CN106405491B - Unmanned plane based on software radio monitors system - Google Patents
Unmanned plane based on software radio monitors system Download PDFInfo
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- CN106405491B CN106405491B CN201610744603.1A CN201610744603A CN106405491B CN 106405491 B CN106405491 B CN 106405491B CN 201610744603 A CN201610744603 A CN 201610744603A CN 106405491 B CN106405491 B CN 106405491B
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- 238000013480 data collection Methods 0.000 claims description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of, and the unmanned plane based on software radio monitors system comprising at least one electromagnetic horn, for being scanned monitoring to aerial unmanned plane；Radio-frequency front-end, for receiving and processing the wireless signal scanned by electromagnetic horn；Down conversion module is connect with No. 1 output port of radio-frequency front-end, is carried out down coversion for the radiofrequency signal that No. 1 output port of receiving radio frequency front end is sent, and to radiofrequency signal, is obtained the radiofrequency signal of L frequency range；Fpga core processing module is acquired the radiofrequency signal of L frequency range, calculates with analysis, obtains the centre carrier frequency of unmanned plane, and calculate the locality for judging unmanned plane according to centre carrier frequency；PC machine carries out two-way communication with fpga core processing module；The problem of unmanned plane monitoring system based on software radio efficiently solves gadget detectivity in the prior art, volume, exposure information.
Description
Technical field
The present invention relates to unmanned planes to monitor field, and in particular to a kind of unmanned plane monitoring system based on software radio.
Background technique
In modern war, with the fast development of unmanned air vehicle technique, enemy's unmanned plane how is coped with to our information
It scouts most important with collection；Therefore, the problems such as how fast and effeciently finding enemy's unmanned plane also becomes more and more important.
Currently, being one of the important means of explorer vehicle by the active detection technology of means of radar, pass through radar benefit
With the mode detecting object target to air-launched radio wave, enable to report threat information accurately and in time；However,
There are detection accuracies and under-sensitive main problem and defect for radar equipment sensorcraft.
With the development of modern unmanned air vehicle technique, the volume of unmanned plane is also constantly becoming smaller, it is understood that radar active
Mesh is effectively detected and is analyzed by the back wave of target surface to air-launched radio wave by itself when detection
Mark；Do not stop to reduce with unmanned plane volume, the detection effect of radar also can be slackened gradually；Therefore it is possible that when enemy without
Man-machine when having arrived in our position overhead by plane, we does not detect also radar, or the positions such as the distance detected and direction
There is relatively large deviation in information；Meanwhile gadget volume is big, it is at high cost；In gadget detection, nothing is launched outward
Line electric wave is easy exposure one's own side's location information.
Summary of the invention
For above-mentioned deficiency in the prior art, the unmanned plane provided by the invention based on software radio monitors system energy
The monitoring for carrying out big visual angle to aerial unmanned plane in real time, tracks the flight path of unmanned plane, and solves in the prior art
Gadget detectivity, volume, exposure information the problem of.
In order to achieve the above object of the invention, the technical solution adopted by the present invention is：It provides a kind of based on software radio
Unmanned plane monitors system comprising at least one electromagnetic horn, for being scanned monitoring to aerial unmanned plane；Radio-frequency front-end,
For receiving and processing the wireless signal scanned by electromagnetic horn；Down conversion module connects with No. 1 output port of radio-frequency front-end
It connects, carries out down coversion for the radiofrequency signal that No. 1 output port of receiving radio frequency front end is sent, and to radiofrequency signal, obtain L frequency range
Radiofrequency signal；Fpga core processing module is acquired the radiofrequency signal of L frequency range, calculates and analyzes, obtains unmanned plane
Centre carrier frequency, and the locality for judging unmanned plane is calculated according to centre carrier frequency；PC machine, with fpga core processing
Module carries out two-way communication.
Further, radio-frequency front-end includes sequentially connected signal amplification module, to what is monitored by electromagnetic horn scanning
Wireless signal amplifies；Filter is connect with signal amplification module, is filtered to amplified wireless signal；Cubicle switchboard
Battle array, connect with filter, and the exchange for completing wireless signal distributes.
Further, fpga core processing module includes sequentially connected receiver, Fourier's computing module, spectrum analysis
Module, object judgement module and control centre.
Further, receiver is AD9361 receiver, and receiver is built-in with adjustable reception local oscillator and 12BIT precision
ADC module.
Further, No. 2 output ports of radio-frequency front-end are connected with a fixed down conversion module, and fixed down conversion module is used
Down coversion is carried out in the radiofrequency signal that No. 2 output ports of receiving radio frequency front end are sent, and to radiofrequency signal, obtains 70M intermediate frequency letter
Number；Fpga core processing module is connect with fixed down conversion module, and fixed down conversion module is connect with data collection system.
Further, fpga core processing module is connect by control bus with radio-frequency front-end, for controlling radio-frequency front-end 2
The switching of number output port input.
Further, electromagnetic horn is 6, and the interval angles between two neighboring electromagnetic horn are 20 degree.
Further, the sweep time of electromagnetic horn is 1 second.
Further, it when fpga core processing module is acquired the radiofrequency signal of L frequency range, calculates with analysis, receives
Device acquires the radiofrequency signal of L frequency range, samples 5 times and is averaged, obtains 1024 sampled points；FFT is carried out to 1024 sampled points
Operation, FFT points are 1024, obtain carrier frequency, and the relationship of 1024 points and carrier frequency is：
f=Fstart + N*(100/1024)；
Wherein：Fstar is this section of initial frequency, and 100 be the swept bandwidth of 100MHz, and f is carrier frequency；
By in the data of 1024 points of this section deposit Buf, and maximum value is found out, calculates the flat of N point around the maximum value
Mean value, if the average value is more than the thresholding of setting, then it is assumed that in the section there are target carrier, the centre frequency of carrier wave then thinks
It is the call number of the maximum value.
Further, switch matrix enters 2 for 6 and goes out switch matrix.
Beneficial effects of the present invention are：The unmanned plane monitoring system based on software radio uses unidirectional receiving body
System, not to spatial emission radio wave, other side's reconnaissance system with unmanned plane will not spy out the location information in our position, concealment
It is good；And system equipment is small in size, and it is light-weight, it is readily disassembled and transports installation；And its mainly include electromagnetic horn, radio-frequency front-end and
Fpga core processing module, compared to radar system, it is eased with it is light and handy；Electromagnetic horn is 6, and two neighboring loudspeaker day
Interval angles between line are 20 degree, can carry out the scanning monitoring at 120 degree of visual angles；The sweep time of electromagnetic horn is 1 second, is guaranteed
The real-time and sensitivity of system.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the unmanned plane based on software radio monitors system.
Fig. 2 is the structural schematic diagram for the fpga core processing module that the unmanned plane based on software radio monitors system.
Fig. 3 is the schematic illustration for the receiver that the unmanned plane based on software radio monitors system.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only an embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, protection scope of the present invention is belonged to.
For the sake of simplicity, common technical knowledge well known to technical field technical staff is omitted in the following contents.
As shown in Fig. 1 ~ Fig. 3, the unmanned plane monitoring system based on software radio includes at least one electromagnetic horn, radio frequency
Front end, down conversion module, fpga core processing module and PC machine；Wherein, electromagnetic horn is for being scanned aerial unmanned plane
Monitoring；Radio-frequency front-end is for receiving and processing the wireless signal scanned by electromagnetic horn.
Down conversion module is connect with No. 1 output port of radio-frequency front-end, is sent for No. 1 output port of receiving radio frequency front end
Radiofrequency signal, and down coversion is carried out to radiofrequency signal, obtain the radiofrequency signal of L frequency range；Fpga core processing module is to L frequency range
Radiofrequency signal is acquired, calculates with analysis, obtains the centre carrier frequency of unmanned plane, and sentence according to centre carrier frequency calculating
The locality of disconnected unmanned plane out；PC machine and fpga core processing module carry out two-way communication.
In specific implementation, should based on software radio unmanned plane monitoring system use unidirectional reception system, not to
Spatial emission radio wave, other side's reconnaissance system with unmanned plane will not spy out the location information in our position, good concealment；And it is
Equipment volume of uniting is small, light-weight, is readily disassembled and transports installation, system equipment mainly include electromagnetic horn, radio-frequency front-end and
Fpga core processing module, compared to radar system, it is eased with it is light and handy.
In specific implementation, preferably electromagnetic horn is 6, and the interval angles between two neighboring electromagnetic horn are 20
Degree can carry out the scanning monitoring at 120 degree of visual angles；The sweep time of electromagnetic horn is 1 second, ensure that the real-time of system, simultaneously
It is -100dBm ~ -60dBm radio wave that aerial amplitude, which can be captured, ensure that the higher sensitivity of system.
This based on software radio unmanned plane monitoring system radio-frequency front-end include sequentially connected signal amplification module,
Filter and switch matrix；Wherein, signal amplification module amplifies the wireless signal monitored by electromagnetic horn scanning；Filter
Wave device is connect with signal amplification module, is filtered to amplified wireless signal；Switch matrix is connect with filter, has been used for
It is distributed at the exchange of wireless signal；It is preferred that switch matrix, which enters 2 for 6, goes out switch matrix, fpga core processing module can be in 6 loudspeaker
Cyclic switching acquisition is carried out between antenna.
In specific implementation, after aerial radio signal enters radio-frequency front-end by electromagnetic horn, amplify, filter
Wave, and enter down conversion module from No. 1 output port output, carry out down coversion；It is quickly counted by fpga core processing module again
The centre carrier frequency is calculated, and calculates the locality for judging unmanned plane according to centre carrier frequency, that is, which is appeared in
Electromagnetic horn.
The fpga core processing module of the unmanned plane monitoring system based on software radio includes sequentially connected reception
Device, Fourier's computing module, spectrum analysis module, object judgement module and control centre；In specific implementation, receiver is
AD9361 receiver, receiver are built-in with the adjustable ADC module for receiving local oscillator and 12BIT precision；In specific implementation, AD9361
It is a zero intermediate frequency transceiver, can receive input frequency range is 70M-6000M.
In specific implementation, when fpga core processing module is acquired the radiofrequency signal of L frequency range, calculates with analysis,
Receiver acquires the radiofrequency signal of L frequency range, samples 5 times and is averaged, obtains 1024 sampled points；1024 sampled points are carried out
FFT operation, FFT points are 1024, obtain carrier frequency, and the relationship of 1024 points and carrier frequency is：
f=Fstart + N*(100/1024)；
Wherein：Fstar is this section of initial frequency, and 100 be the swept bandwidth of 100MHz, and f is carrier frequency；
By in the data of 1024 points of this section deposit Buf, and maximum value is found out, calculates the flat of N point around the maximum value
Mean value, if the average value is more than the thresholding of setting, then it is assumed that in the section there are target carrier, the centre frequency of carrier wave then thinks
It is the call number of the maximum value.
As depicted in figs. 1 and 2, No. 2 output ports of radio-frequency front-end are connected with a fixed down conversion module, fixed down coversion
Module is used for the radiofrequency signal that No. 2 output ports of receiving radio frequency front end are sent, and carries out down coversion to radiofrequency signal, obtains 70M
Intermediate-freuqncy signal；Fpga core processing module is connect with fixed down conversion module, and fixed down conversion module and data collection system connect
It connects；Fpga core processing module is connect by control bus with radio-frequency front-end, for controlling No. 2 output port inputs of radio-frequency front-end
Switching.
In specific implementation, when the wireless signal scanned always exists, fpga core processing module is quickly calculated
After which electromagnetic horn the centre frequency of the carrier wave and the carrier wave appear in, at this point, can be exported by fpga core processing module
Signal is controlled, the centre frequency for controlling fixed down conversion module is gone, when the centre frequency of carrier wave changes, fixed down conversion module
Centre frequency then change accordingly, i.e., the center frequency clock of fixed down conversion module is equal to centre carrier frequency, and at this time
No. 2 output ports of switch matrix are also switched to the electromagnetic horn of maximum power value always, and then realize centre carrier frequency
Automatic tracking function.
In actual operation, if a unknown frequency and the signal (700M-2700M) of bandwidth input after, to the signal into
Row full band scan, first setting sweep bandwidth 100M, the centre frequency of the adjustable reception local oscillator of first point of setting are 750M, then
First point can frequency sweep band be 700M-800M；The AD of 700 ~ 800M frequency range is sampled by ADC module, sampled point is 1024 points,
It samples 5 times and is averaged.
Fourier's operation is carried out to 1024 points, Fourier's points are 1024, obtain carrier frequency；And by the section 1024
In the data deposit Buf of point.And maximum value is found out, the average value of N point around the maximum value is calculated by operation, if this is flat
Mean value is more than the thresholding of setting, then it is assumed that in the section there are target carrier, the centre frequency of carrier wave is then considered the maximum value
Call number, performance number are just average value.
Be arranged first point of adjustable reception local oscillator centre frequency be 750M, then first point can frequency sweep band be 700M-800M；
The AD of 700 ~ 800M frequency range is sampled by ADC module, sampled point is 1024 points, samples 5 times and is averaged.
Fourier's operation is carried out to 1024 points, Fourier's points are 1024, obtain carrier frequency；And by the section 1024
In the data deposit Buf of point.And maximum value is found out, the average value of N point around the maximum value is calculated by operation, if this is flat
Mean value is more than the thresholding of setting, then it is assumed that in the section there are target carrier, the centre frequency of carrier wave is then considered the maximum value
Call number, performance number are just average value.
It is circularly set the centre frequency of first point of adjustable reception local oscillator, and acquires the centre frequency of carrier wave；Wherein, it often follows
Ring is primary, the adjustable centre frequency for receiving local oscillator is added 100M, to the last one section, i.e. 2650MHz, in this way, just having obtained complete
The frequency spectrum data of frequency range has obtained 20*1024 point.
20*1024 point is subjected to Spectrum compression, obtains 1024 points；1024 points are just full frequency band frequency spectrum data,
PC machine is transmitted the data to simultaneously, is analyzed for user；And the carrier wave occurred to every section is compared, and finds out maximum power
The carrier wave of value, and by average computation and the comprehensive value acquired several times before, judge the carrier frequency of unmanned plane.
According to the UAV system wave frequency rate judged, the adjustable centre frequency for receiving local oscillator is switched to UAV system wave frequency
In rate, the performance number variation of the signal, then the signal power value variation of comprehensive 6 tunnel different orientations are tracked always, and according to sky
Between power radiation pattern, then can calculate the distance of UAV targets, the parameters such as angle.
The comprehensive collected carrier wave average power content of institute a, it is assumed that UAV targets sometime occur, UAV targets
Centre frequency be 2000M, at this time by it is adjustable receive local oscillator centre frequency be switched to 2000M, 6 electromagnetic horns of cyclic switching
Input is acquired, and obtains the performance number of 6 collected carrier frequencies of electromagnetic horn, and 6 obtained performance number differences；Its
In, the performance number maximum that the antenna horn of unmanned plane is adopted is closed on, successively can constantly be reduced to both sides；According to maximum power value
The performance number of the antenna of two groups of loudspeaker of electromagnetic horn and side, while synthesized pattern, so that it may calculate the direction of target；If mesh
It is marked on movement, trajectory diagram can also be described according to power change values when moving.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will make for those skilled in the art it will be apparent that as defined herein one
As principle can realize in other embodiments without departing from the spirit or scope of the invention.Therefore, the present invention will not
Meeting be limited and the embodiments shown herein, and is to fit to consistent with principles disclosed herein and novel features
Widest scope.
Claims (9)
1. a kind of unmanned plane based on software radio monitors system, it is characterised in that：Including
At least one electromagnetic horn, for being scanned monitoring to aerial unmanned plane；
Radio-frequency front-end, for receiving and processing the wireless signal scanned by the electromagnetic horn；
Down conversion module is connect with No. 1 output port of the radio-frequency front-end, for receiving No. 1 output port of the radio-frequency front-end
The radiofrequency signal of transmission, and down coversion is carried out to the radiofrequency signal, obtain the radiofrequency signal of L frequency range；
Fpga core processing module is acquired the radiofrequency signal of the L frequency range, calculates and analyzes, obtains the load of unmanned plane
Wave centre frequency, and the locality for judging unmanned plane is calculated according to the centre carrier frequency；
PC machine carries out two-way communication with the fpga core processing module；
The fpga core processing module includes sequentially connected receiver, Fourier's computing module, spectrum analysis module, target
Judgment module and control centre.
2. the unmanned plane according to claim 1 based on software radio monitors system, it is characterised in that：Before the radio frequency
End includes sequentially connected
Signal amplification module amplifies the wireless signal monitored by electromagnetic horn scanning；
Filter connect with the signal amplification module, is filtered to amplified wireless signal；
Switch matrix is connect with the filter, and the exchange for completing wireless signal distributes.
3. the unmanned plane according to claim 1 based on software radio monitors system, it is characterised in that：The receiver
For AD9361 receiver, the receiver is built-in with the adjustable ADC module for receiving local oscillator and 12BIT precision.
4. the unmanned plane according to claim 1 based on software radio monitors system, it is characterised in that：Before the radio frequency
No. 2 output ports at end are connected with a fixed down conversion module, and the fixed down conversion module is for receiving the radio-frequency front-end 2
The radiofrequency signal that number output port is sent, and down coversion is carried out to the radiofrequency signal, obtain 70M intermediate-freuqncy signal；The FPGA
Core processing module is connect with the fixed down conversion module, and the fixed down conversion module is connect with data collection system.
5. the unmanned plane according to claim 4 based on software radio monitors system, it is characterised in that：The FPGA core
Heart processing module is connect by control bus with the radio-frequency front-end, for controlling cutting for No. 2 output port inputs of radio-frequency front-end
It changes.
6. the unmanned plane according to claim 1 based on software radio monitors system, it is characterised in that：The loudspeaker day
Line is 6, and the interval angles between two neighboring electromagnetic horn are 20 degree.
7. the unmanned plane according to claim 1 or 6 based on software radio monitors system, it is characterised in that：The loudspeaker
The sweep time of antenna is 1 second.
8. the unmanned plane according to claim 1 based on software radio monitors system, it is characterised in that：The FPGA core
When heart processing module is acquired the radiofrequency signal of L frequency range, calculates with analysis, the radio frequency letter of the receiver acquisition L frequency range
Number, it samples 5 times and is averaged, obtain 1024 sampled points；FFT operation is carried out to 1024 sampled points, FFT points are
1024, obtain carrier frequency, the relationship of and carrier frequency is at described 1024 points：
F=Fstart+N* (100/1024)；
Wherein：Fstar is this section of initial frequency, and 100 be the swept bandwidth of 100MHz, and f is carrier frequency；
The data of 1024 points of this section are stored in Buf, and find out maximum value, calculate the average value of N point around the maximum value,
If the average value is more than the thresholding of setting, then it is assumed that in the section there are target carrier, the centre frequency of carrier wave is then considered this
The call number of maximum value.
9. the unmanned plane according to claim 2 based on software radio monitors system, it is characterised in that：The cubicle switchboard
Battle array enters 2 for 6 and goes out switch matrix.
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| CN108647174B (en) * | 2018-04-26 | 2021-01-19 | 华南理工大学 | Unmanned aerial vehicle fast self-healing system based on software bus |
| CN109490969B (en) * | 2018-09-21 | 2020-02-18 | 浙江大学 | Unmanned aerial vehicle detection method based on unmanned aerial vehicle downlink signal periodicity |
| CN109085573A (en) * | 2018-09-26 | 2018-12-25 | 成都九洲迪飞科技有限责任公司 | Vehicle-mounted unmanned aerial vehicle managing and control system and method |
| CN110161902B (en) * | 2019-04-30 | 2021-04-30 | 桂林电子科技大学 | Rapid universal acquisition device and acquisition method for unmanned aerial vehicle image transmission and remote control signals |
| CN110266325A (en) * | 2019-05-30 | 2019-09-20 | 中国人民解放军63921部队 | A kind of device carrying out satellite communication using software radio |
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| CN105303526A (en) * | 2015-09-17 | 2016-02-03 | 哈尔滨工业大学 | Ship target detection method based on coastline data and spectral analysis |
| CN105807293A (en) * | 2016-05-27 | 2016-07-27 | 重庆卓观科技有限公司 | SOC (system on chip)-based single-board multi-antenna attitude-determining receiver |
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