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CN-122024690-A - Unmanned aerial vehicle-mounted radio receiving noise reduction method and system based on flight control data

CN122024690ACN 122024690 ACN122024690 ACN 122024690ACN-122024690-A

Abstract

The invention discloses an unmanned aerial vehicle-mounted radio receiving noise reduction method and system based on flight control data, and belongs to the technical field of unmanned aerial vehicle communication. The method comprises the steps of obtaining flight control data of the multi-rotor aircraft, wherein the flight control data comprise rotating speed parameters and/or flight attitude parameters of each rotating driving device, determining noise characteristic data corresponding to a current working state based on the flight control data, generating noise cancellation signals according to the noise characteristic data, and combining the noise cancellation signals with receiving signals of a radio receiver to inhibit electromagnetic interference generated by the rotating driving devices. The invention uses the flight control data as priori knowledge to realize cross-domain data fusion, does not need additional reference antenna hardware, has the advantages of high response speed and low system complexity, and is suitable for application scenes such as unmanned aerial vehicle medium wave DRM digital broadcast reception.

Inventors

  • LIU HAOCHUN

Assignees

  • 成都纽格立科技有限公司

Dates

Publication Date
20260512
Application Date
20260225

Claims (9)

  1. 1. An unmanned aerial vehicle radio receiving noise reduction method based on flight control data is characterized by comprising the following steps: Acquiring flight control data of the multi-rotor aircraft, wherein the flight control data comprise rotating speed parameters and/or flight attitude parameters of each rotating driving device; determining noise characteristic data corresponding to the current working state based on the flight control data; generating a noise cancellation signal according to the noise characteristic data; And combining the noise cancellation signal with a received signal of a radio receiver to suppress electromagnetic interference generated by the rotation driving device.
  2. 2. The method according to claim 1, wherein the determining noise characteristic data corresponding to the current operating state specifically comprises: the rotating speed parameters comprise PWM duty ratio values and/or motor current values corresponding to the rotating driving devices; The noise characteristic data comprises frequency point information, amplitude value information and phase value information; and acquiring the noise characteristic data from a preset noise characteristic database through table look-up processing and/or interpolation processing based on the flight control data.
  3. 3. The method of claim 1, wherein the determining noise signature data corresponding to the current operating state further comprises: and/or the noise characteristic data is transmitted to the multi-rotor aircraft from a server side in a remote communication mode.
  4. 4. The method of claim 1, wherein the noise signature data is established by an off-line calibration method, the off-line calibration comprising: under a controlled environment, acquiring electromagnetic interference signals generated by the rotation driving device at different rotation speeds; And carrying out spectrum analysis on the electromagnetic interference signal, extracting noise characteristics and establishing a noise characteristic database.
  5. 5. The method of claim 1, further comprising the step of optimizing based on feedback information: and/or acquiring the synthesized residual noise information, and performing self-adaptive fine adjustment on the noise cancellation signal based on the residual noise information.
  6. 6. The method of claim 1, wherein the radio receiver is configured to receive a mid-wave band signal, the mid-wave band having a frequency range of 526.5kHz to 1606.5kHz; Preferably, the radio receiver is configured to DRM digital broadcast decode the received medium wave band signal.
  7. 7. An unmanned aerial vehicle radio reception noise reduction system based on flight control data, comprising: the data acquisition module is configured to acquire flight control data of the multi-rotor aircraft, wherein the flight control data comprises rotating speed parameters and/or flight attitude parameters of each rotating driving device; The noise prediction module is configured to determine noise characteristic data corresponding to the current working state based on the flight control data; a signal generation module configured to generate a noise cancellation signal from the noise characteristic data; And the signal processing module is configured to perform synthesis processing on the noise cancellation signal and a receiving signal of the radio receiver so as to inhibit electromagnetic interference generated by the rotation driving device.
  8. 8. The system of claim 7, wherein the noise prediction module comprises a processing unit implemented by an FPGA or a DSP and/or wherein the radio receiver is a Software Defined Radio (SDR) receiver.
  9. 9. The system of claim 7, further comprising a storage unit for storing noise signature data, said noise signature data being established by an off-line calibration and invoked by means of a look-up table.

Description

Unmanned aerial vehicle-mounted radio receiving noise reduction method and system based on flight control data Technical Field The invention relates to the technical field of unmanned aerial vehicle communication, in particular to an unmanned aerial vehicle-mounted radio receiving noise reduction method and system based on flight control data. Background With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicle platforms are widely applied to scenes such as aviation communication relay, frequency spectrum monitoring and emergency broadcast receiving. The unmanned aerial vehicle is provided with medium wave or short wave radio receiving equipment, so that the aerial receiving of ground broadcast signals (such as DRM digital broadcasting) can be realized, and the unmanned aerial vehicle has important application value. However, multi-rotor unmanned aerial vehicles face serious electromagnetic compatibility problems during flight. Specifically, the rotation driving device (such as a brushless dc motor) of the unmanned aerial vehicle and an electronic speed regulator (ESC) thereof can generate broadband electromagnetic interference (EMI) during operation. The spectral characteristics of the electromagnetic interference are closely related to the rotational speed of the motor, and have significant energy distribution in the medium-wave frequency band (526.5 kHz to 1606.5 kHz). When the unmanned aerial vehicle is provided with the medium wave receiver, the electromagnetic interference can seriously influence the signal to noise ratio of the receiver, so that the receiving performance is greatly reduced. In the prior art, noise reduction schemes for unmanned aerial vehicle radio reception mainly comprise the following categories: The first is a passive shielding scheme, i.e. the physical isolation of the source of interference or receiver by means of electromagnetic shielding material. The shielding effect of the scheme in a low frequency band (such as a medium wave frequency band) is limited, and the load weight of the unmanned aerial vehicle can be increased. The second type is an adaptive filtering scheme, i.e. by setting a reference antenna to pick up the interference signal and using an adaptive filtering algorithm (such as LMS, RLS, etc.) to estimate and cancel the interference in real time. The scheme needs additional reference antenna hardware, increases the complexity of the system, and meanwhile, the convergence speed of the adaptive filter is limited, so that real-time tracking is difficult when the rotating speed of the motor changes rapidly. The third type is an audio domain noise reduction scheme, which mainly aims at the noise reduction requirement of unmanned aerial vehicle recording equipment, and eliminates the acoustic noise collected by the microphone by analyzing the rotation speed of the motor/rotor. The scheme is applied to the field of audio signal processing, but the technical principle of the scheme cannot be directly transferred to an electromagnetic interference suppression scene of a radio frequency domain, because acoustic noise and electromagnetic interference have essential differences in the aspects of physical mechanism, frequency spectrum characteristics, propagation paths and the like. Therefore, a noise reduction method capable of effectively suppressing electromagnetic interference of the rotary driving device of the multi-rotor unmanned aerial vehicle, suitable for low-frequency radio frequency receiving scenes such as medium waves and the like, and without additional reference antenna hardware is needed. Disclosure of Invention Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle radio receiving noise reduction method and system based on flight control data, and aims to solve the technical problem that electromagnetic interference of a multi-rotor unmanned aerial vehicle rotation driving device affects radio receiving performance. The technical scheme is based on the technical finding that a flight controller of the multi-rotor unmanned aerial vehicle can acquire control parameters (such as PWM duty ratio) and state parameters (such as rotating speed) of each rotation driving device in real time, and a deterministic corresponding relation exists between electromagnetic interference characteristics generated by the rotation driving devices and working states of the electromagnetic interference characteristics. Based on the finding, the invention provides the method for predicting and counteracting electromagnetic interference by using the flight control data as priori knowledge and through the preset noise characteristic data, thereby realizing active noise reduction of an emission frequency domain. In a first aspect, the present invention provides an unmanned aerial vehicle radio receiving noise reduction method based on flight control data, comprising the steps of: Acquiring flight control data of the mult