CN-121978668-A - Unmanned aerial vehicle detection method, unmanned aerial vehicle detection device, unmanned aerial vehicle detection equipment and storage medium

CN121978668ACN 121978668 ACN121978668 ACN 121978668ACN-121978668-A

Abstract

The application discloses an unmanned aerial vehicle detection method, device, equipment and storage medium, which relate to the technical field of unmanned aerial vehicle detection and comprise the steps of controlling a radar array surface to complete array surface layout arrangement of receiving and dispatching physical separation to form a detection framework with mutually independent emitting subarrays and receiving subarrays, regulating and controlling the emitting subarrays and the receiving subarrays to realize intra-subarray phase control scanning and subarray level multiple-input multiple-output cooperative work to construct a virtual aperture, driving the radar array surface to perform horizontal mechanical scanning, synchronously regulating the emitting subarrays and the receiving subarrays to complete pitching phase control scanning to realize airspace full coverage scanning, receiving echo signals formed by airspace scanning and transmitting the echo signals to a signal processing unit, and performing super-resolution angle measurement processing on the echo signals by the signal processing unit in combination with the virtual aperture to obtain a target detection result. The application can realize the cooperation of short-distance non-blind area, full airspace rapid scanning and small-size unmanned aerial vehicle accurate positioning, reduce hardware cost and system complexity, and efficiently adapt to the detection scene of the low-altitude unmanned aerial vehicle.

Inventors

ZHUANG JINFA
PAN SHENGSEN

Assignees

深圳市创自技术有限公司

Dates

Publication Date: 20260505
Application Date: 20260409

Claims (10)

1. The unmanned aerial vehicle detection method is characterized by being applied to a low-altitude detection phased array radar system, wherein the system comprises a radar array surface, a mechanical rotating mechanism, a signal processing unit and a control unit, the radar array surface comprises a transmitting subarray and a receiving subarray, and the method comprises the following steps: the control unit is used for controlling the radar array surface to complete array surface layout arrangement of receiving and transmitting physical separation, so as to form a detection framework with mutually independent emitting subarrays and receiving subarrays; Regulating and controlling the transmitting subarray and the receiving subarray through the control unit so as to realize the collaborative work of phased scanning and subarray level multiple-input multiple-output in the subarray and construct a virtual aperture; the radar array surface is driven to carry out horizontal mechanical scanning through the mechanical rotating mechanism, the transmitting subarrays and the receiving subarrays are synchronously adjusted through the control unit to finish pitching phased scanning, and airspace full-coverage scanning is realized; And receiving echo signals formed by airspace scanning through the receiving subarrays and transmitting the echo signals to the signal processing unit, and performing super-resolution angle measurement processing on the echo signals by the signal processing unit in combination with the virtual aperture to obtain target detection results, thereby completing detection and positioning of the unmanned aerial vehicle targets.
2. The unmanned aerial vehicle detection method of claim 1, wherein the controlling the radar array surface to complete the array surface layout setting of the receiving-transmitting physical separation by the control unit forms a detection architecture in which a transmitting subarray and a receiving subarray are mutually independent, and the unmanned aerial vehicle detection method comprises the following steps: Subarray division is carried out on the radar array surface through the control unit, and the arrangement position of the transmitting subarrays and the arrangement position of the receiving subarrays are determined; The control unit is used for controlling the transmitting subarray to be connected with the transmitting end assembly and controlling the receiving subarray to be connected with the receiving end assembly, so that physical isolation of a receiving-transmitting link is realized; and optimizing the isolation design of a receiving-transmitting link through the control unit to form a detection framework with mutually independent transmitting subarrays and receiving subarrays.
3. The unmanned aerial vehicle detection method of claim 1, wherein the controlling the transmitting subarray and the receiving subarray by the control unit to realize the collaborative operation of intra-subarray phase control scanning and subarray level multiple-input multiple-output, constructs a virtual aperture, comprises: The control unit is used for setting a phase weighting network in the transmitting subarray and the receiving subarray so as to realize phase control scanning in the subarray; the control unit is used for controlling the transmitting subarrays to transmit orthogonal signals, and the synchronous control receiving subarrays are used for receiving echo signals of all the transmitting subarrays and carrying out coherent processing to obtain a coherent processing result; and performing sparse arrangement on the transmitting subarrays and the receiving subarrays through the control unit, and constructing a virtual aperture by combining the coherent processing result.
4. The unmanned aerial vehicle detection method of claim 3, wherein the controlling the transmitter subarrays to transmit the orthogonal signals by the control unit, synchronously controlling the receiver subarrays to receive the echo signals of all the transmitter subarrays and perform coherent processing to obtain a coherent processing result, comprises: Determining a generation mode of the orthogonal signals by the control unit, and controlling each emission subarray to emit the orthogonal signals which are not mutually interfered according to the generation mode; the control unit controls the receiving subarray to synchronously collect echo signals formed by all emission signals of the emission subarray; And carrying out coherent processing on the echo signals acquired by the receiving subarrays through the control unit, extracting target characteristic information in the echo signals, and forming a coherent processing result.
5. The unmanned aerial vehicle detection method of claim 1, wherein the driving the radar array to perform horizontal mechanical scanning by the mechanical rotation mechanism, and the adjusting the transmitter sub-array and the receiver sub-array by the control unit to complete pitch phase control scanning, to achieve airspace full coverage scanning, comprises: Setting a rotation parameter of the mechanical rotation mechanism and a horizontal beam parameter of the transmitting subarray according to a preset airspace detection requirement through the control unit; The control unit controls the mechanical rotating mechanism to drive the radar array surface to perform horizontal mechanical scanning according to the rotating parameters; and the phase weight network in the transmitting subarray and the receiving subarray is synchronously adjusted through the control unit, and the phase weight of the array element is adjusted to finish pitching phased scanning so as to realize airspace full coverage scanning.
6. The unmanned aerial vehicle detection method of claim 1, wherein the receiving subarray receives the echo signals formed by the airspace scanning and transmits the echo signals to the signal processing unit, the signal processing unit performs super-resolution angle measurement processing on the echo signals by combining the virtual aperture to obtain target detection results, and the unmanned aerial vehicle target detection and positioning are completed, and the unmanned aerial vehicle detection method comprises the following steps: receiving all echo signals formed in the airspace scanning process through the receiving subarrays, and transmitting the echo signals to the signal processing unit in real time; performing airspace expansion processing on the echo signals through the signal processing unit and the constructed virtual aperture so as to improve the angle resolution capability of the signals; And analyzing and processing the echo signals after the airspace expansion by adopting a super-resolution angle measurement algorithm through the signal processing unit to obtain a target detection result, and completing the detection and positioning of the unmanned aerial vehicle target.
7. The unmanned aerial vehicle detection method of claim 6, wherein the analyzing the echo signal after the airspace expansion by the signal processing unit by adopting a super-resolution angle measurement algorithm to obtain a target detection result, and completing the detection and positioning of the unmanned aerial vehicle target comprises: Selecting an adaptive super-resolution angle measurement algorithm by the signal processing unit, carrying out data analysis on echo signals after the space domain expansion, acquiring angle resolution parameters of a detection target according to analysis results, and determining spatial position information of the detection target; And verifying and analyzing the spatial position information of the detected target through the signal processing unit to generate a target detection result, thereby completing detection and positioning of the unmanned aerial vehicle target.
8. An unmanned aerial vehicle detection device, characterized by comprising: The setting module is used for controlling the array surface layout setting of the physical separation of receiving and transmitting of the radar array surface through the control unit to form a detection framework with mutually independent emitting subarrays and receiving subarrays; The construction module is used for regulating and controlling the transmitting subarray and the receiving subarray through the control unit so as to realize the phased scanning in the subarray and the multi-input multi-output cooperative work of subarray level and construct a virtual aperture; the scanning module is used for driving the radar array surface to carry out horizontal mechanical scanning through a mechanical rotating mechanism, and synchronously adjusting the transmitting subarray and the receiving subarray through the control unit to complete pitching phase control scanning so as to realize airspace full-coverage scanning; And the detection module is used for receiving echo signals formed by airspace scanning through the receiving subarrays and transmitting the echo signals to the signal processing unit, and the signal processing unit is combined with the virtual aperture to perform super-resolution angle measurement on the echo signals to obtain target detection results so as to finish detection and positioning of the unmanned aerial vehicle targets.
9. A drone detection apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the drone detection method of any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium is a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the unmanned aerial vehicle detection method according to any of claims 1 to 7.

Description

Unmanned aerial vehicle detection method, unmanned aerial vehicle detection device, unmanned aerial vehicle detection equipment and storage medium Technical Field The present application relates to the field of unmanned aerial vehicle detection technologies, and in particular, to an unmanned aerial vehicle detection method, apparatus, device, and storage medium. Background After the conventional phased array radar becomes the main stream technology of the low-altitude detection scene, the design logic and the technical architecture are difficult to adapt to the actual requirement of the low-altitude unmanned aerial vehicle detection, a plurality of technical defects are gradually exposed in the actual application, and the defects are mutually restricted and cannot be optimized through simple parameter adjustment. The conventional phased array radar has the advantages that the conventional phased array radar is widely used for multiplexing a receiving antenna, is influenced by factors such as feed link isolation, TR component receiving and transmitting switching time sequence delay and the like, a fixed close detection blind area with the radius not smaller than 150 meters is formed, the low-altitude unmanned aerial vehicle is always in a close-range flight state, serious missed detection risks are directly caused, angle resolution is positively related to the physical aperture of the radar antenna, the conventional radar needs to increase array elements to expand the physical aperture for improving resolution, but beam narrowing is caused, the search data rate of horizontal mechanical scanning is rapidly reduced to be below 0.2r/s, a high-speed maneuvering target cannot be tracked, the inherent contradiction between scanning time and angle resolution is formed, even tens of thousands of array elements and matched TR components are required to be deployed for considering wide airspace coverage and high thousands of resolution, the conventional radar has the problems of exponentially increased hardware cost, large power consumption, heavy volume, difficult heat dissipation and the like, miniaturization and light-weight deployment are difficult to realize, and the large-scale application of the radar in the unmanned aerial vehicle detection scene is limited. These defects become the bottleneck of the low-altitude detection phased array radar technology development, and cannot meet the actual combat requirements of low-altitude unmanned aerial vehicle detection. Disclosure of Invention The application mainly aims to provide an unmanned aerial vehicle detection method, device, equipment and storage medium, and aims to solve the technical defects of the conventional phased array radar in actual combat requirement of low-altitude unmanned aerial vehicle detection. In order to achieve the above object, the present application provides an unmanned aerial vehicle detection method, which is applied to a low-altitude detection phased array radar system, the system includes a radar array surface, a mechanical rotation mechanism, a signal processing unit and a control unit, the radar array surface includes a transmitting subarray and a receiving subarray, the method includes: the control unit is used for controlling the radar array surface to complete array surface layout arrangement of receiving and transmitting physical separation, so as to form a detection framework with mutually independent emitting subarrays and receiving subarrays; Regulating and controlling the transmitting subarray and the receiving subarray through the control unit so as to realize the collaborative work of phased scanning and subarray level multiple-input multiple-output in the subarray and construct a virtual aperture; the radar array surface is driven to carry out horizontal mechanical scanning through the mechanical rotating mechanism, the transmitting subarrays and the receiving subarrays are synchronously adjusted through the control unit to finish pitching phased scanning, and airspace full-coverage scanning is realized; And receiving echo signals formed by airspace scanning through the receiving subarrays and transmitting the echo signals to the signal processing unit, and performing super-resolution angle measurement processing on the echo signals by the signal processing unit in combination with the virtual aperture to obtain target detection results, thereby completing detection and positioning of the unmanned aerial vehicle targets. In one possible implementation manner, the controlling, by the control unit, the arrangement of the array plane layout of the radar array plane to complete the receiving-transmitting physical separation, to form a detection architecture where the transmitting subarray and the receiving subarray are independent of each other, includes: Subarray division is carried out on the radar array surface through the control unit, and the arrangement position of the transmitting subarrays and the arrangement position