CN104316901A - Aerial intelligent robot used for radio monitoring - Google Patents

Abstract

The invention discloses an aerial intelligent robot for radio monitoring. A receiving antenna, an electronic compass, a radio monitoring receiving unit, a central processing unit and a navigation module are all installed on the body, and the central processing unit is connected with the navigation module, the electronic compass and the navigation module respectively. The radio monitoring receiving unit is connected, and the receiving antenna is connected with the radio monitoring receiving unit. The central processing unit first measures the direction of the radio signal source through direction finding, and then controls the flight of the body autonomously according to the direction finding result, and finally according to the direction finding during the flight. The location of the source of the radio signal is calculated from further monitoring data on the track. The invention utilizes a central processing unit to simultaneously control the radio monitoring and the flight control of the airframe, thereby reducing the number of modules and reducing their mutual interference; moreover, the integration degree is high, the volume is greatly reduced, the power consumption is reduced, and the electromagnetic compatibility is better.

Description

Aerial intelligent robot for radio monitoring

technical field

The invention relates to the field of aerial radio monitoring, in particular to an aerial intelligent robot for radio monitoring which utilizes direction finding results to autonomously plan a track to locate a signal source.

Background technique

As a supplement to the traditional monitoring mode, aerial radio monitoring can form a multi-functional modern three-dimensional monitoring network such as remote control, joint direction finding, and key monitoring on the existing monitoring network, which will realize full-frequency, full-service, Full-time and all-round monitoring coverage, so as to comprehensively improve the level of technical management. The biggest difference between aerial monitoring and previous monitoring methods is the need for the use of carriers suitable for aerial monitoring flights, and different monitoring activities have different requirements for the types of monitoring carriers used in terms of the needs, nature and budget of monitoring tasks ;According to the current application scenarios of air monitoring tasks, air monitoring tasks can be divided into major activity support tasks, emergency response tasks and daily inspection tasks.

Air radio monitoring has great advantages, because when radio waves propagate on the ground, they will become chaotic due to refraction, reflection, and diffraction of various media; while air propagation has almost no reflection and directness, so the radio waves obtained through air monitoring The direction and position of the signal source are often very accurate; secondly, the air monitoring position changes rapidly, and it can be quickly switched from one point to another to perform three-dimensional intersection multi-point positioning. The position accuracy obtained in this way is very high, so the air platform There is an increasing need for radio monitoring.

At present, there are very few devices and methods for monitoring radio using aerial robots in my country. The control of aerial robots is mostly in the remote control stage of the ground station. The existing aerial radio monitoring platforms mainly include: manned fixed-wing aircraft, manned single-rotor helicopter, single-rotor unmanned helicopter, and airship, all of which cannot be realized. Autonomous direction finding in the air to locate the source of the signal.

The hub airports in the United States have long been equipped with manned fixed-wing aircraft-borne radio monitoring systems, and China also began to use them in 2010, with a cost of more than tens of millions of yuan. Since the cost of each flight is more than hundreds of thousands of yuan, and it cannot hover and wait, the fixed-wing aircraft not only has a very high manufacturing cost, but also a very high flight cost. Task.

In 2007, a manned single-rotor helicopter carrying radio monitoring system with a cost of more than several million yuan appeared in Shenzhen. The flight cost of the single-rotor helicopter was more than 3,000 yuan per hour; the manufacturing cost was high, and the flight cost was also high.

In 2011, an airship-borne radio monitoring system appeared in Yunnan. Although the airship is safe, the flight cost is relatively high. The cost of each helium filling is usually more than 10,000 yuan.

In 2012, a single-rotor unmanned helicopter with a cost of more than hundreds of thousands of yuan appeared in China. Low, but it has high technical requirements for operators, which is not conducive to promotion and popularization, and it is prone to crash accidents, which has great potential safety hazards.

Common technical problems still exist with existing airborne radio monitoring technologies:

1. The existing aerial radio monitoring system has high manufacturing cost and high flight cost;

2. The existing airborne radio monitoring system is difficult to operate and requires well-trained professional pilots or operators, which is not conducive to promotion and popularization;

3. The existing airborne radio monitoring system has low safety during operation, and it is difficult to take into account the flexibility required for safety and radio monitoring. Once an accident occurs, the loss will be great;

4. The existing airborne radio monitoring system has a complex structure, a huge body, and high storage and maintenance costs.

On June 30, 2014, the applicant applied for a Chinese invention patent with application number 201410303894.1 "An air radio monitoring system based on ground remote control of multi-rotor robots" and a Chinese invention patent with application number 201410304041.X "based on multi-rotor "Airborne Radio Monitoring System for Robots", although the above-mentioned problems have been solved, the following problems still exist:

A. The ground remote control unit is still required to control the multi-rotor robot to perform various flight attitudes and complete radio monitoring tasks in the air, which has high requirements for operators;

B. In recent years, radio monitoring based on aerial robots generally has deficiencies such as difficult control, high risk, and low level of intelligence, especially in the areas of autonomous direction finding and autonomous planning of flight paths in the air, lack of practical and effective means;

C. The existing aerial radio monitoring system still uses the ground remote controller to control the flight path of the UAV, and it is impossible for the multi-rotor robot to independently plan the flight path according to the direction finding results and monitor the radio signal source through the change of the flight path. position.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned problems existing in the prior art, and propose an aerial intelligent robot for radio monitoring. The invention uses a central processing unit to simultaneously control the radio monitoring and the flight control of the airframe, reduces the number of modules, reduces mutual interference, and has high integration, reduced volume, reduced power consumption, and better electromagnetic compatibility.

The present invention adopts following technical scheme to realize:

An aerial intelligent robot for radio monitoring, characterized by comprising:

airframes for flight;

Receiving antennas for acquiring radio signals;

An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time;

a radio monitoring receiving unit for receiving radio signals;

A central processing unit for dispatching monitoring tasks, controlling airframe flight, dispatching radio monitoring receiving units, analyzing and recording monitoring data;

Navigation module for navigation and self-positioning;

The receiving antenna, the electronic compass, the radio monitoring receiving unit, the central processing unit and the navigation module are all installed on the body, and the central processing unit is connected with the navigation module, the electronic compass and the radio monitoring receiving unit respectively, and the receiving antenna is connected to the radio monitoring unit. Monitoring the connection of the receiving unit, the central processing unit first measures the direction of the radio signal source through direction finding, and then uses the direction finding result to control the flight track of the airframe through the flight control module, and finally calculates the radio signal according to the data measured during the continued flight. The location of the signal source.

The navigation module is a satellite navigation module.

The receiving antenna transmits the radio signals that need to be monitored to the radio monitoring receiving unit at different heights; the radio monitoring receiving unit sends the radio signal strength data from different heights to the central processing unit; the central processing unit measures the radio signals at different heights The altitude with the strongest radio signal; then perform direction finding at the height with the strongest radio signal strength to measure the direction of the radio signal source, and the central processing unit controls the flight of the aircraft according to the direction finding result, and finally according to the data measured during the continued flight Calculate the location of the source of the radio signal.

The aerial intelligent robot for radio monitoring also includes at least one ranging sensor for avoiding obstacles, the ranging sensor is connected with the central processing unit, and the central processing unit calculates in real time whether the space obstacle is within the body through the ranging sensor. On the flight track, when the central processing unit calculates that the space obstacle is on the flight track of the body, the central processing unit controls the body to avoid the space obstacle. It can effectively prevent the air radio monitoring intelligent robot from colliding with space obstacles, causing damage to the air radio monitoring intelligent robot, affecting the air radio monitoring task, and ensuring the safe flight of the air radio monitoring intelligent robot.

The ranging sensor is an ultrasonic ranging sensor, a laser ranging sensor or an infrared ranging sensor.

The aerial intelligent robot that is used for radio monitoring also includes barometer, gyroscope and acceleration sensor, and described central processing unit is connected with barometer, gyroscope and acceleration sensor respectively, and central processing unit passes barometer, gyroscope and acceleration sensor Automatically correct the flight attitude of the body. The barometer is used to measure the flying height of the air radio monitoring intelligent robot, and provides height parameters for the control unit; the gyroscope is used to prevent the deviation of the flight angular velocity of the air radio monitoring intelligent robot, and can be used to maintain the flight direction and keep the flight stable; the acceleration sensor controls the air The radio monitors the flight acceleration of the intelligent robot and controls the flight stability.

The aerial intelligent robot for radio monitoring also includes a power sensor for electric quantity detection, and the aerial intelligent robot for radio monitoring includes a power supply for supplying power to the aerial radio monitoring intelligent robot, and the power supply is respectively connected to the central The processing unit is connected to the power sensor, the power sensor is connected to the central processing unit, and the central processing unit continuously detects the current remaining power of the body through the power sensor, and judges whether the current power is sufficient to continue flying; when the central processing unit calculates the current remaining power When the power is only enough to return to the departure point or the alternate landing point, the central processing unit controls the body to perform automatic return or alternate landing. It can protect and take back the air radio monitoring intelligent robot at the first time, effectively avoiding the loss of the air radio monitoring intelligent robot due to insufficient power. the

The aerial intelligent robot for radio monitoring also includes a parachute opening unit, the parachute opening unit is connected with the central processing unit, the aerial robot is provided with a parachute, and the parachute is connected with the parachute opening unit, and the central processing unit is opened by the parachute opening unit parachute. The addition of the parachute and the parachute opening unit can open the parachute to reduce the falling speed and land safely when the air radio monitoring intelligent robot falls due to mechanical failure, when the battery is exhausted, or when it is hit by an unknown object and falls. It is convenient for the recovery of aerial radio monitoring intelligent robots, effectively prevents data loss, and saves the cost of aerial monitoring.

The receiving antenna is a directional antenna, the directional antenna is fixedly connected with the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity; or the receiving antenna is a direction-finding antenna array.

The flight track is to continue flying in the direction of the measured radio signal source, and the flight distance is D1; or the flight track is to continue flying in the direction where the measured radio signal source forms an included angle θ1, and the flight distance is D2 ; or the flight track is to continue flying in the direction of the measured radio signal source, the flight distance is D3, and then continue to fly in the direction of the angle θ2 in the direction of the measured radio signal source, the flight distance is D4.

The radio monitoring receiving unit is a spectrum analyzer and a monitoring receiver.

The central processing unit is a microprocessor with flight control function that controls the radio monitoring receiving unit to execute radio monitoring instructions and process and store monitoring data.

The weight of the aerial radio monitoring intelligent robot is 6-12 kilograms.

Compared with the prior art, the present invention has the following advantages:

1. The present invention uses a central processing unit to simultaneously control the radio monitoring and the flight control of the airframe, which reduces the number of modules and reduces mutual interference; and has high integration, reduced volume, reduced power consumption, and better electromagnetic compatibility.

2. The satellite navigation data of the present invention is the most convenient to use, effectively avoiding the mutual calling of satellite navigation data between multiple processing units, high integration, reduced volume, reduced power consumption, and easy replacement.

3. The present invention adopts an airborne radio monitoring intelligent robot including a body, a receiving antenna, an electronic compass, a radio monitoring receiving unit, a central processing unit and a navigation module; no professional operators are required, the operation is simple, the risk is low, and the level of intelligence is high. The air radio monitoring intelligent robot uses the monitoring results to plan the track independently to determine the position of the signal source, and realizes the intelligent air radio monitoring.

4. The present invention adopts the aerial intelligent robot for radio monitoring and also includes multiple groups of range-finding sensors for avoiding obstacles. The multiple groups of range-finding sensors are respectively connected to the central processing unit, and the central processing unit calculates in real time through multiple groups of range-finding sensors. Whether the space obstacle is on the flight path of the body, when the central processing unit calculates that the space obstacle is on the flight path of the body, the central processing unit controls the body to avoid the space obstacle. It can effectively prevent the air radio monitoring intelligent robot from colliding with space obstacles, causing damage to the air radio monitoring intelligent robot, affecting the air radio monitoring task, and ensuring the safe flight of the air radio monitoring intelligent robot.

3. The present invention adopts the aerial intelligent robot for radio monitoring and also includes a barometer, a gyroscope and an acceleration sensor, and the central processing unit is connected with the barometer, a gyroscope and an acceleration sensor respectively, and the central processing unit passes through the barometer, Gyroscopes and acceleration sensors automatically correct the flight attitude of the body. The barometer is used to measure the flying height of the air radio monitoring intelligent robot, and provides height parameters for the control unit; the gyroscope is used to prevent the deviation of the flight angular velocity of the air radio monitoring intelligent robot, and can be used to maintain the flight direction and keep the flight stable; the acceleration sensor controls the air The radio monitors the flight acceleration of the intelligent robot and controls the flight stability.

4. The present invention adopts that the aerial intelligent robot for radio monitoring also includes a power sensor for electric quantity detection, and the aerial intelligent robot for radio monitoring includes a power supply for powering the aerial radio monitoring intelligent robot, so The power supply is respectively connected to the central processing unit and the power sensor, and the power sensor is connected to the central processing unit, and the central processing unit continuously detects the current remaining power of the body through the power sensor, and judges whether the current power is sufficient to continue flying; when the central When the processing unit calculates that the current remaining power is only enough to return to the departure point or the alternate landing point, the central processing unit controls the body to perform automatic return or alternate landing. It can protect and take back the air radio monitoring intelligent robot at the first time, effectively avoiding the loss of the air radio monitoring intelligent robot due to insufficient power. the

5. The aerial intelligent robot used for radio monitoring in the present invention also includes a parachute opening unit, the parachute opening unit is connected with the central processing unit, the aerial robot is provided with a parachute, and the parachute is connected with the parachute opening unit, and the central processing unit The parachute is opened by the parachute opening unit. The addition of the parachute and the parachute opening unit can open the parachute to reduce the falling speed and land safely when the air radio monitoring intelligent robot falls due to mechanical failure, when the battery is exhausted, or when it is hit by an unknown object and falls. It is convenient for the recovery of aerial radio monitoring intelligent robots, effectively prevents data loss, and saves the cost of aerial monitoring.

6. In the present invention, the receiving antenna is a directional antenna, the directional antenna is fixedly connected to the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity; or the receiving antenna is a direction-finding antenna array. The structure is simple, the operation is convenient, and the manufacturing cost is low.

7. The present invention adopts the flight path to continue flying in the direction of the measured radio signal source, and the flight distance is _D1 ; Fly, the flight distance is D2; or the flight track is to continue to fly in the direction of the measured radio signal source, the flight distance is D3, and then continue to fly in the direction where the measured radio signal source forms an included angle θ ₂ , the flight distance is D4. The present invention has adopted above-mentioned 3 kinds of flight tracks, by monitoring the position change of air radio monitoring intelligent robot during flight time of different flight tracks, the change of radio signal strength level measured by air radio monitoring intelligent robot and the azimuth calculation of radio signal source The position of the radio signal source realizes the air radio monitoring intelligent robot to use the direction finding results to plan the track independently to locate the position of the signal source, and realizes the intelligent air radio monitoring.

8. The present invention adopts the radio monitoring receiving unit as a spectrum analyzer or a monitoring receiver. The spectrum analyzer is used to measure the signal spectrum parameters, and can transmit the measurement results to the data interface in a digital way; the monitoring receiver is used to measure the strength, frequency, bandwidth, etc. of the radio signal in the air. the

9. The present invention uses the central processing unit to control the radio monitoring receiving unit to execute radio monitoring instructions, and process and store monitoring data with a microprocessor with flight control function; or the central processing unit is to control the radio monitoring receiving unit to execute Mobile phone with flight control function or tablet computer with flight control function for radio monitoring instructions, and processing and storage of monitoring data, using a mobile phone with flight control function or tablet computer with flight control function can send air radio monitoring intelligent robots through the network Interact with the control center to provide real-time monitoring data and environmental information, and also facilitate the control center to observe the air radio monitoring intelligent robot to perform air radio monitoring tasks.

10. The weight of the aerial radio monitoring intelligent robot is 6-12 kilograms, and the weight of the entire aerial radio monitoring intelligent robot is very light compared with airships and helicopters of the prior art, and the cost is low, and the light weight ensures aerial radio monitoring. Intelligent robots can successfully perform aerial radio monitoring tasks, and have low energy consumption, which is especially suitable for promotion and popularization in the field of aerial radio monitoring.

11. The invention has a high degree of intelligence, can automatically avoid obstacles during flight, and can automatically return to flight or alternate landing after the mission is completed.

12. The present invention is different from ground monitoring and direction finding. Radio monitoring in the air not only overcomes the influence of reflection, refraction, diffraction, etc., but also measures and calculates the position of the radio signal source by autonomously planning the track. Unusual sources of radio signals provide a shortcut.

13. The present invention has high flexibility. The invention adopts aerial monitoring, is not blocked by ground obstacles, and is suitable for monitoring in various environments of cities, suburbs or mountains.

14. The monitoring and positioning efficiency of the present invention is high. Different from vehicle-mounted or hand-held direction finding on the ground, because the air radio monitoring intelligent robot takes off and flies faster, there are no road restrictions and traffic jams, and it can naturally avoid the influence of reflection, refraction and diffraction in the air.

15. The present invention improves flight safety and flight efficiency, solves the common problems of difficult control, high risk and low level of intelligence in the prior art, and also solves the problems of the existing airborne radio monitoring system. Neither man nor machine can independently plan the UAV track to locate the radio signal source according to the monitoring results.

Description of drawings

Fig. 1 is a structural schematic diagram of an aerial intelligent robot used for radio monitoring according to the present invention.

Fig. 2 is a structural schematic diagram of an aerial intelligent robot used for radio monitoring according to Embodiment 3 of the present invention.

Detailed ways

Below in conjunction with accompanying drawing, the present invention is further described:

Example 1:

Aerial intelligent robots for radio monitoring, including:

airframes for flight;

Receiving antennas for acquiring radio signals;

An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time;

a radio monitoring receiving unit for receiving radio signals;

A central processing unit for dispatching monitoring tasks, controlling airframe flight, dispatching radio monitoring receiving units, analyzing monitoring data and recording monitoring data;

Navigation module for navigation and self-positioning;

The receiving antenna, the electronic compass, the radio monitoring receiving unit, the central processing unit and the navigation module are all installed on the body, and the central processing unit is connected with the navigation module, the electronic compass and the radio monitoring receiving unit respectively, and the receiving antenna is connected to the radio monitoring unit. Monitoring the connection of the receiving unit, the central processing unit first measures the direction of the radio signal source through direction finding, and then uses the direction finding result to control the flight track of the airframe through the flight control module, and finally calculates the radio signal according to the data measured during the continued flight. The location of the signal source.

In the present invention, the receiving antenna is a directional antenna, and the directional antenna is fixedly connected to the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity.

In the present invention, the flight path includes continuing to fly in the direction of the measured radio signal source, and the flight distance is D1.

In the present invention, the radio monitoring receiving unit is a monitoring receiver.

In the present invention, the central processing unit is a microprocessor that controls the radio monitoring receiving unit to execute radio monitoring instructions, process and store monitoring data, control airframe flight and task scheduling.

In the present invention, the weight of the aerial radio monitoring intelligent robot is 6 kilograms.

The present invention adopts a kind of aerial radio monitoring method that the applicant applies for at the same time in use:

The method includes the following steps:

1) Input the monitoring and positioning parameters: the monitoring and positioning parameters include the radio signal parameters to be monitored, the maximum flight distance Dmax, the monitoring starting point height Hmin and the maximum flight height Hmax;

2) Find out the direction-finding height: After lift-off, the air radio monitoring intelligent robot continuously detects the radio signal strength between the monitoring starting point height Hmin and the maximum flight height Hmax, until the height H corresponding to the maximum value of the radio signal strength is measured;

3) Track planning and positioning of the radio signal source: At the height H, the air radio monitoring intelligent robot first measures the direction of the radio signal source, and the air radio monitoring intelligent robot uses the measured direction of the radio signal source to independently plan the flight path, according to Continue to calculate the position of the source of the radio signal from the data measured during the flight.

In the described track planning and positioning radio signal source steps, the air radio monitoring intelligent robot measures the radio signal strength level S0 and the direction of the radio signal source at the height H and the position P0, and the air radio monitoring intelligent robot moves along the measured The flight distance D1 in the direction of the radio signal source reaches the position P1, and the air radio monitoring intelligent robot at the height H and position P1 measures the radio signal strength level S1 and the direction; the air radio monitoring intelligent robot is based on the variation S1 of the radio signal strength level - S0 and distance D1, calculate the position PS of the radio signal source according to the radio wave propagation model.

If the direction of the source of the radio signal measured at P1 does not change, then:

Under the free space model of radio wave propagation, the distance between P1 and the position of the radio signal source = D1/{ [10(S1-S0)/20]-1 }

Under the plane earth model of radio wave propagation, the distance between P1 and the position of the radio signal source = D1/{ [10(S1-S0)/40]-1 }

If the direction of the source of the radio signal measured at P1 changes by 180 degrees, then:

The distance between P1 and the location of the radio signal source under the free space model

= D1/{ [10(S1-S0)/20]+1 }

The distance between P1 and the position of the radio signal source under the plane earth model

= D1/{ [10(S1-S0)/40]+1 }

When the flight height is far greater than the wavelength of the monitored radio wave, the free space model of radio wave propagation is adopted; otherwise, the planar earth model is used.

Example 2:

An aerial intelligent robot for radio monitoring, characterized by comprising:

airframes for flight;

Receiving antennas for acquiring radio signals;

An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time;

a radio monitoring receiving unit for receiving radio signals;

A central processing unit for dispatching monitoring tasks, controlling airframe flight, dispatching radio monitoring receiving units, analyzing and recording monitoring data;

Navigation module for navigation and self-positioning;

The receiving antenna, the electronic compass, the radio monitoring receiving unit, the central processing unit and the navigation module are all installed on the body, and the central processing unit is connected with the navigation module, the electronic compass and the radio monitoring receiving unit respectively, and the receiving antenna is connected to the radio monitoring unit. Monitoring the connection of the receiving unit, the central processing unit first measures the direction of the radio signal source through direction finding, and then uses the direction finding result to control the flight track of the airframe through the flight control module, and finally calculates the radio signal according to the data measured during the continued flight. The location of the signal source.

In the present invention, the navigation module is a satellite navigation module.

In the present invention, the receiving antenna transmits the radio signals that need to be monitored to the radio monitoring receiving unit at different heights; the radio monitoring receiving unit sends the radio signal strength data from different heights to the central processing unit; the central processing unit measures different heights the height of the strongest radio signal in the radio signal; and then conduct direction finding at the height of the strongest radio signal strength to measure the direction of the radio signal source, and the central processing unit then autonomously controls the flight of the body according to the direction finding result, and finally passes the Data from further monitoring on the track calculates the location of the source of the radio signal.

In the present invention, the aerial intelligent robot for radio monitoring also includes a ranging sensor for avoiding obstacles, the ranging sensor is connected with the central processing unit, and the central processing unit calculates in real time whether the space obstacle is On the flight path of the body, when the central processing unit calculates that the space obstacle is on the flight path of the body, the central processing unit controls the body to avoid the space obstacle. It can effectively prevent the air radio monitoring intelligent robot from colliding with space obstacles, causing damage to the air radio monitoring intelligent robot, affecting the air radio monitoring task, and ensuring the safe flight of the air radio monitoring intelligent robot.

The distance measuring sensor is an ultrasonic distance measuring sensor.

In the present invention, the aerial intelligent robot for radio monitoring also includes a barometer, a gyroscope and an acceleration sensor, and the central processing unit is connected with the barometer, a gyroscope and an acceleration sensor respectively, and the central processing unit passes the barometer, the gyroscope The flight attitude of the airframe is automatically corrected by the instrument and the acceleration sensor. The barometer is used to measure the flying height of the air radio monitoring intelligent robot, and provides height parameters for the control unit; the gyroscope is used to prevent the deviation of the flight angular velocity of the air radio monitoring intelligent robot, and can be used to maintain the flight direction and keep the flight stable; the acceleration sensor controls the air The radio monitors the flight acceleration of the intelligent robot to control the flight stability.

In the present invention, the aerial intelligent robot for radio monitoring also includes a power sensor for electric quantity detection, and the aerial intelligent robot for radio monitoring includes a power supply for powering the aerial radio monitoring intelligent robot. The power supply is respectively connected to the central processing unit and the power sensor, the power sensor is connected to the central processing unit, and the central processing unit continuously detects the current remaining power of the body through the power sensor, and judges whether the current power is sufficient to continue flying; when the central processing unit When it is calculated that the current remaining power is only enough to return to the departure point or the alternate landing point, the central processing unit controls the body to perform automatic return or alternate landing. It can protect and take back the air radio monitoring intelligent robot at the first time, effectively avoiding the loss of the air radio monitoring intelligent robot due to insufficient power. the

In the present invention, the receiving antenna is a directional antenna, and the directional antenna is fixedly connected to the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity.

In the present invention, the flight track is to continue flying in a direction forming an angle θ1 with the measured direction of the radio signal source, and the flight distance is D2.

In the present invention, the included angle θ1 is 0°<|θ1|<90°.

In the present invention, the radio monitoring receiving unit is a monitoring receiver.

In the present invention, the central processing unit is a microprocessor that controls the radio monitoring receiving unit to execute radio monitoring instructions, process and store monitoring data, control airframe flight and task scheduling.

In the present invention, the weight of the aerial radio monitoring intelligent robot is 8 kilograms.

The present invention adopts a kind of aerial radio monitoring method that the applicant applies for at the same time in use:

The method includes the following steps:

1) Input the monitoring and positioning parameters: the monitoring and positioning parameters include the radio signal parameters to be monitored, the maximum flight distance Dmax, the monitoring starting point height Hmin and the maximum flight height Hmax;

2) Find out the direction-finding height: After lift-off, the air radio monitoring intelligent robot continuously detects the radio signal strength between the monitoring starting point height Hmin and the maximum flight height Hmax, until the height H corresponding to the maximum value of the radio signal strength is measured;

3) Track planning and positioning of the radio signal source: At the height H, the air radio monitoring intelligent robot first measures the direction of the radio signal source, and the air radio monitoring intelligent robot uses the measured direction of the radio signal source to independently plan the flight path, according to Continue to calculate the position of the source of the radio signal from the data measured during the flight.

In the steps of track planning and locating the radio signal source, the air radio monitoring intelligent robot first measures the direction I where the radio signal source is located at the height H and the position P0, and the air radio monitoring intelligent robot is clipped along the direction I where the radio signal source is located. The flying distance D2 in the direction of angle θ1 reaches the position P3. At the height H and the position P3, the air radio monitoring intelligent robot measures the direction II of the radio signal source; Plot the position PS of the radio signal source.

Said 0 degree<︱θ1|<90 degrees.

Example 3:

An aerial intelligent robot for radio monitoring, characterized by comprising:

airframes for flight;

Receiving antennas for acquiring radio signals;

An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time;

a radio monitoring receiving unit for receiving radio signals;

A central processing unit for controlling the flight of the airframe, scheduling direction-finding tasks, analyzing and recording monitoring data;

Navigation module for navigation and self-positioning;

The receiving antenna, the electronic compass, the radio monitoring receiving unit, the central processing unit and the navigation module are all installed on the body, and the central processing unit is connected with the navigation module, the electronic compass and the radio monitoring receiving unit respectively, and the receiving antenna is connected to the radio monitoring unit. Monitoring the connection of the receiving unit, the central processing unit first measures the direction of the radio signal source through direction finding, and then uses the direction finding result to control the flight track of the airframe through the flight control module, and finally calculates the radio signal according to the data measured during the continued flight. The location of the signal source.

In the present invention, the navigation module is a satellite navigation module.

In the present invention, the receiving antenna transmits the radio signals that need to be monitored to the radio monitoring receiving unit at different heights; the radio monitoring receiving unit sends the radio signal strength data from different heights to the central processing unit; the central processing unit measures different heights The height of the strongest radio signal in the radio signal; and then conduct direction finding at the height of the strongest radio signal strength to measure the direction of the radio signal source, and the central processing unit will automatically control the flight of the aircraft according to the direction finding result, and finally continue the flight process according to the Calculate the location of the radio signal source from the measured data.

In the present invention, the aerial intelligent robot for radio monitoring also includes three ranging sensors for avoiding obstacles, and each of the ranging sensors is respectively connected to the central processing unit, and the central processing unit passes three ranging sensors It is calculated in real time whether the space obstacle is on the flight path of the body, and when the central processing unit calculates that the space obstacle is on the flight path of the body, the central processing unit controls the body to avoid the space obstacle. It can effectively prevent the air radio monitoring intelligent robot from colliding with space obstacles, causing damage to the air radio monitoring intelligent robot, affecting the air radio monitoring task, and ensuring the safe flight of the air radio monitoring intelligent robot.

The ranging sensor is a laser ranging sensor.

In the present invention, the aerial intelligent robot for radio monitoring also includes a barometer, a gyroscope and an acceleration sensor, and the central processing unit is connected with the barometer, a gyroscope and an acceleration sensor respectively, and the central processing unit passes the barometer, the gyroscope The flight attitude of the airframe is automatically calibrated by the instrument and the acceleration sensor. The barometer is used to measure the flying height of the air radio monitoring intelligent robot and provide altitude parameters for the control unit; the gyroscope is used to prevent the flight angle and direction deviation of the air radio monitoring intelligent robot, and can be used to maintain the flight direction and keep the flight stable; the acceleration sensor control The air radio monitors the flight acceleration of the intelligent robot and controls the flight stability.

In the present invention, the aerial intelligent robot for radio monitoring also includes a power sensor for electric quantity detection, and the aerial intelligent robot for radio monitoring includes a power supply for powering the aerial radio monitoring intelligent robot. The power supply is respectively connected to the central processing unit and the power sensor, the power sensor is connected to the central processing unit, and the central processing unit continuously detects the current remaining power of the body through the power sensor, and judges whether the current power is sufficient to continue flying; when the central processing unit When it is calculated that the current remaining power is only enough to return to the departure point or the alternate landing point, the central processing unit controls the body to perform automatic return or alternate landing. It can protect and take back the air radio monitoring intelligent robot at the first time, effectively avoiding the loss of the air radio monitoring intelligent robot due to insufficient power. the

The aerial intelligent robot for radio monitoring also includes a parachute opening unit, the parachute opening unit is connected with the central processing unit, the aerial robot is provided with a parachute, and the parachute is connected with the parachute opening unit, and the central processing unit is opened by the parachute opening unit parachute. The addition of the parachute and the parachute opening unit can open the parachute to reduce the falling speed and land safely when the air radio monitoring intelligent robot falls due to mechanical failure, when the battery is exhausted, or when it is hit by an unknown object and falls. It is convenient for the recovery of aerial radio monitoring intelligent robots, effectively prevents data loss, and saves the cost of aerial monitoring.

In the present invention, the receiving antenna is a directional antenna, and the directional antenna is fixedly connected to the electronic compass, and the directional antenna and the electronic compass rotate at the same angular velocity.

In the present invention, the flight track is to continue flying in the direction where the radio signal source is measured, and the flight distance is D3, and then continue to fly in the direction where the direction of the radio signal source that is measured forms an included angle θ2, and the flight distance is D4.

In the present invention, the included angle θ2 is 0°<|θ2|<90°.

In the present invention, the radio monitoring receiving unit is a monitoring receiver.

In the present invention, the central processing unit is a microprocessor that controls the radio monitoring receiving unit to execute radio monitoring instructions, process and store monitoring data, control airframe flight and task scheduling.

In the present invention, the weight of the aerial radio monitoring intelligent robot is 12 kilograms.

The present invention adopts a kind of aerial radio monitoring method that the applicant applies for at the same time in use:

The method includes the following steps:

1) Input the monitoring and positioning parameters: the monitoring and positioning parameters include the radio signal parameters to be monitored, the maximum flight distance Dmax, the monitoring starting point height Hmin and the maximum flight height Hmax;

2) Find out the direction-finding height: After lift-off, the air radio monitoring intelligent robot continuously detects the radio signal strength between the monitoring starting point height Hmin and the maximum flight height Hmax, until the height H corresponding to the maximum value of the radio signal strength is measured;

3) Track planning and positioning of the radio signal source: At the height H, the air radio monitoring intelligent robot first measures the direction of the radio signal source, and the air radio monitoring intelligent robot uses the measured direction of the radio signal source to independently plan the flight path, according to Continue to calculate the position of the source of the radio signal from the data measured during the flight.

In the steps of track planning and locating the radio signal source, the air radio monitoring intelligent robot first measures the radio signal strength level S0 and the direction I of the signal source at the height H and the position P0; the air radio monitoring intelligent robot then follows the radio signal The direction where the source is located, the flight distance D3 reaches the position P4, the air radio monitoring intelligent robot measures the radio signal strength level S4 and the direction II at the height H and the position P4, and the air radio monitoring intelligent robot then according to the variation of the radio signal strength level S4-S0 and distance D3 calculate the position PS1 of the radio signal source according to the radio wave propagation model; the air radio monitoring intelligent robot then flies along the direction of the angle θ2 with the direction Ⅰ of the radio signal source to reach the position P5 at a distance of D4, at the height H, The air radio monitoring intelligent robot at position P5 measures the direction III where the radio signal source is located, and the air radio monitoring intelligent robot draws the position PS2 of the radio signal source according to the intersection of position P0, direction I, position P5, and direction III; air radio monitoring The intelligent robot calculates the position PS1 of the radio signal source and the position PS2 of the radio signal source through weighted calculation to obtain a more accurate position PS of the radio signal source.

Preferably, by estimating the angle range of the included angle θ2 through the calculated position PS1 of the radio signal source, the accuracy of cross-drawing positioning can be improved, and a more accurate position PS2 of the radio signal source can be obtained.

Said 30°<|θ2|<60°, the linear distance between P0 and P5 is D5. the

If the direction of the radio signal source measured at P4 does not change, then

Under the free space model of radio wave propagation, the distance between P4 and the position PS1 of the radio signal source = D3/{ [10(S4-S0)/20]-1 }

Under the plane earth model of radio wave propagation, the distance between P4 and the position PS1 of the radio signal source = D3/{ [10(S4-S0)/40]-1 }

If the direction of the source of the radio signal measured at P4 changes by 180 degrees, then

In the free space model, the distance between P4 and the position PS1 of the radio signal source

= D3/{ [10(S4-S0)/20]+1 }

Under the plane earth model, the distance between P4 and the position PS1 of the radio signal source

= D3/{ [10(S4-S0)/40]+1 }.

Example 4:

The difference from Embodiments 1, 2, and 3 is that in the present invention, the aerial intelligent robot for radio monitoring also includes five ranging sensors for avoiding obstacles.

Claims (10)

1. An aerial intelligent robot for radio monitoring, characterized in that it comprises: airframes for flight; Receiving antennas for acquiring radio signals; An electronic compass used to obtain the direction pointed by the receiving antenna and obtain the azimuth corresponding to the direction in real time; a radio monitoring receiving unit for receiving radio signals; A central processing unit for dispatching monitoring tasks, controlling airframe flight, dispatching radio monitoring receiving units, analyzing and recording monitoring data; Navigation module for navigation and self-positioning; The receiving antenna, the electronic compass, the radio monitoring receiving unit, the central processing unit and the navigation module are all installed on the body, and the central processing unit is connected with the navigation module, the electronic compass and the radio monitoring receiving unit respectively, and the receiving antenna is connected to the radio monitoring unit. Monitoring the connection of the receiving unit, the central processing unit first measures the direction of the radio signal source through direction finding, and then uses the direction finding result to control the flight track of the airframe through the flight control module, and finally calculates the radio signal according to the data measured during the continued flight. The location of the signal source. 2. The aerial intelligent robot for radio monitoring according to claim 1, characterized in that: the weight of the aerial intelligent robot is 6-12 kilograms. 3. The aerial intelligent robot that is used for radio monitoring according to claim 1 is characterized in that: the receiving antenna transmits the radio signal that needs to be monitored to the radio monitoring receiving unit at different heights; the radio monitoring receiving unit will be from different heights The radio signal strength data is sent to the central processing unit; the central processing unit measures the height of the strongest radio signal among the radio signals at different heights; then conducts direction finding at the height of the strongest radio signal strength to measure the direction of the radio signal source; The central processing unit first measures the direction of the radio signal source through direction finding, then controls the flight of the aircraft according to the direction finding result, and finally calculates the position of the radio signal source according to the data measured during the continuous flight. 4. the aerial intelligent robot that is used for radio monitoring according to claim 1, is characterized in that: the aerial intelligent robot that is used for radio monitoring also comprises at least one ranging sensor for avoiding obstacles, and described ranging sensor Connected with the central processing unit, the central processing unit calculates in real time whether the space obstacle is on the flight path of the body through the ranging sensor, and when the central processing unit calculates that the space obstacle is on the flight path of the body, the central processing unit controls the body Avoid space obstacles. 5. the aerial intelligent robot that is used for radio monitoring according to claim 1, is characterized in that: the described aerial intelligent robot that is used for radio monitoring also comprises barometer, gyroscope and accelerometer, and described central processing unit and The barometer, gyroscope and acceleration sensor are connected, and the central processing unit automatically corrects the flight attitude of the body through the barometer, gyroscope and acceleration sensor. 6. The aerial intelligent robot for radio monitoring according to claim 1, characterized in that: the radio monitoring system also includes an electric quantity sensor for electric quantity detection, and the aerial intelligent robot for radio monitoring includes For the power supply for the air radio monitoring intelligent robot, the power supply is respectively connected to the central processing unit and the power sensor, the power sensor is connected to the central processing unit, and the central processing unit continuously detects the current remaining power of the body through the power sensor, And judge whether the current power is enough to continue the flight; when the central processing unit calculates that the current remaining power is only enough to return to the departure point or the alternate landing point, the central processing unit controls the body to perform automatic return or alternate landing. 7. the aerial intelligent robot that is used for radio monitoring according to claim 1, is characterized in that: the aerial intelligent robot that is used for radio monitoring also comprises parachute opening unit, and parachute opening unit is connected with central processing unit, and described airborne The robot is provided with a parachute, and the parachute is connected with the parachute opening unit, and the central processing unit opens the parachute through the parachute opening unit. 8. the aerial intelligent robot that is used for radio monitoring according to claim 1, is characterized in that: described receiving antenna is directional antenna, and directional antenna and electronic compass are fixedly connected, and directional antenna and electronic compass rotate with same angular velocity; Or the The receiving antenna is a direction finding antenna array. 9. the aerial intelligent robot that is used for radio monitoring according to claim 1, is characterized in that: described flight track is to continue to fly toward the radio signal source place direction of surveying, and flight distance is D1; Or flight track is Continue to fly in the direction where the direction of the measured radio signal source forms an included angle θ1, and the flight distance is D2; or continue flying in the direction where the measured radio signal source is located first, and the flight distance is D3, and then continue to fly to the direction where the measured radio signal source is located. Continue to fly in the direction where the direction of the emitted radio signal source forms an included angle θ2, and the flight distance is D4. 10. The aerial intelligent robot for radio monitoring according to claim 1, characterized in that: the radio monitoring receiving unit is a spectrum analyzer, a monitoring receiver; the central processing unit is to control the radio monitoring receiving unit to perform radio A microprocessor for monitoring instructions, processing and storing monitoring data, controlling body flight and task scheduling; the navigation module is a satellite navigation module.