A TDOA wireless base station and a TDOA positioning system

Abstract

The utility model discloses a kind of TDOA wireless base station and TDOA positioning system of unmanned vehicle positioning technical field is related.The TDOA wireless base station includes acquisition processing module, positioning module, ACDC module, internet of things module, receiving antenna, navigation antenna and communication antenna, wherein, the acquisition processing module includes processing control unit and radio frequency unit, the acquisition processing module, positioning module, ACDC module, internet of things module, receiving antenna, navigation antenna and communication antenna are integrated in same device shell.The TDOA wireless base station of the utility model realizes base station clock synchronization and frequency calibration by the second pulse signal provided by positioning module, guarantee the accuracy of time difference measurement, and moreover, each component of TDOA wireless base station is integrated in same device shell, solve the problem that clock synchronization error is big and system integration is difficult when TDOA technology is applied to full airspace unmanned vehicle positioning.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) positioning technology, and in particular to a TDOA wireless base station and a TDOA positioning system. Background Technology

[0002] In recent years, unmanned aerial vehicle (UAV) technology has developed rapidly, and its applications have expanded to many fields such as aerial photography, agricultural plant protection, logistics distribution, power line inspection, and emergency rescue. With the surge in the number of UAVs and the increasing complexity of application scenarios, achieving accurate, reliable, and large-scale real-time positioning and tracking of UAVs has become one of the key technological challenges restricting the industry's development. This is crucial for airspace safety, flight management, and the execution of specific operational tasks.

[0003] Currently, positioning technology based on the Time Difference of Arrival (TDOA) of radio signals calculates the drone's location by measuring the time difference between the arrival of the radio signals emitted by the drone at multiple known receiving base stations. This method is relatively effective because it is less affected by weather conditions and does not involve high-power electromagnetic radiation.

[0004] However, when TDOA technology is applied to UAV positioning across all airspace, it suffers from problems such as large clock synchronization errors and difficulties in system integration. Summary of the Invention

[0005] The technical problem to be solved by this utility model is to provide a TDOA wireless base station and a TDOA positioning system to solve the problems of large clock synchronization error and difficulty in system integration when the existing TDOA technology is applied to the positioning of UAVs in all airspace.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The first aspect of this utility model provides a TDOA wireless base station, comprising: a receiving antenna including multiple receiving antennas of different frequency bands for receiving UAV radio signals of different frequency bands; a positioning module, which receives satellite positioning signals through a navigation antenna, obtains the location information of the TDOA wireless base station based on the satellite positioning signals, and generates a second pulse signal based on the satellite positioning signals; an Internet of Things (IoT) module connected to a communication antenna; a data acquisition and processing module including at least one radio frequency (RF) unit and at least one processing and control unit, wherein the RF unit is used to perform RF conditioning and analog-to-digital conversion on the UAV radio signals received by one of the receiving antennas; the processing and control unit is used to perform clock synchronization and frequency calibration based on the second pulse signal from the positioning module, and to upload the RF-conditioned and analog-to-digital converted UAV radio signals and the location information of the TDOA wireless base station through the IoT module; and an AC / DC converter module for converting AC mains power into DC power for use by the data acquisition and processing module, the positioning module, and the IoT module; the receiving antenna, the positioning module, the navigation antenna, the IoT module, the communication antenna, the data acquisition and processing module, and the AC / DC converter module are all integrated in the same device housing.

[0007] Preferably, the receiving antenna includes any combination of two or more of the following: a receiving antenna in the 420MHz~440MHz band, a receiving antenna in the 860MHz~930MHz band, a receiving antenna in the 1400MHz~1500MHz band, a receiving antenna in the 2400MHz~2500MHz band, a receiving antenna in the 5150MHz~5250MHz band, and a receiving antenna in the 5700MHz~5850MHz band. Each receiving antenna is connected to the radio frequency input port of the corresponding frequency band of the radio frequency unit.

[0008] Preferably, the positioning module uses a ublox positioning module or a Beitian series positioning module that supports multi-constellation positioning.

[0009] Preferably, the IoT module adopts a 4G wireless module.

[0010] Preferably, the processing control unit is also used to add timestamps to the UAV radio signals after radio frequency conditioning and analog-to-digital conversion, and to organize the timestamped UAV radio signals and the location information of the TDOA wireless base station into data packets.

[0011] Preferably, the processing control unit is also used to detect the UAV radio signals after radio frequency conditioning and analog-to-digital conversion, and to remove non-UAV signals mixed in with the UAV radio signals.

[0012] Preferably, the radio frequency unit is also used to detect the power and bandwidth of the UAV radio signal, as well as to detect the signal type and modulation method of the UAV radio signal.

[0013] Preferably, each of the receiving antennas is configured with one radio frequency unit and one processing control unit, and the number of receiving antennas is the same as the number of radio frequency units and the number of processing control units.

[0014] Preferably, the processing control unit uses an XC7Z100 chip, and the radio frequency unit uses an ADRV9009 chip.

[0015] The second aspect of this utility model provides a TDOA positioning system, including a plurality of TDOA wireless base stations and a data center. The TDOA wireless base stations are connected to the data center via the Internet of Things, and the TDOA wireless base stations adopt the TDOA wireless base station described above.

[0016] The aforementioned TDOA wireless base station and TDOA positioning system utilize the second pulse signal provided by the positioning module to achieve base station clock synchronization and frequency calibration, ensuring the accuracy of time difference measurement. Furthermore, all components of the TDOA wireless base station are integrated into the same device housing, solving the problems of large clock synchronization errors and difficulties in system integration when TDOA technology is applied to all-airspace UAV positioning. Attached Figure Description

[0017] Figure 1 This is a structural block diagram of a TDOA wireless base station according to one embodiment of the present invention; Figure 2 This is a structural block diagram of the TDOA positioning system in one embodiment of the present invention. Detailed Implementation

[0018] To enable those skilled in the art to more clearly understand the purpose, technical solution and advantages of this utility model, the present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0019] This utility model provides a TDOA wireless base station, such as Figure 1As shown, in one embodiment of this utility model, the TDOA wireless base station includes a data acquisition and processing module 10, a positioning module 20, an ACDC module 30, an IoT module 40, a set of receiving antennas 13, a navigation antenna 21, and a communication antenna 41. The data acquisition and processing module 10 includes a processing control unit 11 and a radio frequency unit 12. The data acquisition and processing module 10, the positioning module 20, the ACDC module 30, the IoT module 40, the receiving antenna 13, the navigation antenna 21, and the communication antenna 41 are all integrated in the same device housing and can operate autonomously by connecting to a power source.

[0020] The set of receiving antennas includes multiple receiving antennas 13 in different frequency bands. Each receiving antenna 13 is connected to the radio frequency input port of the radio frequency unit 12 corresponding to the frequency band, and is used to receive UAV radio signals in different frequency bands. In this embodiment, the set of receiving antennas includes a receiving antenna in the 420MHz~440MHz frequency band, a receiving antenna in the 860MHz~930MHz frequency band, a receiving antenna in the 1400MHz~1500MHz frequency band, a receiving antenna in the 2400MHz~2500MHz frequency band, a receiving antenna in the 5150MHz~5250MHz frequency band, and a receiving antenna in the 5700MHz~5850MHz frequency band. The number of receiving antennas 13 can be optimized and adjusted as needed. In some other embodiments, the group of receiving antennas may include any combination of two or more of the following: a receiving antenna in the 420MHz~440MHz band, a receiving antenna in the 860MHz~930MHz band, a receiving antenna in the 1400MHz~1500MHz band, a receiving antenna in the 2400MHz~2500MHz band, a receiving antenna in the 5150MHz~5250MHz band, and a receiving antenna in the 5700MHz~5850MHz band. The specific parameters of each receiving antenna 13 can also be optimized and adjusted as needed, including changing parameters such as antenna gain and operating frequency band. In addition, in some other embodiments, a full-band receiving antenna may be added.

[0021] The RF input port of the positioning module 20 is connected to the navigation antenna 21, and the power input port of the positioning module 20 is connected to the output of the ACDC module 30. The positioning module 20 receives satellite positioning signals through the navigation antenna 21, obtains the location information of the TDOA wireless base station based on the satellite positioning signals, and generates a second pulse signal based on the satellite positioning signals. Specifically, the positioning module 20 transmits the location information of the TDOA wireless base station to the processing control unit 11 of the acquisition and processing module 10 via a serial port; and transmits the second pulse signal to the processing control unit 11 of the acquisition and processing module 10 via the second pulse port. In specific implementations, the positioning module 20 can use the mainstream commercial positioning module ublox that supports multi-constellation positioning, or other positioning modules such as the Beitian series positioning modules.

[0022] The radio frequency (RF) input port of the RF unit 12 is connected to the receiving antenna 13, and the control input port and data output port of the RF unit 12 are respectively connected to the processing control unit 11. Under the control of the processing control unit 11, the RF unit 12 selects and conditions only one RF input signal and performs analog-to-digital conversion at a time, that is, it only performs RF conditioning and analog-to-digital conversion on the UAV radio signal received by one receiving antenna at a time. In some embodiments, the RF unit 12 can detect the power and bandwidth of the UAV radio signal, and can also further detect the signal type, modulation method, etc.

[0023] The synchronization signal input port of the processing control unit 11 is connected to the second pulse port of the positioning module 20 to obtain the second pulse signal provided by the positioning module 20; the serial port of the processing control unit 11 is connected to the serial port of the positioning module 20 to obtain the location information of the TDOA wireless base station. The processing control unit 11 synchronizes and calibrates the clock of the TDOA base station according to the input second pulse signal; simultaneously, the processing control unit 11 adds a timestamp to the UAV radio signal after RF conditioning and analog-to-digital conversion, and packages the timestamped UAV radio signal and the location information of the TDOA wireless base station together into a data packet according to a pre-defined frame format, which is then transmitted to the data center of the TDOA positioning system through the IoT module 40. In some preferred embodiments, before uploading the packaged data, the processing control unit 11 detects the UAV radio signal after RF conditioning and analog-to-digital conversion, removing non-UAV signals mixed in with the UAV radio signal, thereby reducing data upload and increasing system capacity.

[0024] In some embodiments, the acquisition and processing module 10 may be a software radio hardware platform, which is constructed by combining an ADRV9009 chip with an XC7Z100 chip. The ADRV9009 chip is used to implement the function of the radio frequency unit 12, and the XC7Z100 chip is used to implement the function of the processing and control unit 11.

[0025] The IoT module 40 is connected to the network port of the processing control unit 11 of the acquisition and processing module 10 via a network port, and is used to transmit the UAV radio signal data packets processed by the acquisition and processing module 10 to the data center of the TDOA positioning system through the communication antenna 41. The IoT module 40 can generally be a 4G wireless module, which can realize the TDOA wireless base station network through the mobile communication network to achieve communication with the data center of the TDOA positioning system.

[0026] The ACDC module 30 is used to convert AC mains power (220VAC) into DC power to power the data acquisition and processing module 10, the positioning module 20, and the IoT module 40, respectively. Specifically, the ACDC module 30 outputs a DC voltage, which is connected in parallel to the power input terminals of the data acquisition and processing module 10, the positioning module 20, and the IoT module 40.

[0027] The TDOA wireless base station provided in this embodiment of the present invention achieves base station clock synchronization and frequency calibration through the second pulse signal provided by the positioning module, ensuring the accuracy of time difference measurement. Moreover, all components of the TDOA wireless base station are integrated in the same device housing, which solves the problems of large clock synchronization error and difficulty in system integration when TDOA technology is applied to the positioning of UAVs in all airspace.

[0028] In one embodiment, the acquisition and processing module 10 includes M processing control units 11 and M radio frequency units 12, where M ≥ 2. Each receiving antenna 13 is configured with one radio frequency unit 12 and one processing control unit 11. The number of receiving antennas 13 is the same as the number of radio frequency units 12 and processing control units 11, thereby synchronously detecting and processing radio frequency signals (UAV radio signals) of different frequency bands.

[0029] Based on the aforementioned TDOA wireless base station, this utility model provides a TDOA positioning system, such as... Figure 2 As shown, the TDOA positioning system includes several TDOA wireless base stations and a data center. The TDOA wireless base stations are connected to the data center via the Internet of Things.

[0030] The data center includes at least one high-performance server that communicates with each TDOA wireless base station via the Internet of Things (IoT, a network that enables interconnection of all independently addressable physical objects based on the internet, traditional telecommunications networks, and other information carriers). The high-performance server runs TDOA system service software, which includes modules for device management, device scheduling, target positioning, target trajectory, data management, and system software management.

[0031] The device management module manages the TDOA wireless base stations connected to the data center, including functions such as enabling, disabling, and configuring.

[0032] The device scheduling module enables the scheduling of TDOA wireless base stations connected to the data center within a certain area to optimize resource allocation. This includes selecting TDOA wireless base stations to optimize positioning performance and scheduling TDOA wireless base stations for key target detection.

[0033] The target positioning module enables time difference positioning of UAV targets. By obtaining UAV data from different TDOA wireless base stations, it calculates the time difference between the arrival of the UAV target signal at each TDOA wireless base station, and uses the time difference positioning algorithm to calculate the positioning result of the UAV target.

[0034] The target trajectory module processes and displays the UAV target positioning results, forming a complete trajectory, including filtering the positioning results and processing abnormal positioning results.

[0035] The data management module enables the recording and playback of UAV target detection results, as well as the recording and playback of TDOA system service software logs.

[0036] The system software management module enables the configuration and settings of the TDOA system service software.

[0037] The workflow of the TDOA positioning system is as follows: S1. System initialization, including TDOA system service software initialization, TDOA wireless base station power-on initialization, TDOA wireless base station network access, and TDOA positioning system self-test; S2. Each TDOA wireless base station simultaneously conducts reconnaissance and collection of UAV radio signals, uploads them to the data center, and enters the queue of information to be processed. S3, the TDOA system service software processes the information in the information queue to be processed, parses the data frames, obtains the TDOA wireless base station location, UAV information, etc. contained in the collected data, and stores the UAV signal IQ data and TDOA wireless base station location information in the database, and displays the relevant information of the detected UAV. S4. Based on the UAV information, obtain the location and IQ data of the associated TDOA wireless base station, and select multiple TDOA wireless base stations by signal power or distribution characteristics of TDOA wireless base stations. S5. Calculate the time difference of the drone target signal arriving at each TDOA wireless base station by obtaining drone data from different TDOA wireless base stations, and use the time difference positioning algorithm to calculate the positioning result of the drone target. S6. The positioning results for each UAV are displayed on the TDOA system service software; S7. After processing the positioning results, display the drone's flight path.

[0038] The TDOA positioning system provided in this embodiment supports access from multiple TDOA wireless base stations, enabling the expansion of data center hardware resources based on the number of access devices. The TDOA system service software calls various functional modules and connects the TDOA wireless base stations to the data center via the Internet of Things, enabling the construction of a large-scale TDOA positioning system covering the entire airspace to achieve simultaneous positioning of multiple targets and track display, meeting various application scenarios. The TDOA wireless base station uses the second pulse signal provided by the positioning module to achieve base station clock synchronization and frequency calibration, ensuring the accuracy of time difference measurement. Moreover, all components of the TDOA wireless base station are integrated into the same device housing, solving the problems of large clock synchronization errors and difficult system integration when TDOA technology is applied to UAV positioning in the entire airspace.

[0039] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Those skilled in the art can make various equivalent changes and improvements based on the above embodiments. All equivalent changes or modifications made within the scope of the claims should fall within the protection scope of the present utility model.

Claims

1. A TDOA wireless base station, characterized in that, include: The receiving antenna includes multiple receiving antennas of different frequency bands, used to receive radio signals from drones of different frequency bands; The positioning module receives satellite positioning signals through a navigation antenna, obtains the location information of the TDOA wireless base station based on the satellite positioning signals, and generates a second pulse signal based on the satellite positioning signals. The Internet of Things (IoT) module is connected to a communication antenna; The acquisition and processing module includes at least one radio frequency unit and at least one processing and control unit. The radio frequency unit is used to perform radio frequency conditioning and analog-to-digital conversion on the drone radio signal received by one of the receiving antennas. The processing and control unit is used to perform clock synchronization and frequency calibration based on the second pulse signal from the positioning module, and to upload the radio signal of the drone after radio frequency conditioning and analog-to-digital conversion and the location information of the TDOA wireless base station through the Internet of Things module. The AC / DC module is used to convert AC mains power into DC power for use by the data acquisition and processing module, the positioning module, and the Internet of Things module. The receiving antenna, positioning module, navigation antenna, Internet of Things module, communication antenna, data acquisition and processing module, and ACDC module are all integrated into the same device housing.

2. The TDOA wireless base station as described in claim 1, characterized in that, The receiving antenna includes any combination of two or more of the following: receiving antennas in the 420MHz~440MHz band, receiving antennas in the 860MHz~930MHz band, receiving antennas in the 1400MHz~1500MHz band, receiving antennas in the 2400MHz~2500MHz band, receiving antennas in the 5150MHz~5250MHz band, and receiving antennas in the 5700MHz~5850MHz band. Each receiving antenna is connected to the radio frequency input port of the corresponding frequency band of the radio frequency unit.

3. The TDOA wireless base station as described in claim 1, characterized in that, The positioning module uses either the ublox or Beitian series positioning modules, which support multi-constellation positioning.

4. The TDOA wireless base station as described in claim 1, characterized in that, The IoT module uses a 4G wireless module.

5. The TDOA wireless base station as described in claim 1, characterized in that, The processing control unit is also used to add timestamps to the UAV radio signals after radio frequency conditioning and analog-to-digital conversion, and to organize the timestamped UAV radio signals and the location information of the TDOA wireless base station into data packets.

6. The TDOA wireless base station as described in claim 1, characterized in that, The processing control unit is also used to detect the UAV radio signals after radio frequency conditioning and analog-to-digital conversion, and to remove non-UAV signals mixed in with the UAV radio signals.

7. The TDOA wireless base station as described in claim 1, characterized in that, The radio frequency unit is also used to detect the power and bandwidth of the UAV radio signals, as well as the signal type and modulation method of the UAV radio signals.

8. The TDOA wireless base station as described in any one of claims 1-7, characterized in that, Each of the receiving antennas is configured with one radio frequency unit and one processing control unit, and the number of receiving antennas is the same as the number of radio frequency units and the number of processing control units.

9. The TDOA wireless base station as described in any one of claims 1-7, characterized in that, The processing control unit uses an XC7Z100 chip, and the radio frequency unit uses an ADRV9009 chip.

10. A TDOA positioning system, characterized in that, It includes several TDOA wireless base stations and a data center. The TDOA wireless base stations are connected to the data center via the Internet of Things. The TDOA wireless base stations are the TDOA wireless base stations as described in any one of claims 1-9.

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