36 results about "Radio navigation" patented technology

The invention relates to the technical field of radio navigation and countering, and particularly discloses an unmanned aerial vehicle interference system and device based on phased array radar direction finding. The system comprises a phased array radar direction finding module, an environment electromagnetic propagation characteristic modeling module, an interference beam dynamic planning module and a digital beam forming interference module. Through constructing a three-dimensional electromagnetic propagation model and based on propagation loss and a multipath effect predicted by the model, a beamforming weight used for pre-compensating environmental influence is optimized and calculated, and finally an interference antenna array is driven to radiate an intelligent beam subjected to environmental pre-compensation, so that high-intensity interference is formed at an actual physical position of a target unmanned aerial vehicle, and the target unmanned aerial vehicle is subjected to environmental pre-compensation. Direction finding errors are overcome, and interference efficiency and electromagnetic compatibility are improved.

The invention introduces a Doppler radio direction finding system, which relates to the technical field of radio navigation and comprises an antenna array unit, a radio frequency switch matrix, a logic controller, a single-channel receiver and a signal processing unit. The logic controller drives the radio frequency switch matrix to alternately execute clockwise and anticlockwise antenna scanning actions in a single measurement period, and the signal processing unit respectively extracts phase slopes corresponding to forward and reverse scanning, generates an environment error component according to the sum of the two phase slopes and identifies a specific antenna oscillator at a standing wave node. The logic controller responds to the feedback instruction and physically skips the conduction operation on the specific antenna oscillator in the subsequent time sequence, the physical symmetry of positive and negative scanning and an environment feedback mechanism are utilized, environment standing wave interference is actively avoided on the premise that radio frequency channels are not increased, and qualitative change improvement of anti-multipath direction finding precision under a single-channel system is achieved.

According to the bionic butterfly and the flight control system thereof disclosed by the invention, intelligent flight of the bionic butterfly is realized in a breakthrough manner by fusing a high-precision radio navigation module and a multi-stage environment perception control system; based on polar coordinate positioning of VOR / DME signals and a course deviation dynamic correction algorithm, the navigation precision is improved to a navigation level standard; an original five-mode switching architecture (including a sudden strong wind emergency mechanism) realizes millisecond-level mode arbitration and wing-tail cooperative control through three-dimensional perception of real-time wind speed, wind direction and duration. The deep combination of bionic and engineering mechanics not only reproduces the wave type energy-saving flight path of the butterfly in the nature, but also greatly improves the wind resistance and reduces the energy consumption through the innovative designs of free falling obstacle avoidance, asymmetric flapping and the like.

The invention discloses a robust adaptive fusion filtering astronomical attitude determination method and system, and belongs to the technical field of radio navigation. The method comprises the following steps: constructing an integrated navigation model of a starlight and inertial integrated navigation system based on Lie group description; obtaining an observation residual error and an observation residual error covariance of a corresponding mode; robust and adaptive mode parallel sub-filtering is carried out, and posterior states and covariances in the two modes are updated; updating the mode probability; and fusing the updated posterior state with the covariance to obtain fusion output of parallel sub-filtering, taking the fusion output of the parallel sub-filtering as final estimation of the starlight and inertial integrated navigation system based on Lie group description, and outputting an astronomical attitude determination result containing an azimuth angle, a pitch angle and a roll angle. The high-precision astronomical attitude determination method has strong adaptability, strong robustness and accuracy when coping with complex noise and measuring outliers, and can realize high-precision astronomical attitude determination of starlight and inertial integrated navigation in a complex dynamic environment.

The invention relates to the field of radio navigation, and discloses a multi-parameter early warning method and system based on ground disaster monitoring equipment, and the method comprises the steps: obtaining rainfall, soil moisture content and environment temperature and humidity parameters, and gradually displaying the generated carrier fluctuation and environment disturbance through a collection process; performing time period-by-period arrangement on the multi-parameter sampling data, and extracting corresponding satellite positioning residual errors and environment variable amplitudes when instantaneous fading, rainfall pulsation and soil moisture change superposition occur in a satellite link; performing section-by-section deconstruction on the base line of the bottom layer, and combining displacement change, rainfall sudden increase and soil humidity fluctuation of adjacent monitoring points to construct an abnormal identification surface for evaluating the reliability of satellite positioning; re-regularizing the interference degree of the hidden signal gap on the satellite resolving link according to a time sequence; and carrying out delayed abduction on the pushing trend of slight deformation of the slope body. The method has the advantage of improving the reliability of ground disaster monitoring based on satellite positioning.

The present invention relates to the field of radio navigation system state evaluation. Provided is a radio navigation system state evaluation method based on multi-dimensional data-augmented learning. The method comprises: acquiring function operation monitoring data of a radio navigation system, and selecting data associated with system health; performing sliding window processing on the selected data, so as to obtain sample data including time information; dividing the sample data into a training set, a first test set and a second test set, and constructing positive and negative samples; establishing and training a contrastive learning model; establishing and training a deep one-class support vector machine; and using output results of the contrastive learning model and deep one-class support vector machine for the test sets to complete evaluation. In the present invention, deep features of measured data are learned by means of contrastive learning, and the deep one-class support vector machine is used to construct a state evaluation model. The present invention has the advantages of high detection precision and interpretability, has important theoretical and engineering practice significance, and realizes precise quantitative evaluation of the health state of an airborne radio navigation system.

The invention discloses a GNSS (Global Navigation Satellite System) navigation anti-interference antenna for an intelligent boat and an anti-interference method thereof, which belong to the technical field of GNSS radio navigation and comprise an antenna array, an anti-interference signal processing unit, an AIS (Automatic Identification System) receiving module and a data fusion processing module. The anti-interference signal processing unit forms space null in an interference coming direction through a self-adaptive digital beam forming algorithm so as to suppress and suppress interference; and the data fusion processing module performs kinematics cross validation on the external reference ship information acquired by the AIS receiving module and the GNSS positioning result of the ship so as to accurately identify deception interference and output an alarm. According to the invention, through dual mechanisms of suppression suppression and cheating verification, the reliability and safety of radio navigation positioning of the intelligent boat in a complex electromagnetic environment can be significantly improved.

Anti-interference device for satellite radionavigation signal receiver The invention relates to an anti-interference device (10, 30, 40, 50) comprising: - an analog-to-digital converter (12) configured to transform a received analog radionavigation signal into a digital signal comprising a plurality of samples;- at least one pre-cumulative filter (22) adapted to a modulation of the transmitted signal, each filter corresponding to an impulse response filter, substantially equal to a waveform of the transmitted signal, allowing for the accumulation of samples and operating at the sampling frequency of the received signal, and delivering at the output a filtered complex signal, said device further comprising at least one first amplitude processing module (24) configured to process the amplitude of said filtered complex signal, said first amplitude processing module being both downstream of said pre-cumulative filter and upstream of at least one signal demodulation channel. Figure for the abbreviation: Figure 1;

The present application relates to a kind of rotation accelerometer gravity gradiometer attitude error post-processing compensation method, comprising the following steps: step 1, original motion data is acquired using the inertial measurement unit fixed with gravity gradient sensor, and the positioning and speed information provided by radio navigation are combined to complete original data acquisition;Step 2, the attitude error of gravity gradient sensor in the measurement process is optimally estimated;Step 3, based on the coordinate transformation matrix of gravity gradient tensor under different coordinate systems, the error compensation of gravity gradient measurement value is carried out, and finally the gravity gradient measurement data after attitude error compensation is obtained.The present application can be used in dynamic measurement environment, and the measurement information of carrier motion is measured using gyroscope and accelerometer, the attitude error of gravity gradient measurement component is estimated and compensated offline with high precision, and then the dynamic measurement precision of rotation accelerometer gravity gradiometer is improved.

The utility model relates to the technical field of radio navigation, in particular to a height-adjustable automatic guide vehicle navigation radar shield mechanism, which comprises a radar guide vehicle and a radar mounting base, a quick-release bolt is inserted in one side of the radar mounting base in a penetrating manner and is rotatably connected with the radar mounting base, the quick-release bolt comprises a bolt rod assembly, and one end of the bolt rod assembly is rotatably connected with a rotating ring. A clamping hoop is installed on the outer side of the tightening latch assembly, a rubber strip adheres to one side of the clamping hoop, a plug block is arranged on the inner side of the tightening latch assembly in an inserted mode, an annular groove is formed in the circumferential direction of the plug block, an inserting groove is formed in the inner side of the plug block, a protruding block is embedded in the inner side of the plug block, a pointing groove is formed in the outer side of the plug block, and the tightening latch assembly comprises a rotating rod. The protective cover can complete vertical displacement on the radar mounting base by means of the sliding groove, and the height of the protective cover can be flexibly adjusted, so that the protective cover can adapt to navigation radars with different mounting heights and boundary dimensions, and the limitation of an immobilized structure on equipment type selection is broken through.

The invention discloses a method for realizing digital signal processing of a VOR receiver based on an FPGA (Field Programmable Gate Array) technology, which relates to the technical field of radio navigation and digital signal processing and comprises the following steps of: constructing a VOR full-digital simulation signal source, and simulating signal input in a VOR system; performing digital down-conversion and filtering processing on the received radio frequency signal, and separating a variable phase signal and a reference phase signal through a digital filter; calculating a phase difference by adopting a zero-cross detection method; all the modules are integrated into an FPGA system, and performance testing is carried out. According to the invention, not only can the angle measurement precision, real-time performance and anti-interference capability of the VOR receiver be improved, but also the defects of large temperature drift and large size of the traditional analog receiver can be overcome, the characteristics of reconfigurability and parallel processing of the FPGA are utilized, the requirements of miniaturization and high reliability of modern aviation navigation equipment are met, the upgrading and updating of the full-digital VOR technology in the aviation field are promoted, and the application prospect is wide. And powerful technical support is provided for safe aviation flight.

The application introduces a kind of Doppler radio direction finding system, and relates to radio navigation technical field, including antenna array unit, radio frequency switch matrix, logic controller, single channel receiver and signal processing unit.The logic controller drives radio frequency switch matrix to alternately execute clockwise and counterclockwise direction antenna scanning action in single measurement cycle, signal processing unit extracts corresponding phase slope of positive and negative direction scanning respectively, generates environment error component according to the sum of two and identifies specific antenna oscillator at standing wave node, and logic controller responds to feedback instruction to physically skip on-off operation of the specific antenna oscillator in subsequent timing.The application uses physical symmetry of positive and negative scanning and environment feedback mechanism to actively avoid environment standing wave interference without increasing radio frequency channel, and realizes qualitative change promotion of multipath direction finding precision under single channel system.

The invention relates generally to the radio navigation field and may be applied to design of Global Navigation Satellite System (GNSS) Receivers, and particularly of GNSS GPS (USA), Galileo (EU), Glonass (Russia), Beidou (China), QZSS (Japan), IRNSS (India), and augmentation systems SBAS (different states). In the invention, the function of generating various PRN codes is repositioned from numerous tracking channels of multi-frequency, multi-constellation GNSS receiver to a shared PRN code generator unit, which serves in series all tracking channels. Such centralization of the PRN codes generation function enables a significant complexity reduction when the GNSS receiver includes a great number of tracking channels. A sufficient speed performance of the shared PRN code generator is achieved due to transfer of the PRN code lines from the shared PRN code generator to the receiver tracking channels via a dedicated parallel bus. Speed performance requirements to the dedicated parallel bus of the shared PRN code generator is kept moderate by a special number of symbols choice of PRN code lines thus providing uniformity of tracking channels requests to get new code lines. Use of several alternate means of PRN code lines forming: PRN Code ROM, PRN Code RAM, LFSR-based and one-shot PRN code generators—permits choosing optimal generation means for each type of GNSS signals.

The present application relates to the field of radio navigation, and discloses a multi-parameter early warning method and system based on ground disaster monitoring equipment, wherein the multi-parameter early warning method based on ground disaster monitoring equipment comprises acquiring rainfall, soil moisture content and environmental temperature and humidity parameters, and gradually showing the generated carrier wave fluctuation and environmental disturbance through the collection process; the multi-parameter sampling data is implemented hour-by-hour segment arrangement, and when satellite link appears transient fading, rainfall pulsation and soil moisture change superposition, the corresponding satellite positioning residual error and environmental variable amplitude are extracted; the segment-by-segment deconstruction is carried out on the bottom baseline, combined with the displacement change of the adjacent monitoring point, the sudden increase of rainfall and the soil humidity fluctuation, the abnormal identification surface for evaluating the satellite positioning reliability is constructed; the interference degree of the hidden signal gap to the satellite solution link is re-regularized according to the time sequence; the delay extension of the promotion trend of the slight deformation of the slope body is carried out. The present application has the advantage of improving the reliability of satellite positioning-based ground disaster monitoring.

The invention discloses a medium wave navigation simulation method based on Hilbert change analog signals, and relates to the field of radio navigation, the method comprises the following steps: S1, setting working signal parameters, and initializing the orientation of a radio compass; s2, the electromagnetic propagation model calculates signal amplitude and phase information received by the omnidirectional antenna and the loop antenna under the current aircraft attitude; s3, carrying out carrier wave reconstruction, and generating an annular modulation signal; s4, superposing the signals; s5, calculating envelope modulation depth, and judging whether the direction of the current loop antenna is the real azimuth angle of the navigation station according to whether the modulation depth approaches zero; s6, if yes, outputting an azimuth angle; and if not, adjusting the pointing angle of the loop antenna, and repeating the steps S2 to S5. According to the method, the fundamental process of direction finding logic is reconstructed from the phase level, so that the simulation system can still keep stable direction finding performance in a complex multi-path environment, and the engineering practicability and environmental adaptability of the method are enhanced.

The application relates to the field of radio navigation and countermeasure technology, and particularly discloses an unmanned aerial vehicle interference system and device based on phased array radar direction finding. The system comprises a phased array radar direction finding module, an environmental electromagnetic propagation characteristic modeling module, an interference beam dynamic programming module and a digital beam forming interference module. By constructing a three-dimensional electromagnetic propagation model and based on the model predicted propagation loss and multipath effect, the beam forming weight for pre-compensating the environmental influence is optimized and calculated, and finally the interference antenna array radiates the environment pre-compensated 'intelligent beam', so that high-intensity interference is formed at the actual physical position of the target unmanned aerial vehicle, the direction finding error is overcome, and the interference efficiency and electromagnetic compatibility are improved.

This invention relates to a method for determining radio navigation beacons for an aircraft. The method is implemented by an electronic determination device and comprises the following steps: selection of an N-tuple of beacon identifiers, N being greater than or equal to 2, from an estimated position of the aircraft; and provision of the selected N-tuple to an electronic calculation device, for calculating a new estimated position of the aircraft from the N beacons corresponding to the N identifiers of the selected N-tuple.1. During the selection step, the N-tuple is selected from a set of admissible N-tuples, obtained by means of the implementation of an artificial intelligence algorithm, the artificial intelligence algorithm receiving as input the estimated position of the aircraft and providing as output the set of admissible N-tuples.

This invention discloses a robust adaptive fusion filtering astronomical attitude determination method and system, belonging to the field of radio navigation technology. The method includes: constructing a combined navigation model of a starlight and inertial navigation system based on a Lie group description; obtaining the observation residuals and covariance of the corresponding modes; performing robust and adaptive parallel sub-filtering of modes, and updating the posterior states and covariances of the two modes; updating the mode probabilities; fusing the updated posterior states and covariances to obtain the fused output of the parallel sub-filters, and using the fused output of the parallel sub-filters as the final estimate of the starlight and inertial navigation system based on a Lie group description, outputting an astronomical attitude determination result including azimuth, pitch, and roll angles. This invention exhibits strong adaptability, robustness, and accuracy in dealing with complex noise and measurement field values, and can achieve high-precision astronomical attitude determination for starlight and inertial navigation systems in complex dynamic environments.

The invention discloses a false track identification method and system based on multi-radar detection, and relates to the technical field of radio navigation. The method comprises the following steps: deploying a data acquisition unit in a radar in a radar detection area, acquiring original trace point data of the radar in a preset monitoring period, transmitting the original trace point data of the radar to a data fusion center, and constructing a joint observation matrix of the radar detection area; then, steady-state observation relation analysis is carried out on the observation association graph sequence, a spatial steady-state feature library is dynamically updated, radar detection area track data generated by a data fusion center are collected, and the spatial steady-state feature library is combined to obtain a radar detection area track data fusion model; and finally, processing to obtain the type of the track of the radar detection area, and performing confidence feedback updating on the spatial steady-state feature library of the radar detection area, so that the track identification accuracy and reliability of multi-radar cooperative detection are improved.

The invention relates to the field of satellite radio navigation measurement and positioning, and discloses an unmanned aerial vehicle defense system and method based on multimode navigation decoy. Comprising a situation acquisition module, a strategy management module, a multi-constellation decoy parameter solving module, a decoy signal synthesis and emission module, a confinement control module, an effect evaluation module and a closed-loop scheduling module. Based on a target state sequence and a deception target parameter, solving a deception parameter set of the GPS, the Beidou and the GLONASS, applying cross-constellation time reference consistency, pseudo-range continuity and trajectory smoothness constraints, and transmitting a satellite radio navigation deception signal in a limited sector and a power upper limit, and according to the decoy effect evaluation quantity, triggering updating and executing continuity protection on the code phase, the carrier frequency and the carrier phase.

The application discloses a tunnel ROV centering cruising method and system based on sonar, and belongs to the technical field of radio navigation. The method comprises the following steps: S1, echo data output by a forward-looking sonar of an ROV traveling along a tunnel is acquired in real time, and adaptive data analysis is performed frame by frame, a normalized intensity matrix after distance compensation, a sonar range and a detection threshold value obtained based on maximum intensity value weighting are extracted therefrom; S2, a horizontal sector is divided into a left half region, a right half region and a forward region, then target searching is performed and left wall distance, right wall distance and forward distance are calculated; and then a lateral movement speed instruction for controlling the ROV to move in the center is obtained by taking the difference between the left wall distance and the right wall distance as the input of a PID controller, and meanwhile, an advance speed instruction is planned according to the adaptive segmentation, and the centering cruising and forward obstacle avoidance are realized by a flight control. The application can enable the ROV to always travel safely near the center line in the tunnel cross section, and improve the safety and autonomy of the inspection operation under the water filling state of the water conveying tunnel.

The utility model relates to radio engineering, including ultra-high frequency equipment and technology. It consists of rectangular waveguides, a ferrite element and a magnetizing device. In the ultra-high frequency circulator, the rectangular waveguides are connected to a circular waveguide through a soft connection, a ferrite core is placed inside the circular waveguide, and a solenoid is installed around the ferrite core to create a magnetic field. As a result, the device can be used in radar and radio navigation systems at the same time, including having more compact dimensions, less weight, higher performance, lower losses, and a 5% increase in the useful work factor.

The present application relates to the field of radio navigation technology, and more particularly to a GNSS receiver direction finding precision calibration system and a calibration method thereof, the system comprising: a static reference point, a turntable, a sliding module and a direction finding precision calculation module; wherein the sliding module comprises a slide rail and two pedestals, the slide rail is arranged on the turntable, two antennas of the GNSS receiver to be measured are respectively installed on the two pedestals, and the two pedestals can slide relative to each other on the slide rail; the static reference point is used for calibrating the initial azimuth angle of the turntable; the turntable is used for providing different azimuth angles and different rotation speeds to the slide rail; the direction finding precision calculation module is used for acquiring the azimuth angle and the rotation speed information of the turntable and the direction finding information of the GNSS receiver, and calculating the static direction finding precision of the GNSS receiver under different baseline lengths and / or different azimuth angles, and calculating the dynamic heading precision of the GNSS receiver under different baseline lengths and / or different rotation speeds. The present application fills the gap of the GNSS receiver direction finding precision calibration system.

The application relates to an underwater obstacle avoidance method and system based on a ring scanning sonar, and relates to the field of radio navigation.The method comprises the following steps: collecting multi-source data and performing data processing, extracting obstacle features, identifying dynamic targets and static environments, obtaining a predicted trajectory probability graph of the dynamic targets and a three-dimensional occupancy grid map of the static environments; based on the predicted trajectory probability graph, the trajectory weight of each predicted trajectory of each dynamic target is calculated; a velocity obstacle domain is constructed, and the total risk field value of the carrier under different velocity vectors is calculated; the optimal velocity vector of the carrier at the next moment is selected based on the total risk field value, and an obstacle avoidance action is performed based on the optimal velocity vector; a closed-loop optimization and online learning mechanism is constructed, the effect of the obstacle avoidance action is evaluated in real time, and strategy adjustment is performed.The application can improve the scanning stability under complex water flow, reduce the error of dynamic obstacle tracking, and realize the collaborative optimization of multi-level accurate identification and obstacle avoidance decision of underwater obstacles.

The invention belongs to the technical field of radio navigation, and discloses a method and a device for detecting a precise single-point positioning abnormal observation value of a multi-satellite system. The method comprises the following steps: firstly, constructing a pre-test error distribution model of different satellite system observation values; then, combining the pre-test error distribution model and an actual satellite observation error to construct an error test rule, and setting an initial value of a pre-test parameter; in combination with the PPP post-test residual information and the PPP absolute positioning precision, constructing a post-test residual detection standard, and setting an initial value of a post-test judgment threshold; and finally, for each satellite system, according to an error test rule, carrying out elimination or weight reduction processing on observation values of which the pre-test errors exceed the limit, and meanwhile, dynamically adjusting pre-test parameters and a post-test judgment threshold value until a post-test residual error detection standard is established. According to the method, the accuracy and efficiency of anomaly detection in multi-satellite system fusion precision point positioning can be considered.

The application relates to a radar-optoelectronic fusion obstacle avoidance method for unmanned aerial vehicle navigation, and belongs to the technical field of radio navigation control, which comprises the following steps: acquiring point cloud data of a millimeter wave radar and image data of a visible light camera, and performing space-time synchronization calibration on the two kinds of data; a dynamic weight fusion model is constructed to real-time solve environmental light intensity, target reflectivity and relative motion speed characteristics; based on the dynamic weight fusion model, the weighted point cloud space coordinates are mapped to an image pixel plane to generate a three-dimensional dense obstacle map with semantic labels; according to the three-dimensional dense obstacle map, the current flight attitude of the unmanned aerial vehicle is combined, and an improved artificial potential field method is adopted to plan a local obstacle avoidance path; the application has the beneficial effect that the unmanned aerial vehicle is guided to turn to a high-confidence area, and the reliability of autonomous obstacle avoidance of the unmanned aerial vehicle navigation is effectively improved.

This invention relates to the field of radio navigation technology, and more particularly to a scene-adaptive integrated positioning method and system. The method includes: when the unmanned vehicle's GNSS receiver is working normally, using inertial navigation and GNSS integrated navigation to output high-precision position results; calculating high-precision ranging values ​​between every two unmanned vehicles, and using these values ​​along with the data link ranging values ​​between every two unmanned vehicles as a training dataset, obtaining a data link ranging error correction model through machine learning; when the unmanned vehicle's GNSS is not working normally, calculating high-precision ranging values ​​between every two unmanned vehicles other than the unmanned vehicle itself, obtaining the data link ranging error of the unmanned vehicle based on the data link ranging error correction model, correcting the unmanned vehicle's data link ranging value, and obtaining a high-precision data link ranging value; and obtaining a high-precision position based on the high-precision data link ranging value using the inertial navigation and data link integrated navigation method. This invention improves the reliability and accuracy of navigation information.

The invention discloses an AR (Augmented Reality) navigation method and system based on GIS (Geographic Information System) and VGIS (Visual Geographic Information System) fusion, and relates to the technical field of radio navigation. Counting step intensity of path difference vectors of a GIS planning path and a VGIS fine marking path, and primarily screening candidate step boundary bands; establishing fingerprint vector spatial distribution, and calculating a fingerprint transition amount to screen and confirm a key step boundary band; segmenting the route into stable segments by using a key step boundary band, calculating an independent translation amount based on a displacement sample, and generating a segmented alignment route; and calculating a transition route coordinate in the boundary band, combining to generate a final continuous fusion route, and carrying out AR navigation. According to the method, a geometric morphology and fingerprint dual verification mechanism is adopted, systematic deviation caused by random noise and obstacles can be accurately distinguished, accurate space fusion of virtual guidance and a real road surface in a dynamic construction scene is achieved, and navigation mold penetrating and visual drift are avoided.

The invention discloses an electric vehicle intelligent positioning and battery replacement guiding method and system based on radio navigation and distance measurement, and relates to the technical field of automatic control and radio positioning. According to the method, through process stage-space sequence double constraint verification, the risk of false triggering of the business process caused by positioning instantaneous jump is effectively avoided; in combination with projection correction of an accurate geometric boundary of the commutation potential, it is ensured that the guide position always conforms to physical layout constraints; and with the assistance of displacement continuity judgment based on a vehicle kinematic model, abnormal data exceeding a dynamic limit can be filtered out. Finally, the method can still output a smooth and continuous guide position which strictly accords with business logic and safety specifications in a complex electromagnetic environment, and provides a high-robustness decision basis for realizing full-automatic battery replacement.

The utility model relates to radio engineering, including ultra-high frequency engineering and technology, and can be used for the radiation and reception of electromagnetic waves in telecommunications, television engineering, radiolocation, radio navigation, radio control, communication and antenna engineering. The monopole antenna is aimed at solving the technical problem by improving its electrical, magnetic, technical, structural and operational parameters and characteristics and optimizing its design. To solve the technical problem, a coplanar waveguide was placed on a rectangular body to simplify the design of the device, increase the gain by 1.6 times, eliminate its dependence on the ground plane, eliminate sensitivity to obstacles, and enable easy coordination with the transmitting and receiving tracts.