Unmanned aerial vehicle signal positioning device based on dynamic antenna array

Abstract

The utility model provides an unmanned aerial vehicle signal positioning device based on a dynamic antenna array, and relates to the technical field of unmanned aerial vehicle signal positioning, the unmanned aerial vehicle signal positioning device comprises a supporting frame, the supporting frame is detachably installed on an unmanned aerial vehicle rack and is provided with a plurality of installation grooves in an array mode, and an installation cavity is formed in the supporting frame; the plurality of antenna units are correspondingly embedded and mounted in the plurality of mounting grooves; the plurality of driving parts are correspondingly arranged in the plurality of mounting grooves and are in contact with the plurality of antenna units; the signal processing unit is placed in the mounting cavity and closes the mounting cavity through the mounting cover; wherein the signal processing unit is electrically connected with the plurality of driving parts, and after signals received by the signal processing unit are processed, the driving parts are controlled to drive the antenna units to movably adjust the signal receiving angles of the antenna units. According to the utility model, the problems of unstable signal reception, low positioning precision, complex structure, slow response speed, easy failure and the like in the prior art are solved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) signal positioning technology, and in particular to a UAV signal positioning device based on a dynamic antenna array. Background Technology

[0002] With the widespread application of drone technology, drone signal positioning technology has become increasingly important. Existing drone signal positioning devices have certain limitations in terms of positioning accuracy, signal acquisition range, and adaptability to complex environments. For example, traditional fixed antenna array positioning devices cannot adjust the antenna direction in real time according to the dynamic flight trajectory of the drone, resulting in unstable signal reception and low positioning accuracy. At the same time, some positioning devices that use mechanical rotating antennas can adjust the direction to a certain extent, but their mechanical structure is complex, their response speed is slow, and they are prone to failure, making them unsuitable for scenarios with high requirements for timely positioning. Summary of the Invention

[0003] The purpose of this invention is to provide a UAV signal positioning device based on a dynamic antenna array, which solves the problem that existing fixed antenna array positioning devices cannot adjust the antenna direction in real time according to the dynamic flight trajectory of the UAV, resulting in unstable signal reception and low positioning accuracy.

[0004] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0005] A UAV signal positioning device based on a dynamic antenna array includes:

[0006] A support frame is detachably mounted on the drone frame and has multiple mounting slots arranged in an array. The support frame has a mounting cavity inside.

[0007] Multiple antenna elements are correspondingly embedded in multiple mounting slots, and the multiple antenna elements are used to receive external signals;

[0008] Multiple driving components are correspondingly disposed in multiple mounting slots and in contact with multiple antenna elements;

[0009] A signal processing unit is placed in the mounting cavity and the mounting cavity is closed by a mounting cover;

[0010] The signal processing unit is electrically connected to the multiple antenna units and the multiple driving components. The signal processing unit is used to process and analyze the signals received by the antenna units and control the driving components to rotate according to the processing results, thereby driving the antenna units to rotate and adjust the angle of the signals received by the antenna units.

[0011] According to the UAV signal positioning device based on dynamic antenna array provided by this utility model, the support frame includes:

[0012] A support sleeve, which is detachably mounted on the drone frame;

[0013] The mounting bracket is disposed on the support sleeve and has multiple mounting slots arrayed along its edge.

[0014] According to the UAV signal positioning device based on dynamic antenna array provided by this utility model, the plurality of antenna elements include:

[0015] A fixing seat, wherein the fixing seat is embedded in a plurality of mounting slots and has a through-hole for movement;

[0016] A rotating ball, wherein the rotating ball is movably embedded in the movable groove and a connecting groove is provided;

[0017] A signal receiving antenna, which is detachably installed in the connecting slot and forms an angle with the fixing base;

[0018] The rotating sphere has a rack along its curved spherical surface at the end furthest from the signal receiving antenna.

[0019] According to the UAV signal positioning device based on dynamic antenna array provided by this utility model, the fixed base includes:

[0020] An upper mounting plate, which is embedded in the upper end of the mounting groove and has a movable groove;

[0021] A lower mounting plate, which is embedded in the lower end of the mounting groove and has a movable groove;

[0022] The upper mounting plate and the lower mounting plate are threaded together and a movable cavity is formed between them through the movable groove, in which the rotating ball is movably enclosed.

[0023] According to the UAV signal positioning device based on dynamic antenna array provided by this utility model, the plurality of driving components include:

[0024] A micro motor is disposed in the mounting slot and located below the fixing base;

[0025] A gear, which is fitted onto the drive end of the micro motor and meshes with the rack on the surface of the rotating ball.

[0026] According to the UAV signal positioning device based on dynamic antenna array provided by this utility model, the signal processing unit includes:

[0027] A signal processing module, wherein the signal processing module is placed in the mounting cavity;

[0028] The control module is placed in the mounting cavity;

[0029] The signal processing module, control module, and micro motor are electrically connected, and the micro motor is controlled to rotate to adjust the signal receiving angle of the signal receiving antenna.

[0030] In summary, the beneficial technical effects of this utility model are as follows:

[0031] Through the established signal processing unit and driving component, the signal processing unit analyzes and processes the signal received by the antenna unit to identify the strength of the signal received by the antenna unit, and then controls the driving component to rotate and adjust the angle of the antenna unit, thereby adjusting the receiving angle of the antenna unit in real time, making the signal received by the antenna unit more accurate and the signal reception more stable. By processing and controlling the movement of the driving component through the signal processing unit, the response speed is fast, and the rotating part has a simple structure, which facilitates subsequent accident maintenance.

[0032] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this utility model 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 utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;

[0035] Figure 2 This is a schematic diagram of the bottom structure of an embodiment of the present utility model;

[0036] Figure 3 This is a bottom view of the structural plan of an embodiment of this utility model;

[0037] Figure 4 This is a cross-sectional structural schematic diagram of an embodiment of the present utility model;

[0038] Figure 5 This is a schematic diagram of the antenna unit structure according to an embodiment of the present invention;

[0039] Figure 6This is a schematic diagram of the bottom structure of the antenna unit according to an embodiment of the present invention.

[0040] Figure label:

[0041] 10. Support frame; 11. Support sleeve; 12. Mounting bracket;

[0042] 20. Antenna element; 21. Mounting base; 22. Rotating sphere; 23. Signal receiving antenna;

[0043] 211. Upper mounting plate; 212. Lower mounting plate;

[0044] 30. Drive components; 31. Miniature motors; 32. Gears;

[0045] 40. Signal processing unit; 41. Signal processing module; 42. Control module. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0047] In the description of the embodiments of this utility model, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0048] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0049] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0051] The following is combined with Figures 1-6 The embodiments shown illustrate the technical solution of this utility model:

[0052] A UAV signal positioning device based on a dynamic antenna array includes a support frame 10, which is detachably mounted on the UAV frame and has multiple mounting slots arrayed thereon. An mounting cavity is formed inside the support frame 10. Multiple antenna units 20 are correspondingly embedded in the multiple mounting slots and are used to receive external signals. Multiple driving components 30 are correspondingly disposed in the multiple mounting slots and contact the multiple antenna units 20. A signal processing unit 40 is placed in the mounting cavity and closed by a mounting cover. The signal processing unit 40 is electrically connected to the multiple antenna units 20 and the multiple driving components 30. The signal processing unit 40 processes and analyzes the signals received by the antenna units 20 and, based on the processing results, controls the driving components 30 to rotate, thereby rotating the antenna units 20 and adjusting the angle at which the antenna units 20 receive signals.

[0053] It is understood that the support frame 10 is either disc-shaped or polygonal, with the specific shape depending on the layout of the dynamic antenna array. If the antenna elements 20 are arranged in a circular pattern, the disc-shaped support frame 10 can better adapt, ensuring that multiple antenna elements 20 are evenly distributed in the circumferential direction, achieving omnidirectional signal reception coverage. When a polygonal arrangement is used, the polygonal support frame 10 allows the antenna elements 20 to be installed tightly and continuously at the edge of the frame, optimizing space utilization efficiency. Therefore, in this embodiment, a triangular support frame 10 is preferred. The support frame 10 is made of high-strength, low-density carbon fiber composite material, which can effectively reduce the overall weight while ensuring the structural stability of the support frame 10. Additionally, mounting points are provided along the edges of the support frame 10. A mounting cavity is formed at the center of the support frame 10, and antenna units 20 are sequentially and evenly arrayed and embedded in the mounting cavity. The edge dimensions of the antenna units 20 are the same as the dimensions of the mounting cavity, so that they can better contact the inner wall of the mounting cavity when embedded, making the installation more secure. At the same time, a driving component 30 is set below the antenna units 20 at the bottom of the inner wall of the mounting cavity. The driving component 30 contacts the antenna units 20, so that the driving component 30 drives the antenna units 20 to rotate and adjust the angle when moving. The mounting cavity is also triangular in shape, and the signal processing unit 40 is placed in the mounting cavity to receive and process the signals received by the antenna units 20, thereby controlling the rotation of the driving component 30 to adjust the signal receiving angle of the antenna units 20, making the signal reception more stable.

[0054] The UAV signal positioning device based on a dynamic antenna array provided in this embodiment of the invention uses a support frame 10 to mount the UAV frame. The antenna unit 20 receives signals and transmits them to a signal processing unit 40. The signal processing unit 40 processes and controls the rotation of the drive component 30, which in turn rotates the antenna unit 20. Simultaneously, the angle of signal reception by the antenna unit 20 is adjusted, making the received signal more stable. Furthermore, the device can be adjusted in real-time according to the UAV's trajectory, ensuring that the antenna unit 20 maintains a strong signal reception range, thus improving the accuracy of UAV positioning and making the UAV more suitable for complex environments. The signal processing unit 40 also analyzes and controls the angle adjustment of the antenna unit 20, resulting in a fast response time and further enhancing positioning accuracy.

[0055] According to the UAV signal positioning device based on dynamic antenna array provided in the embodiment of the present utility model, the support frame 10 includes a support sleeve 11, which is detachably mounted on the UAV frame; and a mounting frame 12, which is disposed on the support sleeve 11 and has multiple mounting slots arrayed along the edge.

[0056] Figure 1 and Figure 2 The present invention implements a UAV signal positioning device based on a dynamic antenna array. The support frame 10 is formed by the combination of a support sleeve 11 and a mounting bracket 12. The support sleeve 11 is a cylindrical threaded sleeve that is threaded onto the UAV frame during use, making the support frame 10 and the UAV frame detachably connected for easy disassembly during later maintenance. The mounting bracket 12 is a triangular structure with multiple mounting slots arrayed along the edge of the triangle. The mounting slots are used to place antenna units 20, so that the antenna units 20 are arrayed along the edge of the triangle, thereby enabling full coverage of signal reception and improving the accuracy of signal reception.

[0057] According to the UAV signal positioning device based on dynamic antenna array provided in the embodiment of this utility model, multiple antenna units 20 include a fixed base 21, which is embedded in multiple mounting slots and has a through-hole for opening a movable slot; a rotating ball 22, which is movably embedded in the movable slot and has a connecting slot; and a signal receiving antenna 23, which is detachably installed in the connecting slot and forms an angle with the fixed base 21; wherein, the rotating ball 22 has a toothed rack along the arc-shaped spherical surface at the end away from the signal receiving antenna 23.

[0058] Figure 5 and Figure 6 A UAV signal positioning device based on a dynamic antenna array was implemented. The antenna unit 20 is formed by combining a fixed base 21, a rotating ball 22, and a signal receiving antenna 23. The fixed base 21 has a triangular structure, and the edge of the fixed base 21 is the same size as the edge of the mounting groove, making the fixed base 21 more secure when embedded in the mounting groove. A movable groove is formed through the center of the fixed base 21, and the rotating ball 22 is rotatably placed in the movable groove. The connection between the rotating ball 22 and the movable groove is the same as a ball hinge, allowing the rotating ball 22 to rotate within the movable groove on the fixed base 21. A connecting groove is provided on the rotating ball 22, and a signal receiving antenna 23 is threadedly connected in the connecting groove. The signal receiving antenna 23 is a microstrip patch antenna, which has the characteristics of small size, light weight and easy integration. At the same time, a rack is provided along the arc-shaped spherical surface at the end of the rotating ball 22 away from the signal receiving antenna 23. The rack contacts the driving component 30, and then the driving component 30 drives the rotating ball 22 to rotate, thereby changing the angle between the signal receiving antenna 23 and the fixed base 21, thereby adjusting the signal receiving angle of the signal receiving antenna 23 and enhancing the signal receiving effect.

[0059] According to the UAV signal positioning device based on dynamic antenna array provided in the embodiment of this utility model, the fixed base 21 includes an upper mounting plate 211, which is embedded in the upper end of the mounting groove and has a movable groove; and a lower mounting plate 212, which is embedded in the lower end of the mounting groove and has a movable groove; wherein, the upper mounting plate 211 and the lower mounting plate 212 are threaded together and a movable cavity is formed between them through the movable groove, so that the rotating ball 22 is movably wrapped in the movable cavity.

[0060] Figure 5 and Figure 6 A UAV signal positioning device based on a dynamic antenna array is implemented. The mounting base 21 is formed by combining an upper mounting plate 211 and a lower mounting plate 212. The upper mounting plate 211 is embedded in the upper end of the mounting groove and has a movable groove, while the lower mounting plate 212 is embedded in the lower end of the mounting groove and has a movable groove. The upper mounting plate 211 and the lower mounting plate 212 are connected together by threads. At the same time, the movable groove forms a movable cavity between the two, which movably encloses the rotating ball 22 in the movable cavity, so that the rotating ball 22 rotates more stably in the movable cavity. The mounting base 21 is made detachable to facilitate later maintenance and inspection, and also to facilitate cleaning impurities on the surface of the rotating ball 22, so that the rotating ball 22 rotates more smoothly, which makes it easier to adjust the angle of the signal receiving antenna 23, and also makes the overall rotating structure simpler and easier to maintain.

[0061] According to the UAV signal positioning device based on dynamic antenna array provided in the embodiment of the present invention, multiple driving components 30 include a micro motor 31, which is disposed in the mounting groove and located below the fixed base 21; and a gear 32, which is sleeved on the driving end of the micro motor 31 and meshes with the rack on the surface of the rotating ball 22.

[0062] Figure 2 , Figure 3 and Figure 4 A UAV signal positioning device based on a dynamic antenna array is implemented. The driving component 30 is formed by a combination of a micro motor 31 and a gear 32. The micro motor 31 is fixedly installed at the bottom of the inner wall of the mounting groove and located below the fixed base 21. The gear 32 is fixedly sleeved on the driving end of the micro motor 31 and meshes with the rack on the surface of the rotating ball 22. That is, under the rotation of the micro motor 31, the gear 32 and the rack interact to drive the rotating ball 22 to rotate, thereby driving the signal receiving antenna 23 on the rotating ball 22 to adjust its angle. This allows for real-time adjustment of the angle of the signal receiving antenna 23, making the signal received by the UAV more accurate and the frequency of the received signal more stable during flight, thus improving the positioning accuracy.

[0063] According to the UAV signal positioning device based on dynamic antenna array provided in this utility model embodiment, the signal processing unit 40 includes a signal processing module 41, which is placed in the mounting cavity; and a control module 42, which is placed in the mounting cavity; wherein the signal processing module 41, the control module 42 and the micro motor 31 are electrically connected, and the micro motor 31 is controlled to rotate to adjust the signal receiving angle of the signal receiving antenna 23.

[0064] Figure 4 A UAV signal positioning device based on a dynamic antenna array is implemented. The signal processing unit 40 is formed by combining a signal processing module 41 and a control module 42. The signal processing module 41 and the control module 42 are placed in the mounting cavity, which is closed by a threaded mounting cover. At the same time, the signal processing module 41, the control module 42 and the micro motor 31 are electrically connected. The signal processing module 41 processes the received signal and transmits it to the control module 42. The control module 42 controls the micro motor 31 to rotate and adjust the signal receiving angle of the signal receiving antenna 23, making the signal reception more stable and the adjustment response faster.

[0065] The core hardware of the signal processing module 41 is a high-performance digital signal processor (DSP), which is responsible for executing complex signal processing algorithms. It possesses powerful data processing capabilities and a fast processing speed. To connect with the dynamic antenna array and receive signals, it is equipped with a multi-channel analog front-end circuit. This circuit includes a low-noise amplifier (LNA) to initially amplify the weak UAV signal and reduce noise interference during signal transmission; and a bandpass filter to filter out clutter signals from other frequency bands based on the frequency range of the UAV signal, improving signal purity. In addition, an analog-to-digital converter (ADC) is provided to convert the amplified and filtered analog signal into a digital signal for subsequent processing by the DSP. Simultaneously, the signal processing unit 40 also integrates a certain capacity of random access memory (RAM) and flash memory for temporarily storing intermediate data during signal processing, as well as storing program code and configuration parameters.

[0066] At the software level, the signal processing module 41 includes multiple functional modules. The signal preprocessing module is responsible for further amplifying and denoising the digital signal after ADC conversion. It adopts an adaptive filtering algorithm to dynamically adjust the filtering parameters according to the real-time characteristics of the signal, effectively removing various noise interferences. The signal feature extraction module extracts key feature information such as the direction of arrival and intensity of the UAV signal from the preprocessed signal through signal strength comparison algorithm and phase difference algorithm. This feature information is then transmitted to the data output module, which outputs the processed results to the control module 42 in a standard data format, providing accurate data support for the control module 42 to make corresponding control decisions.

[0067] The core of the control module 42 is the microcontroller (MCU), which serves as the command center of the entire control module 42. It is responsible for coordinating the work of various parts and interacting with the signal processing module 41 through a high-speed communication interface, such as SPI (Serial Peripheral Interface) or UART (Universal Asynchronous Receiver / Transmitter), to ensure the efficiency and stability of data transmission. In order to drive the micro motor 31 to adjust the angle of the antenna unit 20, the control module 42 is equipped with a dedicated motor drive circuit. This circuit consists of multiple power amplifiers, which can amplify the control signals output by the MCU to meet the requirements of the micro motor 31 for drive current and voltage. In addition, the control module 42 integrates a real-time clock (RTC) module to provide a precise time reference for the system, which is convenient for recording the time sequence of signal processing and control operations.

[0068] In terms of software, the control module 42 includes a system initialization module, which initializes and sets various hardware modules and parameters when the device starts up to ensure normal system operation. The signal receiving and parsing module is responsible for receiving data from the signal processing module 41 and parsing it according to a predetermined data format to extract key information such as the direction and strength of the UAV signal. The motor control module 42 calculates the angle value to be adjusted based on the parsed signal information and generates corresponding control commands to send to the motor drive circuit to achieve precise control of the micro motor 31, thereby adjusting the angle of the antenna unit 20. The prediction and tracking module uses the UAV's historical flight data and current flight status to predict the UAV's next position through a motion prediction algorithm, adjusts the angle of the antenna array in advance, and achieves dynamic tracking and positioning of the UAV to ensure the reliability and stability of the entire positioning device.

[0069] Usage process:

[0070] In use, the support frame 10 is threaded onto the UAV frame via the support sleeve 11. During UAV flight, signals are received via the antenna unit 20, and the received signals are transmitted to the signal processing module 41 for processing. The processed data is then transmitted to the control module 42. Through calculation and processing by the control module 42, the rotation angle of the micro motor 31 is controlled. Simultaneously, since the drive gear 32 of the micro motor 31 meshes with the rack on the rotating ball 22, the micro motor 31 rotates by a corresponding angle, causing the rotating ball 22 to rotate by the corresponding angle, thereby transmitting the signal. The angle of the receiving antenna 23 is adjusted to make the angle adjustment of the signal receiving antenna 23 more accurate. At the same time, since the control module 42 is equipped with a prediction and tracking module, it can predict the next position of the UAV based on the historical flight data and current flight status of the UAV and adjust the angle of the signal receiving antenna 23 in advance, so that the received signal remains stable. This solves the problems of unstable signal reception and low positioning accuracy. The direction adjustment structure consists of only a fixed base 21, a rotating ball 22 and a micro motor 31, and is controlled by the signal processing unit 40, which solves the problems of complex structure and slow response speed.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model 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. Such 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 this utility model.

Claims

1. A UAV signal positioning device based on a dynamic antenna array, characterized in that, include: A support frame (10) is detachably mounted on the UAV frame and has multiple mounting slots arranged in an array. The support frame (10) has a mounting cavity inside. Multiple antenna elements (20) are correspondingly embedded in multiple mounting slots, and the multiple antenna elements (20) are used to receive external signals; Multiple driving components (30) are respectively disposed in multiple mounting slots and in contact with multiple antenna units (20); A signal processing unit (40) is placed in the mounting cavity and the mounting cavity is closed by a mounting cover; The signal processing unit (40) is electrically connected to the multiple antenna units (20) and the multiple driving components (30). The signal processing unit (40) is used to process and analyze the signals received by the antenna units (20) and control the driving components (30) to rotate according to the processing results, thereby driving the antenna units (20) to rotate and adjust the angle of the signals received by the antenna units (20).

2. The UAV signal positioning device based on a dynamic antenna array according to claim 1, characterized in that, The support frame (10) includes: Support sleeve (11), which is detachably mounted on the UAV frame; Mounting bracket (12) is disposed on the support sleeve (11) and has multiple mounting slots arrayed along its edge.

3. The UAV signal positioning device based on a dynamic antenna array according to claim 1, characterized in that, The plurality of antenna elements (20) include: A fixing seat (21) is embedded in a plurality of mounting slots and has a through-hole for movement; A rotating ball (22) is movably embedded in the movable groove and has a connecting groove. A signal receiving antenna (23) is detachably installed in the connecting slot and forms an angle with the fixing base (21); The rotating sphere (22) has a rack along its arc-shaped spherical surface at the end away from the signal receiving antenna (23).

4. The UAV signal positioning device based on a dynamic antenna array according to claim 3, characterized in that, The fixing base (21) includes: Upper mounting plate (211), wherein the upper mounting plate (211) is embedded in the upper end of the mounting groove and has a movable groove; The lower mounting plate (212) is embedded in the lower end of the mounting groove and has a movable groove. The upper mounting plate (211) and the lower mounting plate (212) are threaded together and a movable cavity is formed between them through the movable groove, in which the rotating ball (22) is movably wrapped.

5. The UAV signal positioning device based on a dynamic antenna array according to claim 3, characterized in that, The plurality of drive components (30) include: A micro motor (31) is disposed in the mounting slot and located below the fixing base (21); Gear (32), which is sleeved on the drive end of the micro motor (31) and meshes with the rack on the surface of the rotating ball (22).

6. The UAV signal positioning device based on a dynamic antenna array according to claim 5, characterized in that, The signal processing unit (40) includes: A signal processing module (41) is placed in the mounting cavity; A control module (42) is placed in the mounting cavity; The signal processing module (41), the control module (42), and the micro motor (31) are electrically connected, and the micro motor (31) is controlled to rotate to adjust the signal receiving angle of the signal receiving antenna (23).

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