CN117269917A - Single-station type sight distance unmanned aerial vehicle positioning method and system based on multipath utilization - Google Patents
Single-station type sight distance unmanned aerial vehicle positioning method and system based on multipath utilization Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The invention provides a single-station type sight distance unmanned aerial vehicle positioning method based on multipath utilization, which comprises the following steps: s1: placing a radar detection device and an unmanned aerial vehicle on the outer side of a building, wherein the unmanned aerial vehicle is positioned in the sight distance range of the radar detection device; s2: acquiring layout prior data, repeatedly acquiring echo signals of the unmanned aerial vehicle through a radar detection device, and acquiring echo path lengths through the layout prior data and the echo signals; s3: and constructing a multipath trajectory equation by laying out priori data and echo path length, and obtaining the real position of the unmanned aerial vehicle by solving the multipath trajectory equation. According to the invention, the multipath track equation is constructed through the layout priori data of the building and the multipath signal echo characteristics in the urban canyon scene, the real position of the unmanned aerial vehicle is obtained through solving the multipath track equation, the multipath track information is effectively utilized to establish the auxiliary positioning virtual radar, the real unmanned aerial vehicle target information is mined, the detection accuracy of the unmanned aerial vehicle is improved, and the false alarm rate is reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to a single-station type sight distance unmanned aerial vehicle positioning method and system based on multipath utilization.
Background
In recent years, unmanned aerial vehicle industry continues to grow rapidly, and unmanned aerial vehicles have been widely distributed in industries such as aerial photography entertainment, agriculture and forestry plant protection, electric power inspection, police law enforcement, poison inhibition investigation and the like. From 2014 to 2018, the global rotorcraft market size has increased by about 20% each year, and the rapid development of commercial drones and low thresholds have led to high-rise drone "black fly" events. Under urban environment, when unmanned aerial vehicle unauthorized access to airport airspace, public place and sensitive area, there is danger that public safety and national safety will be jeopardized. At present, unmanned aerial vehicle detection technology at home and abroad is rapidly developed, and the unmanned aerial vehicle positioning technology in urban environment mainly comprises active radar detection technology, external radiation source radar detection technology, passive radar detection technology and the like. Because unmanned aerial vehicle belongs to low, slow, little flight target, and active radar detection effect is limited, and the use of external radiation source radar and passive radar is limited to the electromagnetic environment in the air, and active radar system and external radiation source radar system need the multistation collaborative work for realizing unmanned aerial vehicle location, share real-time detection big data, require strict synchronization in order to guarantee the accuracy of detection between each website, lead to unmanned aerial vehicle detection system structure complicacy, the price is expensive, be difficult to popularize and need gridding installation deployment of complete set.
Disclosure of Invention
In order to solve the technical problems, the invention provides a single-station type sight distance unmanned aerial vehicle positioning method based on multipath utilization, which comprises the following steps:
s1: placing a radar detection device and an unmanned aerial vehicle on the outer side of a building, wherein the unmanned aerial vehicle is positioned in the sight distance range of the radar detection device;
s2: acquiring layout prior data, repeatedly acquiring echo signals of the unmanned aerial vehicle through a radar detection device, and acquiring echo path lengths through the layout prior data and the echo signals;
s3: and constructing a multipath trajectory equation by laying out priori data and echo path length, and obtaining the real position of the unmanned aerial vehicle by solving the multipath trajectory equation.
Preferably, step S2 specifically includes:
s21: constructing a plane coordinate system, and taking a first wall surface l1 of a building as a longitudinal axis; taking a second wall l2 of the building as a transverse axis; the third wall surface l3 of the building is vertical to the second wall surface l2, is parallel to the first wall surface l1, and is a distance d2 from the first wall surface l 1;
s22: setting layout prior data, comprising: the position (x 1, y 1) of the radar detection device R1 is (0, d 1), the position (x 2, y 2) of the mirror synchronous virtual radar R2 of the second wall surface l2, the position (x 3, y 3) of the mirror synchronous virtual radar R3 of the third wall surface l3, the reflection point P2 of the second wall surface l2, the reflection point P3 of the third wall surface l 3;
s23: echo signals of the unmanned aerial vehicle are detected through the radar detection device R1, and echo time delay tau is obtained through echo signal calculation 1 To tau 6 ；
S24: and obtaining the corresponding echo path through each echo time delay, and calculating to obtain the echo path length corresponding to each echo path.
Preferably, step S23 specifically includes:
s231: constructing an echo signal coordinate system through the echo signals, wherein the abscissa of the echo signal coordinate system is time, and the ordinate is the intensity of the echo signals;
s232: setting a time range, and acquiring a plurality of echo signal peaks of an echo signal coordinate system in the time range;
s233: obtaining echo time delay tau through calculation of multiple echo signal peak values 1 To tau 6 。
Preferably, the calculation formula of the echo time delay is as follows:
τ j ＝H j+1 -H 1
where j is the number of echo delays, τ j For the jth echo time delay, j takes the value of 1 to 6, hj+1 is the value corresponding to the jth+1 echo signal peak valueTime.
Preferably, step S24 specifically includes:
s241: by echo delay tau 1 The echo path M1 is obtained: R1-T-R1;
by echo delay tau 2 Obtaining an echo path M3: R1-P3-T-R1;
by echo delay tau 3 Obtaining an echo path M5: R1-P2-T-R1;
by echo delay tau 4 Obtaining an echo path M2: R1-P3-T-P3-R1;
by echo delay tau 6 Obtaining an echo path M4: R1-P2-T-P2-R1;
s242: echo path length d of M1 R1TR1 The method comprises the following steps: τ 1 ×c；
Echo path length d of M2 R1P3TP3R1 The method comprises the following steps: τ 4 ×c；
Echo path length d of M4 R1P2TP2R1 The method comprises the following steps: τ 6 X c, where c is the speed of light.
Preferably, the step S3 specifically includes:
constructing a multipath trajectory equation, wherein the expression is as follows:
the equations for echo paths M1, M2 and M4 are:
wherein x is 2 ＝x 1 ＝0,y 2 ＝-y 1 ＝-d 1 ,x 3 ＝2d 2 ,y 3 ＝d 1 ；
The equation for echo paths M3 and M5 is:
wherein,
substituting the parameters into a multipath trajectory equation, and calculating to obtain the real position (x, y) of the unmanned aerial vehicle.
A single-station line-of-sight unmanned aerial vehicle positioning system based on multipath utilization, comprising:
the unmanned aerial vehicle setting module is used for placing the radar detection device and the unmanned aerial vehicle on the outer side of the building, and the unmanned aerial vehicle is positioned in the sight distance range of the radar detection device;
the echo path length acquisition module is used for acquiring layout prior data, repeatedly acquiring echo signals of the unmanned aerial vehicle through the radar detection device, and acquiring echo path length through the layout prior data and the echo signals;
the unmanned aerial vehicle real position calculation module is used for constructing a multipath track equation through layout prior data and echo path length, and obtaining the real position of the unmanned aerial vehicle through solving the multipath track equation.
The invention has the following beneficial effects:
according to the invention, the multipath track equation is constructed through the layout priori data of the building and the multipath signal echo characteristics in the urban canyon scene, the real position of the unmanned aerial vehicle is obtained through solving the multipath track equation, the multipath track information is effectively utilized to establish the auxiliary positioning virtual radar, the real unmanned aerial vehicle target information is mined, the detection accuracy of the unmanned aerial vehicle is improved, and the false alarm rate is reduced.
Drawings
FIG. 1 is a flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a radar detection apparatus;
FIG. 3 is an echo path plane coordinate system;
FIG. 4 is a graph of the output results of a matched filter;
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, the invention provides a single-station type sight distance unmanned aerial vehicle positioning method based on multipath utilization, which comprises the following steps:
s1: placing a radar detection device and an unmanned aerial vehicle on the outer side of a building, wherein the unmanned aerial vehicle is positioned in the sight distance range of the radar detection device;
s2: acquiring layout prior data, repeatedly acquiring echo signals of the unmanned aerial vehicle through a radar detection device, and acquiring echo path lengths through the layout prior data and the echo signals;
s3: and constructing a multipath trajectory equation by laying out priori data and echo path length, and obtaining the real position of the unmanned aerial vehicle by solving the multipath trajectory equation.
Further, as shown in fig. 2, the radar detection device is composed of a main control computer, a signal processing unit and a radio frequency front end module, wherein the main control computer mainly completes system parameter setting, man-machine interaction and detection result presentation; the signal processing unit mainly completes corresponding algorithms such as signal generation, signal receiving, signal processing and the like; the radio frequency front-end module mainly completes up-down conversion, digital-analog-digital conversion and receiving and transmitting of corresponding signals.
The signal processing unit adopts a ZYNQMP Field Programmable Gate Array (FPGA) based on an embedded multi-core ARM core, target detection, tracking and filtering are all completed in ARM, and the FPGA is responsible for generating, capturing and tracking a Frank sequence. In order to make the radar system more compact, ADRV9009 chips are adopted to complete functions such as up-down conversion, filtering, automatic Gain Control (AGC), digital-to-analog conversion (DAC), analog-to-digital conversion (ADC) and the like, so that the cost is greatly reduced, and the high integration of a radar transmitter and a receiver is realized.
The embedded radio transceiver platform acquires the acquired radar echo signal through an ADC of the radio frequency front end module, changes the acquired radar echo signal from an analog signal into a digital signal, and inputs the digital signal into the FPGA for subsequent signal processing; at the FPGA digital end, after being processed by a low-pass filter, the echo signal and the local reference signal are subjected to matched filtering, so that the processing gain is improved, and the detection probability of a small target is increased.
Further, the step S2 specifically includes:
s21: constructing a plane coordinate system, and taking a first wall surface l1 of a building as a longitudinal axis; taking a second wall l2 of the building as a transverse axis; the third wall surface l3 of the building is vertical to the second wall surface l2, is parallel to the first wall surface l1, and is a distance d2 from the first wall surface l 1;
s22: setting layout prior data, comprising: the position (x) of the radar detection device R1 1 ,y 1 ) For (0, d 1), the mirror image of the second wall l2 synchronizes the position (x 2 ,y 2 ) The position (x 3 ,y 3 ) The reflection point P2 of the second wall surface l2 and the reflection point P3 of the third wall surface l 3;
s23: echo signals of the unmanned aerial vehicle are detected through the radar detection device R1, and echo time delay tau is obtained through echo signal calculation 1 To tau 6 ；
S24: and obtaining the corresponding echo path through each echo time delay, and calculating to obtain the echo path length corresponding to each echo path.
Specifically, the plane coordinate system is shown in fig. 3, where l1, l2 and l3 are respectively cement building outer walls, R1 represents a radar detection device, and since the path of r1→p2→t is consistent with the length of r2→p2→t, R2 can be represented as a mirror synchronous virtual radar of R1 with respect to the reflecting surface l2, and similarly, R3 is a mirror synchronous virtual radar of R1 with respect to the reflecting surface l 3; the electromagnetic wave emitted to the unmanned aerial vehicle T by the radar R1 through the antenna may generate a multipath effect in the urban environment, as shown in fig. 3, path M1: r1- & gt-T- & gt 1 is the direct path between the radar R1 and the unmanned aerial vehicle T, and is the shortest path between the radar and the unmanned aerial vehicle; besides, due to the reflection effect of the urban building group, one-hop, two-hop and even multi-hop multipath propagation conditions can be generated, and due to the fact that the energy loss of each reflection is large, the energy loss of the multi-hop path is large, the imaging influence on a radar target is small, and therefore the one-hop multipath propagation condition is considered; one hop path has two, and in the electromagnetic wave propagation process, specular reflection occurs at the P3 position of the wall surface l3, and part of energy of the reflected wave, which is continuously propagated and meets the unmanned plane T, is reflected back to form a path M2: the propagation path shown by R1-P3-T-P3-R1, while a portion of the energy is returned directly to the receiver via the direct path of T, forming M3: a path shown by R1, P3, T and R1; when the electromagnetic wave is subjected to specular reflection at the wall l2, the reflected wave forms reflection again at the unmanned plane T to form M4: the path of r1→p2→t→p2→r1, while at the unmanned plane T, a part of the energy is returned directly to the receiver via the direct path, forming M5: propagation path of R1, P2, T, R1.
Further, step S23 specifically includes:
s231: constructing an echo signal coordinate system through the echo signals, wherein the abscissa of the echo signal coordinate system is time, and the ordinate is the intensity of the echo signals;
s232: setting a time range, and acquiring a plurality of echo signal peaks of an echo signal coordinate system in the time range;
s233: obtaining echo time delay tau through calculation of multiple echo signal peak values 1 To tau 6 。
Further, the calculation formula of the echo time delay is as follows:
τ j ＝H j+1 -H 1
where j is the number of echo delays, τ j For the j-th echo time delay, j takes on a value of 1 to 6,H j+1 The time corresponding to the j+1th echo signal peak value.
Further, the step S24 specifically includes:
s241: by echo delay tau 1 The echo path M1 is obtained: R1-T-R1;
by echo delay tau 2 Obtaining an echo path M3: R1-P3-T-R1;
by echo delay tau 3 Obtaining echo path M5：R1-P2-T-R1；
By echo delay tau 4 Obtaining an echo path M2: R1-P3-T-P3-R1;
by echo delay tau 6 Obtaining an echo path M4: R1-P2-T-P2-R1;
s242: echo path length d of M1 R1TR1 The method comprises the following steps: τ 1 ×c；
Echo path length d of M2 R1P3TP3R1 The method comprises the following steps: τ 4 ×c；
Echo path length d of M4 R1P2TP2R1 The method comprises the following steps: τ 6 X c, where c is the speed of light.
Further, as can be seen from the analysis of multipath propagation in urban environment, the target points satisfying the propagation paths of M1, M2 and M4 form circles C1, C2 and C3 with the detection distances as radii with R1, R2 and R3 as the centers of circles, and for the path M3, since:
so the trajectory equation satisfying the path M3 can be seen as an ellipse with R1 and R3 as the focal points and d2 as the major axis; similarly, the trajectory equation satisfying the path M5 can be regarded as an ellipse with R1 and R2 as focuses and d1 as the major axis.
Since city building and geographic information are known prior information, a plane coordinate system (a cadier coordinate system) as shown in fig. 3 is established, the origin is O, l2 is x-axis, l1 is y-axis, and the coordinates of the coordinate position point R1 of the radar R1 are (x 1 ,y 1 ) Wherein x is 1 ＝0，y 1 Is a known variable; the mirror virtual radar R2 has coordinates (x 2 ,y 2 ) The mirror virtual radar R3 has coordinates (x 3 ,y 3 ) The real position coordinates of the unmanned aerial vehicle T to be tested are (x, y), so the expression of the multipath trajectory equation is shown in the step S3;
the step S3 specifically comprises the following steps:
constructing a multipath trajectory equation, wherein the expression is as follows:
the equations for echo paths M1, M2 and M4 are:
wherein x is 2 ＝x 1 ＝0,y 2 ＝-y 1 ＝-d 1 ,x 3 ＝2d 2 ,y 3 ＝d 1 ；
The equation for echo paths M3 and M5 is:
wherein,
substituting the parameters into a multipath trajectory equation, and calculating to obtain the real position (x, y) of the unmanned aerial vehicle.
Experimental results:
selecting an experimental scene consistent with the model shown in fig. 3, wherein the radar system is deployed at the window edge of a room, is positioned at the 9 th building of a U-shaped building and is about 30m high from the ground, d1=20m, d2=50m in the scene, the system working frequency of the radar detection device is 4.1GHz, the receiving and transmitting antenna adopts a horn antenna, the antenna gain is 15dB, and the transmitting power is 30dBm.
The model of the unmanned aerial vehicle used for the experiment is Xinjiang genius 4Pro. In the experiment, the unmanned aerial vehicle vertically takes off from the position after the ground measurement and calibration, after flying into a test area, hovers at the position which is at the same level as the radar receiving and dispatching antenna surface, is about 30m away from the ground, and carries out position detection on the unmanned aerial vehicle target in the area by taking the coordinate system shown in fig. 3 as a reference.
6 independent experiments were performed in the outfield experiment, and fig. 4 shows a graph of the output results of the matched filters for the 6 experiments. In the figure, the abscissa is the time index of the output sequence of the matched filter, the unit sampling interval is 4.07ns, the ordinate is the normalized power spectrum amplitude, the normalized Threshold is set to be 0.2, and the Threshold is higher than 0.2, which is the echo peak value detected at the time. From the figure, 8 echo peaks which can be stably monitored in 6 experiments can be seen, and corresponding coordinate points are shown in the figure, namely T1 (1414,0.8903), T2 (1472,0.9877), T3 (1488,0.6813), T4 (1497,0.8635), T5 (1500,0.6813), T6 (1506,0.2699), T7 (1523,0.4386) and T8 (1528,0.294) respectively. Where the target T1 is a false target created by an echo signal directly coupled between the transmit antenna and the receive antenna, which the paper sets to a distance 0 position. Since the position of the wall l3 is known and is about 50m from the wall l1, the echo signal thereof necessarily generates the known target signal T4. Subtracting the time index of T1 from the rest echo index to obtain the measured distance of the target, and arranging τ1=1472-1414=58 tc, τ2=1488-1414=74 tc, τ3=1500-1414=86 tc, τ4=1506-1414=92 tc, τ5=1523-1414=109 tc, τ6=1528-1414=114 tc in order from small to large. From the shortest direct path, τ1 represents the unmanned aerial vehicle direct echo signal, assuming that
err 1 ＝τ 2 -0.5*τ 1 ＝45t c
err 2 ＝τ 3 -0.5*τ 1 ＝57t c
err 3 ＝τ 4 -0.5*τ 1 ＝61t c
Whereas τ4=2err1, τ6=2err2, so τ1, τ2, τ3, τ4, τ6 are the direct, primary, secondary reflection echo delays of the drone, respectively, and τ2 and τ4 represent the primary and secondary reflection echoes from one wall, τ3 and τ6 represent the primary and secondary reflection echoes from the other wall, since τ2=0.5×τ1+0.5×τ4, τ3=0.5×τ1+0.5×τ6.
Setting the vector P as a function of a real position coordinate (x, y), a direct path delay and a secondary reflection path delay of the unmanned aerial vehicle, and calculating a formula according to a target position:
P＝[P 1 ,P 2 ,P 3 ,P 4 ,P 5 ] T
and (3) carrying out numerical optimization solution on the unmanned aerial vehicle by means of a numerical optimization function in the MATLAB, setting the initial value of the function as (25, 10), and carrying out optimization calculation on the MATLAB to obtain the real position detection value (31.5,4.3) of the unmanned aerial vehicle, wherein the real position detection value is basically consistent with the initial position parameter (32,5) calibrated on the ground, and the MSE of the repeated measurement error is smaller than 1m.
A single-station line-of-sight unmanned aerial vehicle positioning system based on multipath utilization, comprising:
the unmanned aerial vehicle setting module is used for placing the radar detection device and the unmanned aerial vehicle on the outer side of the building, and the unmanned aerial vehicle is positioned in the sight distance range of the radar detection device;
the echo path length acquisition module is used for acquiring layout prior data, repeatedly acquiring echo signals of the unmanned aerial vehicle through the radar detection device, and acquiring echo path length through the layout prior data and the echo signals;
the unmanned aerial vehicle real position calculation module is used for constructing a multipath track equation through layout prior data and echo path length, and obtaining the real position of the unmanned aerial vehicle through solving the multipath track equation.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third, etc. do not denote any order, but rather the terms first, second, third, etc. are used to interpret the terms as labels.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. A single-station type sight distance unmanned aerial vehicle positioning method based on multipath utilization is characterized by comprising the following steps:
s1: placing a radar detection device and an unmanned aerial vehicle on the outer side of a building, wherein the unmanned aerial vehicle is positioned in the sight distance range of the radar detection device;
s2: acquiring layout prior data, repeatedly acquiring echo signals of the unmanned aerial vehicle through a radar detection device, and acquiring echo path lengths through the layout prior data and the echo signals;
s3: and constructing a multipath trajectory equation by laying out priori data and echo path length, and obtaining the real position of the unmanned aerial vehicle by solving the multipath trajectory equation.
2. The single-station type sight distance unmanned aerial vehicle positioning method based on multipath utilization according to claim 1, wherein step S2 is specifically:
s21: constructing a plane coordinate system, and taking a first wall surface l1 of a building as a longitudinal axis; taking a second wall l2 of the building as a transverse axis; the third wall surface l3 of the building is vertical to the second wall surface l2, is parallel to the first wall surface l1, and is a distance d2 from the first wall surface l 1;
s22: setting layout prior data, comprising: radar probePosition of measuring device R1 (x 1 ,y 1 ) For (0, d 1), the mirror image of the second wall l2 synchronizes the position (x 2 ,y 2 ) The position (x 3 ,y 3 ) The reflection point P2 of the second wall surface l2 and the reflection point P3 of the third wall surface l 3;
s23: echo signals of the unmanned aerial vehicle are detected through the radar detection device R1, and echo time delay tau is obtained through echo signal calculation 1 To tau 6 ；
S24: and obtaining the corresponding echo path through each echo time delay, and calculating to obtain the echo path length corresponding to each echo path.
3. The single-station type sight distance unmanned aerial vehicle positioning method based on multipath utilization according to claim 2, wherein step S23 is specifically:
s231: constructing an echo signal coordinate system through the echo signals, wherein the abscissa of the echo signal coordinate system is time, and the ordinate is the intensity of the echo signals;
s232: setting a time range, and acquiring a plurality of echo signal peaks of an echo signal coordinate system in the time range;
s233: obtaining echo time delay tau through calculation of multiple echo signal peak values 1 To tau 6 。
4. The single-station line-of-sight unmanned aerial vehicle positioning method based on multipath utilization according to claim 3, wherein the calculation formula of the echo time delay is:
τ j ＝H j+1 -H 1
where j is the number of echo delays, τ j For the j-th echo time delay, j takes on a value of 1 to 6,H j+1 The time corresponding to the j+1th echo signal peak value.
5. The single-station type sight distance unmanned aerial vehicle positioning method based on multipath utilization according to claim 2, wherein step S24 is specifically:
s241: by echo delay tau 1 The echo path M1 is obtained: R1-T-R1;
by echo delay tau 2 Obtaining an echo path M3: R1-P3-T-R1;
by echo delay tau 3 Obtaining an echo path M5: R1-P2-T-R1;
by echo delay tau 4 Obtaining an echo path M2: R1-P3-T-P3-R1;
by echo delay tau 6 Obtaining an echo path M4: R1-P2-T-P2-R1;
s242: echo path length d of M1 R1TR1 The method comprises the following steps: τ 1 ×c；
Echo path length d of M2 R1P3TP3R1 The method comprises the following steps: τ 4 ×c；
Echo path length d of M4 R1P2TP2R1 The method comprises the following steps: τ 6 X c, where c is the speed of light.
6. The single-station type sight distance unmanned aerial vehicle positioning method based on multipath utilization according to claim 5, wherein step S3 is specifically:
constructing a multipath trajectory equation, wherein the expression is as follows:
the equations for echo paths M1, M2 and M4 are:
wherein x is 2 ＝x 1 ＝0,y 2 ＝-y 1 ＝-d 1 ,x 3 ＝2d 2 ,y 3 ＝d 1 ；
The equation for echo paths M3 and M5 is:
wherein,
substituting the parameters into a multipath trajectory equation, and calculating to obtain the real position (x, y) of the unmanned aerial vehicle.
7. A single-station line-of-sight unmanned aerial vehicle positioning system based on multipath utilization, comprising:
the unmanned aerial vehicle setting module is used for placing the radar detection device and the unmanned aerial vehicle on the outer side of the building, and the unmanned aerial vehicle is positioned in the sight distance range of the radar detection device;
the echo path length acquisition module is used for acquiring layout prior data, repeatedly acquiring echo signals of the unmanned aerial vehicle through the radar detection device, and acquiring echo path length through the layout prior data and the echo signals;
the unmanned aerial vehicle real position calculation module is used for constructing a multipath track equation through layout prior data and echo path length, and obtaining the real position of the unmanned aerial vehicle through solving the multipath track equation.
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