UAV (Unmanned Aerial Vehicle) positioning method based on multi-source direction finding information fusion

Abstract

The invention discloses a UAV (Unmanned Aerial Vehicle) positioning method based on multi-source direction finding information fusion, and the method comprises the following steps of acquiring direction finding information of the UAVs by the stations deployed at different detection locations, wherein the direction finding information of the UAVs comprises the signal strength, the signal interference noise ratio and the signal direction of arrival of the UAVs; when the measurement and control center receives the direction finding information of UAVs of at least 3 stations, initially estimatingpositions of the target UAVs according to the directions of arrival measured by any two stations and the positions of the stations; and performing linear weighted sum on the calculated positions of all the target UAVs by combining the signal interference noise ratio sent by the stations to obtain the final positions of the target UAVs. The invention provides a practical and rapid UAV positioning method, which fully utilizes the existing measurement information, takes into account the position information of different base stations and the signal interference noise ratio of the received signalto realize accurate estimation of the positions of the target UAVs, and has simple process and low complexity in the calculation of the positions of the target UAVs.

Description

technical field [0001] The invention belongs to the technical field of direction finding and positioning of unmanned aerial vehicles, and in particular relates to a positioning method for unmanned aerial vehicles based on fusion of multi-source direction finding information. Background technique [0002] In recent years, due to insufficient supervision of drones, the "black flying" incidents of drones in related areas have worsened and escalated, causing adverse effects. Therefore, to achieve effective control of non-cooperative UAVs ("black flying" UAVs) in key areas, the most core technology involves effective estimation of the position of "black flying" UAVs. By realizing the accurate estimation of the position of the "black flying" UAV, it can provide an accurate basis for the subsequent interference countermeasure system, and finally realize the effective maintenance of public safety in key areas or important places of activity. At present, the research on the position...

AI Technical Summary

Problems solved by technology

[0011] For the existing UAV positioning method, the scenarios considered are relatively ideal, and most of them are quantitative analysis of the performance of the positioning method, and the consideration of actual application scenarios is lacking. The present invention combines the actual application scenarios, according to the channel Attenuation model, a UAV localization method based on multi-source direction finding information fusion is proposed

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