CN109145998A - A kind of unmanned plane detection method and device - Google Patents
A kind of unmanned plane detection method and device Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of unmanned plane detection method and device, this method comprises: obtaining the signal to be processed received in defensive range；According to the centre frequency of signal to be processed, unmanned plane model corresponding with signal to be processed and signal characteristic are searched from preset allocation list, obtain expected model and expected signal characteristic；Allocation list carries the frequency range and signal characteristic of wireless signal used in multiple and different model UAV Communications；Whether the feature and expected signal characteristic for judging signal to be processed meet preset matching condition；Occurs the unmanned plane of expected model in defensive range if so, determining.It realizes to occurring the discovery and identification of unmanned plane in defensive range, without the auxiliary of vision-based detection, is not influenced by environmental factors such as weather, improve the effect and efficiency of unmanned plane management.
Description
Technical field
This application involves air vehicle technique field more particularly to a kind of unmanned plane detection method and device.
Background technique
With the explosive development of unmanned plane industry, more and more unmanned planes are applied to various scenes.Due to nobody
Machine is cheap, obtains and is easy, this has made the practical application of unmanned plane not only include legal application, such as takes photo by plane, express delivery
Delivery etc. further comprises various illegal applications, such as takes on the sly, throws illegal object etc..At this point, only by legal means
Can not control unmanned plane use.Therefore, it is necessary to use professional equipment to be managed using for unmanned plane, including detects and prevent
It is imperial.Wherein, unmanned machine testing is the basic demand of unmanned plane management.
Unmanned machine testing refers specifically to detect by various modes when unmanned plane appears within defensive range
Measure the appearance of unmanned plane.Currently used method for detecting includes physical detection based on radar return, based on camera
Vision-based detection and the radio detection for emitting radio signal based on unmanned plane.It is main to pass through detection nothing wherein in radio detection
The spectrum power of man-machine transmitted wireless signal is realized.Currently, radio detection only can detecte out the appearance of unmanned plane, and can not
Realize identifying and distinguishing between for unmanned plane, it is still desirable to vision-based detection manually determines whether the unmanned plane occurred is illegal unmanned plane,
The ineffective of unmanned plane management, the efficiency of management are low.
Summary of the invention
In order to solve prior art problem, the embodiment of the present application provides a kind of unmanned plane detection method and device, can
It was found that and identifying the unmanned plane occurred in defensive range, the effect and efficiency of raising unmanned plane management.
A kind of unmanned plane detection method provided by the embodiments of the present application, which comprises
Obtain the signal to be processed received in defensive range；
According to the centre frequency of the signal to be processed, searched from preset allocation list corresponding with the signal to be processed
Unmanned plane model and signal characteristic, obtain expected model and expected signal characteristic；The allocation list carries multiple and different models
The frequency range and signal characteristic of wireless signal used in UAV Communication；
Whether the feature and the expected signal characteristic for judging the signal to be processed meet preset matching condition；
Occurs the unmanned plane of the expected model in the defensive range if so, determining.
Optionally, the signal to be processed includes the short message number for repeating to send and changeless long signal；The judgement
Whether the feature of the signal to be processed and the expected signal characteristic meet preset matching condition, specifically include:
According to the offset in the expected signal characteristic, auto-correlation processing done to the signal to be processed, described in judgement
Whether the first correlation that auto-correlation processing obtains is greater than first threshold；
And/or
Cross correlation process done to the long signal and the signal to be processed that carry in the expected signal characteristic, described in judgement
Whether the second correlation that cross correlation process obtains is greater than second threshold.
Optionally, the offset according in the expected signal characteristic, does at auto-correlation the signal to be processed
Reason, specifically includes:
According to formulaThe first correlation r is calculated1[i]；
In formula, x [i+k] is the i-th+k sampled signals of the signal to be processed, i=1,2 ..., N-2L, N be it is described to
The total quantity of sampled point in signal is handled, L is the offset, and conj { A } is the conjugate complex number of A.
Optionally, described that the long signal carried in the expected signal characteristic and the signal to be processed are done at cross-correlation
Reason, specifically includes:
According to formulaThe second correlation r is calculated2[i]；
In formula, x [i+m] is the i-th+m sampled points of the signal to be processed, and i=1,2 ..., N-M, N is described wait locate
The total quantity of sampled point in signal is managed, s [m] is m-th of sampled signal of the long signal, and m=0,1 ..., M-1, M is described
The length of long signal, conj { A } are the conjugate complex number of A.
Optionally, the short message number is short synchronous reference signal；
The long signal is long synchronous reference signal and/or channel estimation reference signal.
A kind of unmanned machine detecting device provided by the embodiments of the present application, described device include: that signal acquisition module, feature are looked into
Look for module, matching judgment module and identification determining module；
The signal acquisition module, for obtaining the signal to be processed received in defensive range；
The feature searching module is looked into from preset allocation list for the centre frequency according to the signal to be processed
Unmanned plane model corresponding with the signal to be processed and signal characteristic are looked for, expected model and expected signal characteristic are obtained；It is described
Allocation list carries the frequency range and signal characteristic of wireless signal used in multiple and different model UAV Communications；
Whether the matching judgment module, feature and the expected signal characteristic for judging the signal to be processed accord with
Close preset matching condition；
The identification determining module, for determining the defence when the judging result of the matching judgment module, which is, is
Occurs the unmanned plane of the expected model in range.
Optionally, the signal to be processed includes the short message number for repeating to send and changeless long signal；The matching
Judgment module specifically includes: the first judging submodule and/or second judgment submodule；
First judging submodule, for according to the offset in the expected signal characteristic, to the letter to be processed
Number auto-correlation processing is done, whether the first correlation for judging that the auto-correlation processing obtains is greater than first threshold；
The second judgment submodule, for the long signal and the letter to be processed carried in the expected signal characteristic
Number cross correlation process is done, whether the second correlation for judging that the cross correlation process obtains is greater than second threshold.
Optionally, first judging submodule, is specifically used for:
According to formulaThe first correlation r is calculated1[i]；
In formula, x [i+k] is the i-th+k sampled signals of the signal to be processed, i=1,2 ..., N-2L, N be it is described to
The total quantity of sampled point in signal is handled, L is the offset, and conj { A } is the conjugate complex number of A.
Optionally, the second judgment submodule, is specifically used for:
According to formulaThe second correlation r is calculated2[i]；
In formula, x [i+m] is the i-th+m sampled points of the signal to be processed, and i=1,2 ..., N-M, N is described wait locate
The total quantity of sampled point in signal is managed, s [m] is m-th of sampled signal of the long signal, and m=0,1 ..., M-1, M is described
The length of long signal, conj { A } are the conjugate complex number of A.
Optionally, the short message number is short synchronous reference signal；
The long signal is long synchronous reference signal and/or channel estimation reference signal.
Compared with prior art, the application has at least the following advantages:
In the embodiment of the present application, after receiver receives the wireless signal in defensive range, the wireless signal is obtained
The unmanned plane appeared in defensive range is identified as signal to be processed.First according to the centre frequency of signal to be processed, from
The model and signal characteristic that unmanned plane corresponding with signal to be processed is searched in allocation list obtain expected model and expected signal characteristic
Basis as identification.Then, whether preset matching item is met by the feature and expected signal characteristic that judge signal to be processed
Part determines whether signal to be processed is wireless signal used in the UAV Communication of expected model, realizes and goes out in defensive range
The discovery and identification of existing unmanned plane are not influenced by environmental factors such as weather without the auxiliary of vision-based detection, improve unmanned plane
The effect and efficiency of management.And the embodiment of the present application is to find and identify unmanned plane by the matched mode of signal characteristic, is known
Other accuracy is not influenced by wireless signal signal-to-noise ratio, still can accurately realize signal when signal power is far below noise power
The matching of feature, it is low to the signal-to-noise ratio requirement of signal to be processed, to effectively raise the detecting distance of unmanned plane.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow diagram of unmanned plane detection method provided by the embodiments of the present application；
Fig. 2 is a kind of structural schematic diagram of unmanned machine detecting device provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
Currently, unmanned plane detection technique is broadly divided into three classes: the physical detection based on radar, the inspection of the vision based on camera
Survey and emit based on unmanned plane the radio detection of wireless signal (including remote control and figure communication number etc.).Wherein, existing wireless inspection
It surveys and is mainly realized by the spectrum power of wireless signal transmitted by detection unmanned plane.When more unmanned planes occur simultaneously, frequency
Spectral power detection method is only capable of detecting the appearance of unmanned plane, but can not determine several unmanned planes and be what type respectively
Number unmanned plane.Also, this frequency spectrum detecting method based on power is limited to receive the signal-to-noise ratio of wireless signal, high noise
Than when be readily possible to detect unmanned plane, but be then difficult to distinguish unmanned plane signal and noise in wireless signal when low signal-to-noise ratio.Cause
This, the detecting distance of existing method for wirelessly testing is very limited, generally within several hundred rice.
For this purpose, the embodiment of the present application provides a kind of unmanned plane detection method, by by the wireless signal received and respectively
The frequency and signal characteristic of wireless signal used in the UAV Communication of a known models carry out matching comparison, not only it can be found that
Unmanned plane in defensive range may recognize that the model of the unmanned plane in defensive range, judge without vision-based detection
Whether the unmanned plane of appearance is illegal unmanned plane, improves the effect and efficiency of unmanned machine testing.Also, identification accuracy by
The influence very little of wireless signal signal-to-noise ratio still can accurately realize signal when the signal power of wireless signal is far below noise power
The matching of feature, it is low to the signal-to-noise ratio requirement of the wireless signal received, effectively raise the detecting distance of unmanned plane.
Based on above-mentioned thought, in order to make the above objects, features, and advantages of the present application more apparent, below with reference to
Attached drawing is described in detail the specific embodiment of the application.
Referring to Fig. 1, which is a kind of flow diagram of unmanned plane detection method provided by the embodiments of the present application.
Unmanned plane detection method provided by the embodiments of the present application, includes the following steps S101-S104.
S101: the signal to be processed received in defensive range is obtained.
In the embodiment of the present application, defensive range refers to the range of unmanned machine testing.In practical applications, letter to be processed
It number can be the wireless signal received in defensive range by signal receiver, then letter of the defensive range in signal receiver
In number range of receiving.The embodiment of the present application to the specific sizes of the acquisition modes of wireless signal to be processed and defensive range not
It is defined.
In one example, signal to be processed may include: present in signal frame structure repeat send short message number and
Changeless long signal etc. in signal frame structure.In general communication system, short synchronous reference signal mostly can repeat to send several
Secondary, long synchronous reference signal can be fixed and invariable signal, and channel estimation reference signal is also changeless signal.Then, short
Signal can be short synchronous reference signal, and long signal can be long synchronous reference signal and/or channel estimation reference signal.With height
For wireless signal in this frequency shift keying (Gauss Frequency Shift Keying, GFSK) modulation scheme, lead code
(preamble) attach most importance to the short message number sent of recurrence, address bit or the position mark (ID) in frame structure are then changeless long letter
Number.
S102: according to the centre frequency of signal to be processed, nothing corresponding with signal to be processed is searched from preset allocation list
Man-machine model and signal characteristic obtains expected model and expected signal characteristic.
In the embodiment of the present application, preset allocation list carries wireless signal used in multiple and different model UAV Communications
Frequency range and signal characteristic.Signal characteristic may include the offset of short message number in wireless signal used in UAV Communication,
And/or the long signal in wireless signal used in communicating.Lead to when the centre frequency falls in the A model unmanned plane carried in allocation list
When believing within the frequency range of wireless signal used, that is, it can determine nothing used in the expected model of A model, A model UAV Communication
The signal characteristic of line signal is expected signal characteristic, as the subsequent identification to the unmanned plane occurred in defensive range and detection
Foundation.
It in practical applications, can wireless communication used in the UAV Communication to multiple and different brands, different model in advance
Number feature is collected arrangement, determines the frequency and signal characteristic of wireless signal used in the unmanned plane of each model, obtains this and match
Set table.
S103: judge whether the feature of signal to be processed and expected signal characteristic meet preset matching condition；If so, holding
Row step S104.
S104: determine occur the unmanned plane of expected model in defensive range.
In the embodiment of the present application, when the feature of signal to be processed and expected signal characteristic meet preset matching condition,
Show that the signal to be processed received in defensive range is consistent with expected signal characteristic, belongs to expected model UAV Communication institute
Wireless signal.Meet wireless signal used in expected model unmanned plane as judging to have in defensive range, that is,
It says the equipment (unmanned plane of i.e. expected model) having in defensive range using this communicating wireless signals, is based on this, it can be true
Determine the unmanned plane for occurring expected model in defensive range, can not only detect the unmanned plane occurred in defensive range, it can be with
The model for determining the unmanned plane of detection, improves the effect of unmanned plane management.Below by according to signal characteristic it is different specifically
Whether the bright feature for specifically how judging signal to be processed and expected signal characteristic meet preset matching condition, do not repeat first.
It should also be noted that, in the embodiment of the present application, unlike the prior art, to unmanned plane in defensive range
Detection be to be realized using whether meeting preset matching condition between feature, i.e., unmanned plane is realized in the way of matched filtering
Detection, low, characteristic signal Duan Yuechang is required to the signal-to-noise ratio of signal to be processed, the signal-to-noise ratio of signal to be processed is required to get over
It is low, signal still can be accurately realized when the signal power of signal to be processed is far below noise power when that is, signal-to-noise ratio is negative
Matching between feature increases detecting distance so as to increase the effective range of unmanned machine testing.
In the embodiment of the present application, after receiver receives the wireless signal in defensive range, the wireless signal is obtained
The unmanned plane appeared in defensive range is identified as signal to be processed.First according to the centre frequency of signal to be processed, from
The model and signal characteristic that unmanned plane corresponding with signal to be processed is searched in allocation list obtain expected model and expected signal characteristic
Basis as identification.Then, whether preset matching item is met by the feature and expected signal characteristic that judge signal to be processed
Part determines whether signal to be processed is wireless signal used in the UAV Communication of expected model, realizes and goes out in defensive range
The discovery and identification of existing unmanned plane are not influenced by environmental factors such as weather without the auxiliary of vision-based detection, improve unmanned plane
The effect and efficiency of management.And the embodiment of the present application is to find and identify unmanned plane by the matched mode of signal characteristic, is known
Other accuracy is not influenced by wireless signal signal-to-noise ratio, still can accurately realize signal when signal power is far below noise power
The matching of feature, it is low to the signal-to-noise ratio requirement of signal to be processed, to effectively raise the detecting distance of unmanned plane.
The feature for specifically how judging signal to be processed and pre- according to the particular content of signal characteristic, will be illustrated below
Whether phase signal characteristic meets preset matching condition.
In the embodiment of the present application, the feature of the wireless signal according to used in each model UAV Communication, allocation list carry
UAV Communication used in wireless signal signal characteristic at least exist it is following three kinds may: when unmanned plane (model as expected
Unmanned plane) used in wireless signal include repeat send short message when, allocation list carry corresponding signal characteristic (such as
It is expected that signal characteristic) include the short message number offset；The wireless signal used in the unmanned plane includes changeless long signal
When, the corresponding signal characteristic that allocation list carries includes the long signal；The wireless signal used in the unmanned plane includes repeating
When the short message number of transmission is with constant long signal is determined, the corresponding signal characteristic that allocation list carries includes the inclined of the short message number
It is any one or more in shifting amount and the long signal.
In the first possible implementation, when expected signal characteristic includes the offset of the short message number, step
S103 can specifically include:
According to the offset in expected signal characteristic, auto-correlation processing is done to signal to be processed, judges that auto-correlation processing obtains
To the first correlation whether be greater than first threshold.
In the embodiment of the present application, signal to be processed is deviated a certain amount of (be expected in signal characteristic by auto-correlation processing
Offset) after with its own do correlation judgement, obtain the correlative between two signals.
As an example, doing auto-correlation processing to signal to be processed can specifically include:
The first correlation r is calculated according to such as following formula (1)1[i]；
In formula, x [i+k] is the i-th+k sampled signals of the signal to be processed, and i=1,2 ..., N-2L, N is to be processed
The total quantity of sampled point in signal, L are offset, and conj { A } is the conjugate complex number of A.
It is more connect it is understood that working as the offset of short message number in signal to be processed with the offset in expected signal characteristic
When close, correlation is bigger between the ith sample signal x [i] of signal to be processed and the ith sample signal x [i] after offset L.
Therefore, as the first correlation r being calculated1It is to be believed that the offset of short message number in signal to be processed that [i], which is greater than first threshold,
It measures and is consistent with the offset in expected signal characteristic, the feature of signal to be processed and the expected signal characteristic meet preset matching
Condition.What needs to be explained here is that first threshold can specifically be set according to the actual situation, the application is without limiting, no longer
It enumerates.
In the second possible implementation, when expected signal characteristic includes long signal, step S103 specifically can be with
Include:
Cross correlation process is done to the long signal and signal to be processed that carry in expected signal characteristic, judges that cross correlation process obtains
To the second correlation whether be greater than second threshold.
In the embodiment of the present application, cross correlation process will two signals (long signal and signal to be processed) do correlation and sentence
It is disconnected, obtain the correlative between the two signals.
As an example, cross correlation process is done to the long signal and signal to be processed that carry in expected signal characteristic, has
Body may include:
The second correlation r is calculated in (2) according to the following formula2[i]；
In formula, x [i+m] is the i-th+m sampled points of the signal to be processed, and i=1,2 ..., N-M, N is letter to be processed
The total quantity of sampled point in number, s [m] are m-th of sampled signal of long signal, and m=0,1 ..., M-1, M is the length of long signal,
Conj (A) is the conjugate complex number of A.
It is understood that when the long signal in signal to be processed and expected signal characteristic closer to when, signal to be processed
J-th of sampled signal x [j] and the long signal in expected signal characteristic j-th of sampled signal s [j] between correlation it is bigger.
Therefore, as the second correlation r being calculated2[i] is greater than second threshold i.e. it is believed that signal to be processed and expected signal characteristic
In long signal be consistent, the feature of signal to be processed and the expected signal characteristic meet preset matching condition.It needs exist for
Bright, second threshold can specifically be set according to the actual situation, and the application also will not enumerate without limiting.
In the third possible implementation, when expected signal characteristic includes the offset of short message number and when long signal,
Step S103 can specifically include:
According to the offset in expected signal characteristic, auto-correlation processing is done to signal to be processed, judges that auto-correlation processing obtains
To the first correlation whether be greater than first threshold, and the long signal and signal to be processed that carry in expected signal characteristic are done mutually
Whether relevant treatment, the second correlation for judging that cross correlation process obtains are greater than second threshold.
In the embodiment of the present application, when the first correlation is greater than first threshold and the second correlation is greater than second threshold,
The feature and the expected signal characteristic that can determine signal to be processed meet preset matching condition.Auto-correlation processing and cross-correlation
Processing illustrate in the first above-mentioned possible implementation and second in possible implementation it is similar, it is specific to join
See related description above, which is not described herein again.
The unmanned plane detection method provided based on the above embodiment, the embodiment of the present application also provides a kind of unmanned machine testings
Device.
Referring to fig. 2, which is a kind of structural schematic diagram of unmanned machine detecting device provided by the embodiments of the present application.
Unmanned machine detecting device provided by the embodiments of the present application, comprising: signal acquisition module 100, feature searching module
200, matching judgment module 300 and identification determining module 400；
Signal acquisition module 100, for obtaining the signal to be processed received in defensive range；
Feature searching module 200, for the centre frequency according to signal to be processed, searched from preset allocation list with to
The corresponding unmanned plane model of signal and signal characteristic are handled, expected model and expected signal characteristic are obtained；Allocation list carries multiple
The frequency range and signal characteristic of wireless signal used in different model UAV Communication；
Whether matching judgment module 300, feature and expected signal characteristic for judging signal to be processed meet default
With condition；
Determining module 400 is identified, for determining in defensive range when the judging result of matching judgment module 300, which is, is
There is the unmanned plane of expected model.
In some possible implementations of the embodiment of the present application, signal to be processed includes the short message number repeatedly sent and consolidates
Fixed constant long signal；As an example, short message number can be short synchronous reference signal；Long signal can be long synchronous reference
Signal and/or channel estimation reference signal.
Then, matching judgment module 300, specifically includes: the first judging submodule and/or second judgment submodule (do not exist
It is shown in figure)；
First judging submodule, for being done at auto-correlation to signal to be processed according to the offset in expected signal characteristic
Whether reason, the first correlation for judging that auto-correlation processing obtains are greater than first threshold；
Second judgment submodule, for being done at cross-correlation to the long signal and signal to be processed that are carried in expected signal characteristic
Whether reason, the second correlation for judging that cross correlation process obtains are greater than second threshold.
Optionally, the first judging submodule is specifically used for:
According to formulaThe first correlation r is calculated1[i]；
In formula, x [i+k] is the i-th+k sampled signals of signal to be processed, and i=1,2 ..., N-2L, N is signal to be processed
The total quantity of middle sampled point, L are offset, and conj { A } is the conjugate complex number of A.
Optionally, second judgment submodule is specifically used for:
According to formulaThe second correlation r is calculated2[i]；
In formula, x [i+m] is the i-th+m sampled points of signal to be processed, and i=1,2 ..., N-M, N is in signal to be processed
The total quantity of sampled point, s [m] are m-th of sampled signal of long signal, and m=0,1 ..., M-1, M is the length of long signal, conj
{ A } is the conjugate complex number of A.
As an example, short message number can be short synchronous reference signal；Long signal can for long synchronous reference signal and/
Or channel estimation reference signal.
In the embodiment of the present application, after receiver receives the wireless signal in defensive range, the wireless signal is obtained
The unmanned plane appeared in defensive range is identified as signal to be processed.First according to the centre frequency of signal to be processed, from
The model and signal characteristic that unmanned plane corresponding with signal to be processed is searched in allocation list obtain expected model and expected signal characteristic
Basis as identification.Then, whether preset matching item is met by the feature and expected signal characteristic that judge signal to be processed
Part determines whether signal to be processed is wireless signal used in the UAV Communication of expected model, realizes and goes out in defensive range
The discovery and identification of existing unmanned plane are not influenced by environmental factors such as weather without the auxiliary of vision-based detection, improve unmanned plane
The effect and efficiency of management.And the embodiment of the present application is to find and identify unmanned plane by the matched mode of signal characteristic, is known
Other accuracy influenced by wireless signal signal-to-noise ratio it is small, when signal power be far below noise power when still can accurately realize signal
The matching of feature, it is low to the signal-to-noise ratio requirement of signal to be processed, to effectively raise the detecting distance of unmanned plane.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis is said
Bright is the difference from other embodiments, and the same or similar parts in each embodiment may refer to each other.For reality
For applying device disclosed in example, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place ginseng
See method part illustration.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The above is only the preferred embodiment of the application, not makes any form of restriction to the application.Though
Right the application has been disclosed in a preferred embodiment above, however is not limited to the application.It is any to be familiar with those skilled in the art
Member, in the case where not departing from technical scheme ambit, all using the methods and technical content of the disclosure above to the application
Technical solution makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, it is all without departing from
The content of technical scheme, any simple modification made to the above embodiment of the technical spirit of foundation the application are equal
Variation and modification, still fall within technical scheme protection in the range of.
Claims (10)
1. a kind of unmanned plane detection method, which is characterized in that the described method includes:
Obtain the signal to be processed received in defensive range；
According to the centre frequency of the signal to be processed, nothing corresponding with the signal to be processed is searched from preset allocation list
Man-machine model and signal characteristic obtain expected model and expected signal characteristic；The allocation list carry multiple and different models nobody
Machine communicates the frequency range and signal characteristic of wireless signal used；
Whether the feature and the expected signal characteristic for judging the signal to be processed meet preset matching condition；
Occurs the unmanned plane of the expected model in the defensive range if so, determining.
2. the method according to claim 1, wherein the signal to be processed include repeat send short message number and
Changeless long signal；Whether the feature for judging the signal to be processed and the expected signal characteristic meet default
With condition, specifically include:
According to the offset in the expected signal characteristic, auto-correlation processing is done to the signal to be processed, judgement is described from phase
Whether the first correlation that pass is handled is greater than first threshold；
And/or
Cross correlation process is done to the long signal and the signal to be processed that carry in the expected signal characteristic, is judged described mutual
Whether the second correlation that pass is handled is greater than second threshold.
3. according to the method described in claim 2, it is characterized in that, the offset according in the expected signal characteristic,
Auto-correlation processing is done to the signal to be processed, is specifically included:
According to formulaThe first correlation r is calculated1[i]；
In formula, x [i+k] is the i-th+k sampled signals of the signal to be processed, and i=1,2 ..., N-2L, N is described to be processed
The total quantity of sampled point in signal, L are the offset, and conj { A } is the conjugate complex number of A.
4. according to the method described in claim 2, it is characterized in that, described to the long signal carried in the expected signal characteristic
Cross correlation process is done with the signal to be processed, is specifically included:
According to formulaThe second correlation r is calculated2[i]；
In formula, x [i+m] is the i-th+m sampled points of the signal to be processed, and i=1,2 ..., N-M, N is the letter to be processed
The total quantity of sampled point in number, s [m] are m-th of sampled signal of the long signal, and m=0,1 ..., M-1, M is the long letter
Number length, conj { A } be A conjugate complex number.
5. according to method described in claim 2-4 any one, which is characterized in that
The short message number is short synchronous reference signal；
The long signal is long synchronous reference signal and/or channel estimation reference signal.
6. a kind of unmanned machine detecting device, which is characterized in that described device include: signal acquisition module, feature searching module,
With judgment module and identification determining module；
The signal acquisition module, for obtaining the signal to be processed received in defensive range；
The feature searching module, for the centre frequency according to the signal to be processed, searched from preset allocation list with
The corresponding unmanned plane model of the signal to be processed and signal characteristic obtain expected model and expected signal characteristic；The configuration
Table carries the frequency range and signal characteristic of wireless signal used in multiple and different model UAV Communications；
The matching judgment module, it is pre- whether feature and the expected signal characteristic for judging the signal to be processed meet
If matching condition；
The identification determining module, for determining the defensive range when the judging result of the matching judgment module, which is, is
The interior unmanned plane for the expected model occur.
7. device according to claim 6, which is characterized in that the signal to be processed include repeat send short message number and
Changeless long signal；The matching judgment module, specifically includes: the first judging submodule and/or second judgment submodule；
First judging submodule, for being done to the signal to be processed according to the offset in the expected signal characteristic
Whether auto-correlation processing, the first correlation for judging that the auto-correlation processing obtains are greater than first threshold；
The second judgment submodule, for being done to the long signal and the signal to be processed that are carried in the expected signal characteristic
Whether cross correlation process, the second correlation for judging that the cross correlation process obtains are greater than second threshold.
8. device according to claim 7, which is characterized in that first judging submodule is specifically used for:
According to formulaThe first correlation r is calculated1[i]；
In formula, x [i+k] is the i-th+k sampled signals of the signal to be processed, and i=1,2 ..., N-2L, N is described to be processed
The total quantity of sampled point in signal, L are the offset, and conj { A } is the conjugate complex number of A.
9. device according to claim 7, which is characterized in that the second judgment submodule is specifically used for:
According to formulaThe second correlation r is calculated2[i]；
In formula, x [i+m] is the i-th+m sampled points of the signal to be processed, and i=1,2 ..., N-M, N is the letter to be processed
The total quantity of sampled point in number, s [m] are m-th of sampled signal of the long signal, and m=0,1 ..., M-1, M is the long letter
Number length, conj { A } be A conjugate complex number.
10. according to device described in claim 7-9 any one, which is characterized in that
The short message number is short synchronous reference signal；
The long signal is long synchronous reference signal and/or channel estimation reference signal.
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