space covering a target space range, and traces a ray emitted by an observation point to determine the jamming source position, so that the final jamming source position comprises multiple dimension data such as longitude, latitude and height, and the comprehensiveness and accuracy of jamming source positioning are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a method for locating interference sources, a flight device, an interference source location system, and a storage medium. Background Technology

[0002] In recent years, with the rapid development of the low-altitude economy, the impact of radio interference has become increasingly prominent. Radio interference can cause communication link disruptions or navigation signal distortions for low-altitude aircraft such as UAVs and eVTOL (Electric Vertical Take-off and Landing) aircraft, thereby affecting flight safety. Therefore, quickly and accurately locating the source of interference has become an important task for electromagnetic environment monitoring and ensuring the stable development of the low-altitude economy.

[0003] Existing methods for locating interference sources typically simplify a three-dimensional spatial problem into a two-dimensional planar problem to achieve interference source localization. However, a two-dimensional planar plane cannot fully represent the location information of the interference source, resulting in low accuracy in interference source localization. Summary of the Invention

[0004] This invention provides a method for locating interference sources, a flight device, a system for locating interference sources, and a storage medium, in order to solve the technical problem in the prior art that simplifies a three-dimensional spatial problem into a two-dimensional planar problem to achieve interference source location, but the two-dimensional planar plane cannot fully reflect the location information of the interference source, resulting in low accuracy of interference source location.

[0005] This invention provides a method for locating interference sources, comprising: Construct a grid space that covers the target spatial range; wherein the grid space comprises a plurality of grids; For each grid, the number of times each grid vertex lies within the measurement ray is counted, and the grid with the highest number of occurrences is identified as the interference source region; wherein, the measurement ray is a ray emitted from the optimal observation point; the number of occurrences is used to characterize the confidence level of the grid being the interference source region; The center location of the interference source region is determined as the location of the interference source.

[0006] According to the interference source localization method provided by the present invention, the step of counting the number of times all grid vertices are located on the measurement ray for each grid includes: Based on the direction-finding angle data of the flight equipment at the optimal observation point, the direction vector of the interference source is determined; wherein, the direction-finding angle data includes azimuth and pitch angles; Calculate the offset vector from the optimal observation point to the grid; Based on the interference source direction vector and the offset vector, it is determined that the grid vertex is located on the measurement ray; The number of times each grid vertex is located on the measurement ray is counted to obtain the number of times the grid vertex is located on the measurement ray.

[0007] According to the interference source localization method provided by the present invention, determining that the grid vertex is located on the measurement ray based on the interference source direction vector and the offset vector includes: If the magnitude of the cross product of the interference source direction vector and the offset vector is less than a preset resolution threshold, and the product of the interference source direction vector and the offset vector is greater than or equal to 0, then the grid vertex is determined to be located on the measurement ray.

[0008] According to the interference source localization method provided by the present invention, the determination of the optimal observation point includes: An initial set of observation points is randomly generated within the target space; wherein, the initial set of observation points includes several initial observation points; Multiple initial observation points are randomly selected from the initial observation point set to form an initial observation point group, and the geometric precision attenuation factor of each initial observation point group is determined. The initial observation point group with the smallest geometric accuracy attenuation factor is determined as the optimal observation point.

[0009] According to the interference source localization method provided by the present invention, determining the geometric accuracy attenuation factor for each initial observation point group includes: Convert the geographic coordinates of the initial observation points in each initial observation point group to rectangular coordinates; Construct a geometric matrix based on the rectangular coordinates; Based on the geometric matrix, the geometric accuracy attenuation factor for each initial observation point group is calculated.

[0010] According to the interference source localization method provided by the present invention, before randomly selecting multiple initial observation points from the initial observation point set as an initial observation point group and determining the geometric accuracy attenuation factor of each initial observation point group, the method further includes: Remove observation point pairs from the initial observation point set that do not meet the distance constraint condition; wherein, the distance constraint condition is that the distance between any two initial observation points is within a preset distance range.

[0011] According to the interference source localization method provided by the present invention, the construction of a grid space covering the target spatial range includes: The three-axis coordinate range of the target space is determined, and a grid space is constructed based on the three-axis coordinate range; wherein, the grid of the grid space is obtained by dividing it with a preset resolution threshold.

[0012] The present invention also provides a flight device, including an interference source localization module, the interference source localization module being used for: Construct a grid space that covers the target spatial range; wherein the grid space comprises a plurality of grids; For each grid, the number of times each grid vertex lies within the measurement ray is counted, and the grid with the highest number of occurrences is identified as the interference source region; wherein, the measurement ray is a ray emitted from the optimal observation point; the number of occurrences is used to characterize the confidence level of the grid being the interference source region; The center location of the interference source region is determined as the location of the interference source.

[0013] The present invention also provides an interference source localization system, including a cloud server, a control terminal, and the flight equipment as described above; The flight equipment transmits the location of the interference source to the cloud server and the control terminal; The control terminal is used to display the location of the interference source transmitted by the flight equipment; The cloud server is used to store the location of interference sources transmitted by the flight equipment.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the interference source localization method as described above.

[0015] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the interference source localization methods described above.

[0016] This invention provides an interference source localization method, flight equipment, interference source localization system, and storage medium. By constructing a grid space covering the target spatial range, counting the number of times each grid vertex lies on the measurement ray in each grid, and identifying the grid with the highest number of occurrences as the interference source region, the location of the interference source can be determined. This method can locate the interference source based on multiple dimensions of longitude, latitude, and altitude information in the grid space, so that the final interference source location includes data in multiple dimensions of longitude, latitude, and altitude. Furthermore, by using the number of times the grid vertex lies on the measurement ray as a basis, the spatial probability distribution of the interference source is inferred. This fully considers the randomness of measurement errors, the statistical overlap of rays from multiple observation points, and the spatial uncertainty brought about by grid discretization, effectively improving the comprehensiveness and accuracy of interference source localization.

[0017] Furthermore, this invention converts the azimuth and elevation angles measured at each observation point into unit direction vectors in a rectangular coordinate system. By combining the offset vectors from the observation point to the grid vertices for collinearity and reverse judgment, it can accurately screen and count the grid vertices located on the measurement rays, thereby fusing the direction-finding data of multiple observation points into a frequency distribution in the grid space. On this basis, the counting threshold effectively suppresses ray deviation caused by measurement errors, so that the grids near the real interference source obtain a higher frequency due to being covered by multiple rays. Then, by determining the grid corresponding to the maximum frequency, the interference source can be located. Even if the rays of multiple observation points cannot intersect at one point, the area where the interference source is located can still be determined by statistical peak values, effectively improving the error resistance of interference source location. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the interference source localization method provided by the present invention.

[0020] Figure 2 This is a schematic diagram of the distribution of observation points within the target space provided by the present invention.

[0021] Figure 3 This is a schematic diagram of the three-dimensional grid space provided by the present invention.

[0022] Figure 4 This is a schematic diagram of interference source localization provided by the present invention.

[0023] Figure 5 This is a schematic diagram of the interference source localization system provided by the present invention.

[0024] Figure 6 This is a schematic diagram of the interference source localization method based on the interference source localization system provided by the present invention.

[0025] Figure 7 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] The interference source localization method provided in this invention can use a flight device as the execution subject. The flight device is equipped with an interference source localization module to execute the interference source localization method, which is suitable for rapid interference source investigation scenarios in complex electromagnetic environments such as urban canyons, mountainous areas, airport perimeters, and low-altitude UAV placement areas. For example, in densely populated urban areas with tall buildings, the flight device hovers at multiple observation points to obtain three-dimensional direction vectors including pitch angles, constructs a three-dimensional grid covering the target space, performs ray counting, and finally outputs the longitude, latitude, and altitude data of the interference source.

[0028] Figure 1 This is a flowchart illustrating the interference source localization method provided by the present invention, as shown below. Figure 1 As shown, the method includes the following: S1. Construct a grid space covering the target spatial range; wherein, the grid space includes a plurality of grids; In this embodiment of the invention, the target spatial range is the spatial range to be investigated where interference sources may exist. The target spatial range can be determined based on historical monitoring data, the approximate direction of the interference sources, or a manually defined investigation area. The determination of the target spatial range can be, for example, within the target spatial range... There are interference sources within the target space. Define the longitude, latitude, and altitude ranges of the target space: latitude range: φmin ≤ φ ≤ φmax; longitude range: λmin ≤ λ ≤ λmax; altitude range: hmin ≤ h ≤ hmax. These represent the latitude, longitude, and altitude of a point within the target's spatial range, respectively.

[0029] The embodiments of the present invention can also determine the flight range of the flight equipment in the target space, including the longitude, latitude and altitude range of the flight, and determine the boundary of the generated observation points based on the flight range, thereby ensuring that all observation points are generated within the boundary of the flight range.

[0030] In this embodiment of the invention, the grid space is used to discretize the target spatial range into a tightly packed, non-overlapping array of three-dimensional square units, each unit being called a grid.

[0031] S2. For each grid cell, count the number of times each grid cell vertex is located on the measurement ray, and determine the grid cell with the highest number of occurrences as the interference source region; wherein, the measurement ray is a ray emitted from the optimal observation point; the number of occurrences is used to characterize the confidence level of the grid cell being the interference source region; In this embodiment of the invention, a measurement ray refers to a three-dimensional ray originating from each optimal observation point and traversing the direction of the interference signal. Each observation point corresponds to one measurement ray, and with k observation points, there are a total of k rays. For each measurement ray, all grid vertices it passes through are traversed. For each grid vertex hit, its counter is incremented by 1. After processing all observation rays, each grid receives a count, indicating how many measurement rays passed through that grid. Since measurement errors are unavoidable, rays from different observation points often do not intersect precisely at a single point. However, grid vertices near the true location of the interference source will be traversed by most rays. Therefore, the number of times all grid vertices in a grid are located within a measurement ray is used to characterize the reliability of the grid being an interference source region. The closer the grid is to the interference source, the greater the number of times all grid vertices in that grid are located within a measurement ray.

[0032] S3. Determine the center position of the interference source region as the interference source position.

[0033] In this embodiment of the invention, if there is only one grid with the highest frequency, the center position of that grid can be determined as the location of the interference source; if there are multiple grids with the highest frequency and the same frequency, these grids can be formed into a grid cluster to determine the interference source. For example, the center position of each grid in these grid clusters can be determined as the location of the interference source, that is, in this case, there are multiple interference sources.

[0034] This invention constructs a grid space covering the target spatial range, counts the number of times each grid vertex is located on the measurement ray, calculates the sum of the number of times all grid vertices are located on the measurement ray in each grid, and identifies the grid with the highest number of times as the interference source region, thereby determining the location of the interference source. It can locate the interference source based on multiple dimensions of longitude, latitude, and altitude information in the grid space, thereby obtaining comprehensive and accurate interference source location information and effectively improving the comprehensiveness and accuracy of interference source location.

[0035] In one embodiment, determining the optimal observation point in step S2 includes: S211. Randomly generate an initial set of observation points within the target space; wherein, the initial set of observation points includes several initial observation points; In this embodiment of the invention, an initial set of observation points can be randomly generated within the target space, and then an optimal set of observation points can be generated based on the initial set of observation points. During the interference source localization process, the flight equipment hovers over each optimal observation point to scan the signal, so as to achieve interference source localization.

[0036] In this embodiment of the invention, N random points can be generated as initial observation points using a uniform random distribution method. The three coordinates of each initial observation point are generated independently and are unrelated to each other.

[0037] The initial set of observation points needs to contain a sufficient number of points to ensure comprehensive distribution across all areas of the target space. This prevents the inability to find optimal observation points due to insufficient points, which could negatively impact the accuracy of interference source localization. Initial Observation Point Set It can be represented as: Where S represents points within the target space, and N random points are generated within the target space. These N random points are represented as a set. This is the initial set of observation points.

[0038] This invention provides an embodiment that randomly generates an initial set of observation points within the target space, ensuring that the initial set of observation points is distributed throughout the entire target space, preventing omissions of certain areas, and improving the accuracy of interference source localization.

[0039] S212. Randomly select multiple initial observation points from the initial observation point set as an initial observation point group, and determine the geometrical dilution of precision (GDOP) for each initial observation point group. In this embodiment of the invention, the initial observation points are randomly distributed, and there may be some areas with dense points and some areas with sparse points. By randomly sampling a large number of different combinations of observation points, points in sparse areas will also be selected as the initial observation point group. Even if the distribution of the initial observation point set is not ideal, random sampling ensures that a geometrically well-structured observation point group can be found, thereby effectively improving the reliability of interference source localization.

[0040] S213. The initial observation point group with the smallest geometric accuracy attenuation factor is determined as the optimal observation point.

[0041] The embodiments of the present invention select the initial observation point group with the smallest geometric accuracy attenuation factor as the optimal observation point, which can make the intersection area of ​​the measurement rays emitted by each observation point more concentrated in the three-dimensional space, thereby effectively improving the accuracy of the correspondence between the grid count peak and the actual location of the interference source.

[0042] In this embodiment of the invention, an optimization algorithm can be used to select an initial observation point group with the smallest geometric precision attenuation factor. The optimization objective is to select k initial observation points from N random points such that the geometric precision attenuation factor of the initial observation point group formed by the k initial observation points is minimized. The expression is as follows: in, The initial set of observation points with the smallest geometrical precision attenuation factor (GDOP) is defined as M, where GDOP is the geometrical precision attenuation factor, and Q is a subset of k observation points selected from set M. Obtain the optimal observation point , , , ... All initial observation points A portion of the observation points.

[0043] Please see Figure 2 This is a schematic diagram illustrating the distribution of observation points within a target spatial range, provided by an embodiment of the present invention. Figure 2 As shown, the initial observation points are randomly distributed within the target space to ensure that the detection area covers the entire target space.

[0044] In one embodiment, step S212, determining the geometric accuracy attenuation factor for each initial observation point group, includes: S2121. Convert the geographic coordinates of the initial observation points in each initial observation point group to rectangular coordinates; In this embodiment of the invention, the initial observation point The geographic coordinates include longitude, latitude, and altitude information. The geographic coordinates are converted into rectangular coordinates. During the conversion process, latitude and longitude can be converted into radian coordinates, and then the corresponding rectangular coordinates are calculated using the parameters of the Earth ellipsoid model.

[0045] In this embodiment of the invention, the angle, expressed in degrees, is first converted into radians. Then, the X, Y, and Z values ​​of each location in the geocentric rectangular coordinate system are calculated using an Earth ellipsoid model. Longitude determines the east-west position, latitude determines the north-south position, and altitude is the distance extended vertically outward from the ellipsoidal surface. This conversion maps the position described using angles and altitude to a specific point in three-dimensional space, facilitating subsequent vector operations and distance calculations.

[0046] S2122. Construct a geometric matrix based on the rectangular coordinates; In this embodiment of the invention, the expression for the geometric matrix H is as follows: in, It is the first Cartesian coordinates of each observation point , These are the rectangular coordinates of the position to be solved. This represents the distance between the i-th observation point and the location n to be solved, where k is the final number of observation points. The location to be solved is the location of the interference source that needs to be located.

[0047] In this embodiment of the invention, the geometric matrix describes the spatial relationship between the observation point and the location of the interference source that needs to be located.

[0048] S2123. Based on the geometric matrix, calculate the geometric accuracy attenuation factor for each initial observation point group.

[0049] In this embodiment of the invention, the expression for the geometric precision attenuation factor GDOP is as follows: in, It is the transpose of the geometric matrix H. It is a matrix The inverse matrix; trance represents the trace of the matrix, which is the sum of the diagonal elements of the matrix.

[0050] In this embodiment of the invention, the geometric accuracy attenuation factor is a dimensionless positive real number that can be used to measure the degree to which the geometric layout of the observation points amplifies the positioning error. The smaller the geometric accuracy attenuation factor, the smaller the positioning error caused by the same direction-finding error, meaning that the geometric layout of the observation point group is more optimal.

[0051] This invention quantifies the spatial distribution of the optimal observation point group into a geometric precision attenuation factor through algebraic operations on geometric matrices, thereby achieving a mathematical mapping from geometric configuration to performance indicators. This transforms the observation point selection problem into a numerical optimization problem. Through the geometric precision attenuation factor, the geometrically optimal combination of observation points can be selected from a large set of randomly generated initial observation points, thus providing a reliable data foundation for subsequent 3D grid ray localization. This fundamentally improves the accuracy and robustness of interference source localization. Furthermore, since the matrix operation scale is fixed, it is suitable for real-time execution on an airborne edge server, which is beneficial for improving the efficiency of interference source localization.

[0052] In one embodiment, before step S212, which involves randomly selecting multiple initial observation points from the initial observation point set as an initial observation point group and determining the geometric precision attenuation factor for each initial observation point group, the method further includes: Remove observation point pairs from the initial observation point set that do not meet the distance constraint condition; wherein, the distance constraint condition is that the distance between any two initial observation points is within a preset distance range.

[0053] In this embodiment of the invention, an observation point pair refers to a combination of two different observation points arbitrarily selected from the initial observation point set. The expression for the distance constraint condition is as follows: Among them, d in the distance constraint min It is the minimum distance between two observation points, used to avoid observation points being too close together; d max It is the maximum distance between two observation points, used to avoid excessive sparseness between observation points.

[0054] This invention can employ an iterative screening strategy to calculate the distance between all pairs of observation points. If a distance is less than d... min If there is a pair of observation points with a distance greater than d, then that pair of observation points is discarded; if there exists a pair of observation points with a distance greater than d, then that pair of observation points is discarded. max For any pair of observation points, remove that pair as well; repeat this process until all remaining pairs of points satisfy the distance constraint.

[0055] This invention, through distance constraint screening of the initial observation point set, effectively avoids collisions between observation points that are too close together during the interference source localization process, or prevents excessively distant points from exceeding the mission range. Eliminating observation point pairs that do not meet the distance constraints significantly reduces the number of subsequent random selections of observation point groups and the number of combinations for calculating the geometric accuracy attenuation factor, effectively reducing computational load and improving positioning accuracy. By eliminating geometrically redundant or extremely sparse observation points, the geometric accuracy attenuation calculation can be performed within a reasonable candidate point space, avoiding distortion caused by including excessively close or distant points, thereby effectively improving the interference source localization accuracy.

[0056] In one embodiment, step S1, constructing a grid space covering the target spatial range, includes: The three-axis coordinate range of the target space is determined, and a grid space is constructed based on the three-axis coordinate range; wherein, the grid of the grid space is obtained by dividing it with a preset resolution threshold.

[0057] In this embodiment of the invention, the grid space can be a three-dimensional grid space, with the three-axis coordinate range including the X-axis coordinate range, the Y-axis coordinate range, and the Z-axis coordinate range, such as the minimum and maximum coordinates on the X-axis. The three-axis coordinate range can define the physical boundary of the grid space, ensuring that subsequent operations are performed within this boundary, avoiding spatial calculation divergence, and improving the efficiency of interference source localization.

[0058] It is understood that the grid space comprises multiple grids, each with 8 vertices. The side lengths of these grids can be determined by a preset resolution threshold, res. Based on this threshold, the grid space can be divided into uniform cubic grids. The resolution can be set according to actual needs; a smaller res allows for more precise location of interference sources but increases computational load, while a larger res allows for faster acquisition of approximate locations. Embodiments of this invention can adjust res to adapt to different application scenarios.

[0059] Please see Figure 3 This is a schematic diagram of a three-dimensional grid space provided in an embodiment of the present invention.

[0060] In one embodiment, step S2, for each grid cell, counts the number of times all grid vertices lie on the measurement ray, including: S21. Determine the direction vector of the interference source based on the direction-finding angle data of the flight equipment at the optimal observation point; wherein, the direction-finding angle data includes azimuth and pitch angle; In this embodiment of the invention, the azimuth angle α is defined as the angle between the direction of arrival of the interference signal in the horizontal direction and the reference direction (usually due north), ranging from 0° to 360°, measured clockwise or counterclockwise, and used to describe the direction of the projection of the interference source on the horizontal plane relative to the observation point. The elevation angle β is defined as the angle between the direction of arrival of the interference signal and the horizontal plane, ranging from -90° to 90°, where a positive value indicates that the interference source is above the observation point, and a negative value indicates that the interference source is below the observation point. The direction-finding angle data can determine the spatial straight-line direction from the observation point to the interference source.

[0061] In this embodiment of the invention, the interference source direction vector The expression is as follows: The interference source direction vector is a three-dimensional unit vector, and its direction is consistent with the direction of the ray pointing from the observation point to the interference source. Since subsequent vector operations such as cross product and dot product need to be performed in a rectangular coordinate system, while the direction-finding angle data is essentially represented in a spherical coordinate system, this embodiment of the invention converts the angle information into the direction component in rectangular coordinates through the following coordinate transformation formula.

[0062] In this embodiment of the invention, the direction finding angle data measured at each observation point is converted into a unit vector that can be directly used in spatial geometric calculations, providing a reliable calculation basis for subsequent determination of whether a grid vertex is located on a ray.

[0063] S22. Calculate the offset vector from the optimal observation point to the grid vertex; In this embodiment of the invention, the offset vector The expression is as follows: in, For the optimal observation point, These are the grid vertices.

[0064] The offset vector is a vector pointing from the optimal observation point to the grid vertex, used to describe the positional difference of the grid vertex relative to the observation point.

[0065] S23. Based on the interference source direction vector and the offset vector, determine that the grid vertex is located on the measurement ray; In this embodiment of the invention, it can be determined whether the grid vertex meets a preset condition based on the interference source direction vector and the offset vector. If the grid vertex meets the preset condition, it is determined that the grid vertex is located on the measurement ray. The preset condition includes a collinearity condition and a reversal condition, that is, the grid vertex is located on the straight line determined by the observation point and the direction vector, and the grid vertex is located directly in front of the observation point.

[0066] S24. Count the number of times each grid vertex is located on the measurement ray to obtain the number of times the grid vertex is located on the measurement ray.

[0067] In this embodiment of the invention, the method for counting the number of times each grid vertex is located on the measurement ray can be as follows: Allocate a 3D array `count[Nx][Ny][Nz]` and initialize all elements to 0. Check if the vertex of the grid is on the measurement ray; if it is, increment `count[i][j][k]` by 1. After processing one observation point, move on to the next. After all observation points have been processed, the `count` array stores the final count for each grid cell.

[0068] Due to measurement errors, measurement rays from different observation points may not intersect at a single point. In this embodiment of the invention, a counting threshold can be designed to treat grids that meet the counting threshold as areas where interference sources may be distributed. in, Coordinates of the maximum count point for: .

[0069] This invention converts the azimuth and elevation angles measured at each observation point into unit direction vectors in a rectangular coordinate system. It then combines these vectors with the offset vectors from the observation point to the grid vertices for collinearity and reverse direction detection. This allows for precise selection and counting of grid vertices located on the measurement rays, thus fusing the direction-finding data from multiple observation points into a frequency distribution in the grid space. Furthermore, by utilizing a counting threshold to effectively suppress ray deviation caused by measurement errors, grids near the actual interference source gain higher frequencies due to being covered by multiple rays. The interference source is then located by identifying the grid with the highest frequency. Even if the rays from multiple observation points cannot intersect at a single point, the region where the interference source is located can still be determined by statistical peak values, effectively improving the error resistance of interference source localization.

[0070] In one embodiment, step S23, determining that the grid vertex is located on the measurement ray based on the interference source direction vector and the offset vector, includes: If the magnitude of the cross product of the interference source direction vector and the offset vector is less than a preset resolution threshold, and the product of the interference source direction vector and the offset vector is greater than or equal to 0, then the grid vertex is determined to be located on the measurement ray.

[0071] In this embodiment of the invention, the expression for the cross product modulus being less than a preset resolution threshold is as follows: in, Let the cross product modulus be , This is the preset resolution threshold.

[0072] The expression for the product of the interference source direction vector and the offset vector being greater than or equal to 0 is as follows: .

[0073] This invention, by simultaneously examining two geometric conditions—the cross product modulus and the dot product—can accurately and efficiently filter out grid vertices located on the measurement ray. A cross product modulus less than a resolution threshold indicates a small vertical distance from the grid vertex to the ray, ensuring the grid vertex is near the ray. Simultaneously, this resolution threshold allows for a certain degree of measurement error and grid discretization deviation, effectively addressing minor deviations caused by measurement noise or grid discretization, and preventing the misclassification of grid vertices that should be on the ray as invalid. A non-negative dot product forces the grid vertex to be directly in front of the observation point, effectively excluding grid vertices located behind the observation point but collinear with the ray, thus ensuring the consistency of the ray direction.

[0074] Please see Figure 4 This is a schematic diagram illustrating the location of an interference source according to an embodiment of the present invention. Figure 4As shown, the flight equipment forms a trajectory based on multiple optimal observation points, hovers at each optimal observation point to perform measurements, and finally obtains the location result of the interference source.

[0075] This invention is applicable to scenarios involving rapid troubleshooting of interference sources in complex electromagnetic environments such as industrial parks, urban canyons, mountainous areas, airport perimeters, and low-altitude drone deployment areas. For example, in an industrial park, an operator's base station is experiencing interference from an unknown signal, with the source of the interference suspected to be hidden inside a 15-meter-high factory building.

[0076] The edge server plans a grid based on the campus map (200m×200m×30m) to obtain several grid areas.

[0077] In this embodiment of the invention, a single drone can be used to complete the interference source localization task. The server calculates the locations of multiple observation points with the minimum geometric accuracy attenuation factor: these are located at points A, B, C, and D above the four corners of the factory building. The drone sequentially flies to these observation points and obtains direction-finding angle data, including azimuth and elevation angles. For example, azimuth 45°, elevation -15°; azimuth 135°, elevation -12°; azimuth 315°, elevation -18°; azimuth 225°, elevation -14°. Edge server operation ray determination: The grid vertices in the internal area of ​​the factory are traversed by machine rays from 3 observation points, reaching 3 times, which is the grid area with the maximum number of times. The center coordinates of this grid area are approximately (x,y,z), which is determined as the location of the interference source.

[0078] Implementing the embodiments of the present invention has the following beneficial effects: This invention constructs a grid space covering the target spatial range, counts the number of times each grid vertex lies on the measurement ray in each grid, and identifies the grid with the highest number of occurrences as the interference source region, thereby determining the location of the interference source. It can locate the interference source based on multiple dimensions of longitude, latitude, and altitude information in the grid space, so that the final interference source location includes data in multiple dimensions of longitude, latitude, and altitude. Furthermore, it uses the number of times the grid vertex lies on the measurement ray as a basis to infer the spatial probability distribution of the interference source, fully considering the randomness of measurement errors, the statistical overlap of rays from multiple observation points, and the spatial uncertainty brought about by grid discretization, effectively improving the comprehensiveness and accuracy of interference source location.

[0079] Furthermore, in this embodiment of the invention, the azimuth and elevation angles measured at each observation point are converted into unit direction vectors in a rectangular coordinate system. By combining the offset vectors from the observation point to the grid vertices for collinearity and reverse judgment, grid vertices located on the measurement rays can be accurately screened and counted. This allows the direction-finding data from multiple observation points to be fused into a frequency distribution in the grid space. On this basis, the counting threshold is used to effectively suppress ray deviation caused by measurement errors, so that the grids near the real interference source have a higher frequency due to being covered by multiple rays. Then, the interference source is located by determining the grid corresponding to the maximum frequency. Even if the rays from multiple observation points cannot intersect at one point, the area where the interference source is located can still be determined by statistical peak values, effectively improving the error resistance of interference source location.

[0080] The flight equipment provided by the present invention is described below. The flight equipment described below and the interference source localization method described above can be referred to in correspondence.

[0081] This invention provides a flight device, including an interference source localization module, which is used for: Construct a grid space that covers the target spatial range; wherein the grid space comprises a plurality of grids; For each grid cell, the number of times each grid cell vertex lies within a measurement ray is counted, and the grid cell with the highest number of occurrences is identified as the interference source region. The measurement ray is a ray emitted from the optimal observation point, and the number of occurrences is used to characterize the confidence level that the grid cell is an interference source region. The center location of the interference source region is determined as the location of the interference source.

[0082] In one embodiment, for each of the grid cells, counting the number of times all grid vertices lie on the measurement ray includes: Based on the direction-finding angle data of the flight equipment at the optimal observation point, the direction vector of the interference source is determined; wherein, the direction-finding angle data includes azimuth and pitch angles; Calculate the offset vector from the optimal observation point to the grid vertex; Based on the interference source direction vector and the offset vector, it is determined that the grid vertex is located on the measurement ray; The number of times each grid vertex is located on the measurement ray is counted to obtain the number of times the grid vertex is located on the measurement ray.

[0083] In one embodiment, determining that the grid vertex is located on the measurement ray based on the interference source direction vector and the offset vector includes: If the magnitude of the cross product of the interference source direction vector and the offset vector is less than a preset resolution threshold, and the product of the interference source direction vector and the offset vector is greater than or equal to 0, then the grid vertex is determined to be located on the measurement ray.

[0084] In one embodiment, determining the optimal observation point includes: An initial set of observation points is randomly generated within the target space; wherein, the initial set of observation points includes several initial observation points; Multiple initial observation points are randomly selected from the initial observation point set to form an initial observation point group, and the geometric precision attenuation factor of each initial observation point group is determined. The initial observation point group with the smallest geometric accuracy attenuation factor is determined as the optimal observation point.

[0085] In one embodiment, determining the geometric accuracy attenuation factor for each initial observation point group includes: Convert the geographic coordinates of the initial observation points in each initial observation point group to rectangular coordinates; Construct a geometric matrix based on the rectangular coordinates; Based on the geometric matrix, the geometric accuracy attenuation factor for each initial observation point group is calculated.

[0086] In one embodiment, before randomly selecting multiple initial observation points from the initial observation point set as an initial observation point group and determining the geometric precision attenuation factor for each initial observation point group, the method further includes: Remove observation point pairs from the initial observation point set that do not meet the distance constraint condition; wherein, the distance constraint condition is that the distance between any two initial observation points is within a preset distance range.

[0087] In one embodiment, constructing a grid space covering the target spatial range includes: The three-axis coordinate range of the target space is determined, and a grid space is constructed based on the three-axis coordinate range; wherein, the grid of the grid space is obtained by dividing it with a preset resolution threshold.

[0088] Please see Figure 5 An embodiment of the present invention provides an interference source localization system, including a cloud server 520, a control terminal 530, and a flight device 510 as described in the above embodiment; The flight equipment 510 transmits the location of the interference source to the cloud server 520 and the control terminal 530; The control terminal 530 is used to display the location of the interference source transmitted by the flight equipment 510; The cloud server 520 is used to store the location of the interference source transmitted by the flight equipment 510.

[0089] In this embodiment of the invention, the flight device 510 can be a professional industrial-grade UAV. The flight device 510 is equipped with an interference source positioning terminal, which has a built-in airborne receiving antenna, camera, and edge computing server. The interference source positioning terminal receives interference source signals through the receiving antenna and executes the interference source positioning method provided in the above embodiment of the invention in combination with the three-dimensional grid ray interference positioning algorithm deployed in the edge computing server. This enables automatic interference source analysis, positioning, and image sampling without the need for ground server collaboration. Furthermore, the wireless interference monitoring information and captured images can be synchronized to the backend cloud server 520 in real time via a wireless network, and the calculation results can be transmitted back to the ground control terminal 530 and the backend server platform in real time via a wireless communication module. Monitoring personnel can view the wireless interference positioning and monitoring results in real time.

[0090] It should be noted that system initialization is required before starting the interference source localization process, including: First, configure the hardware parameters of the flight equipment 510, including at least the flight altitude range and load capacity, and load the predetermined mission objectives. Second, start the airborne interference location terminal and calibrate the antenna and camera included in the terminal. Then, establish a communication connection between the flight equipment 510, the control terminal 530, and the cloud server 520, and test the stability of the real-time data transmission link. Finally, run the initialization self-test program to confirm that the interference source location system is in optimal working condition, thereby executing subsequent interference location tasks.

[0091] Please see Figure 6 This is a schematic flowchart of an interference source localization method based on an interference source localization system provided in an embodiment of the present invention. Figure 6 As shown, in the initial stage, the interference source localization system is initialized and an interference source localization task is created. After inputting the target spatial range, initial observation points are generated in the target spatial range, and the optimal observation point is selected according to the geometric accuracy attenuation factor. The flight path of the flight equipment is planned according to the optimal observation point, so that the flight equipment flies to the optimal observation point to collect data, determines the ray with the strongest signal power at the observation point, and determines the location of the interference source through a three-dimensional grid ray localization algorithm. The final interference source localization data is then transmitted back to the cloud server and control terminal.

[0092] Implementing the embodiments of the present invention has the following beneficial effects: This invention constructs a grid space covering the target spatial range, counts the number of times each grid vertex lies on the measurement ray in each grid, and identifies the grid with the highest number of occurrences as the interference source region, thereby determining the location of the interference source. It can locate the interference source based on multiple dimensions of longitude, latitude, and altitude information in the grid space, so that the final interference source location includes data in multiple dimensions of longitude, latitude, and altitude. Furthermore, it uses the number of times the grid vertex lies on the measurement ray as a basis to infer the spatial probability distribution of the interference source, fully considering the randomness of measurement errors, the statistical overlap of rays from multiple observation points, and the spatial uncertainty brought about by grid discretization, effectively improving the comprehensiveness and accuracy of interference source location.

[0093] Furthermore, in this embodiment of the invention, the azimuth and elevation angles measured at each observation point are converted into unit direction vectors in a rectangular coordinate system. By combining the offset vectors from the observation point to the grid vertices for collinearity and reverse judgment, grid vertices located on the measurement rays can be accurately screened and counted. This allows the direction-finding data from multiple observation points to be fused into a frequency distribution in the grid space. On this basis, the counting threshold is used to effectively suppress ray deviation caused by measurement errors, so that the grids near the real interference source have a higher frequency due to being covered by multiple rays. Then, the interference source is located by determining the grid corresponding to the maximum frequency. Even if the rays from multiple observation points cannot intersect at one point, the area where the interference source is located can still be determined by statistical peak values, effectively improving the error resistance of interference source location.

[0094] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7 As shown, the electronic device may include: a processor 710, a communications interface 720, a memory 730, and a communication bus 740, wherein the processor 710, the communications interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute an interference source localization method, including: Construct a grid space that covers the target spatial range; wherein the grid space comprises a plurality of grids; For each grid cell, the number of times each grid cell vertex lies within the measurement ray is counted, and the grid cell with the highest number of occurrences is identified as the interference source region; wherein, the measurement ray is a ray emitted from the optimal observation point; The center location of the interference source region is determined as the location of the interference source.

[0095] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute an interference source localization method provided by the above methods, comprising: Construct a grid space that covers the target spatial range; wherein the grid space comprises a plurality of grids; For each grid cell, the number of times each grid cell vertex lies within the measurement ray is counted, and the grid cell with the highest number of occurrences is identified as the interference source region; wherein, the measurement ray is a ray emitted from the optimal observation point; The center location of the interference source region is determined as the location of the interference source.

[0097] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements an interference source localization method provided by the methods described above, comprising: Construct a grid space that covers the target spatial range; wherein the grid space comprises a plurality of grids; For each grid cell, the number of times each grid cell vertex lies within the measurement ray is counted, and the grid cell with the highest number of occurrences is identified as the interference source region; wherein, the measurement ray is a ray emitted from the optimal observation point; The center location of the interference source region is determined as the location of the interference source.

[0098] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for locating interference sources, characterized in that, include: Construct a grid space that covers the target spatial range; wherein the grid space comprises a plurality of grids; For each grid, the number of times each grid vertex lies within the measurement ray is counted, and the grid with the highest number of occurrences is identified as the interference source region; wherein, the measurement ray is a ray emitted from the optimal observation point; the number of occurrences is used to characterize the confidence level of the grid being the interference source region; The center location of the interference source region is determined as the location of the interference source.

2. The interference source localization method as described in claim 1, characterized in that, For each of the aforementioned grid cells, the number of times each grid vertex lies within the measurement ray is counted, including: Based on the direction-finding angle data of the flight equipment at the optimal observation point, the direction vector of the interference source is determined; wherein, the direction-finding angle data includes azimuth and pitch angles; Calculate the offset vector from the optimal observation point to the grid vertex; Based on the interference source direction vector and the offset vector, it is determined that the grid vertex is located on the measurement ray; The number of times each grid vertex is located on the measurement ray is counted to obtain the number of times the grid vertex is located on the measurement ray.

3. The interference source localization method as described in claim 2, characterized in that, The step of determining that the grid vertex is located on the measurement ray based on the interference source direction vector and the offset vector includes: If the magnitude of the cross product of the interference source direction vector and the offset vector is less than a preset resolution threshold, and the product of the interference source direction vector and the offset vector is greater than or equal to 0, then the grid vertex is determined to be located on the measurement ray.

4. The interference source localization method as described in claim 1, characterized in that, The determination of the optimal observation point includes: An initial set of observation points is randomly generated within the target space; wherein, the initial set of observation points includes several initial observation points; Multiple initial observation points are randomly selected from the initial observation point set to form an initial observation point group, and the geometric accuracy attenuation factor of each initial observation point group is determined. The initial observation point group with the smallest geometric accuracy attenuation factor is determined as the optimal observation point.

5. The interference source localization method as described in claim 4, characterized in that, The determination of the geometric accuracy attenuation factor for each initial observation point group includes: Convert the geographic coordinates of the initial observation points in each initial observation point group to rectangular coordinates; Construct a geometric matrix based on the rectangular coordinates; Based on the geometric matrix, the geometric accuracy attenuation factor for each initial observation point group is calculated.

6. The interference source localization method as described in claim 4, characterized in that, Before randomly selecting multiple initial observation points from the initial observation point set as an initial observation point group and determining the geometric precision attenuation factor for each initial observation point group, the method further includes: Remove observation point pairs from the initial observation point set that do not meet the distance constraint condition; wherein, the distance constraint condition is that the distance between any two initial observation points is within a preset distance range.

7. The interference source localization method as described in claim 1, characterized in that, The construction of a grid space covering the target spatial range includes: The three-axis coordinate range of the target space is determined, and a grid space is constructed based on the three-axis coordinate range; wherein, the grid of the grid space is obtained by dividing it with a preset resolution threshold.

8. A flight device, characterized in that, Includes an interference source localization module, the interference source localization module being used for: Construct a grid space that covers the target spatial range; wherein the grid space comprises a plurality of grids; For each grid, the number of times each grid vertex lies within the measurement ray is counted, and the grid with the highest number of occurrences is identified as the interference source region; wherein, the measurement ray is a ray emitted from the optimal observation point; the number of occurrences is used to characterize the confidence level of the grid being the interference source region; The center location of the interference source region is determined as the location of the interference source.

9. An interference source localization system, characterized in that, Includes a cloud server, a control terminal, and the flight equipment as described in claim 8; The flight equipment transmits the location of the interference source to the cloud server and the control terminal; The control terminal is used to display the location of the interference source transmitted by the flight equipment; The cloud server is used to store the location of interference sources transmitted by the flight equipment.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the interference source localization method as described in any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the interference source localization method as described in any one of claims 1 to 7.

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