基于动态加权均匀圆阵的无人机鲁棒测向方法

doi:10.12305/j.issn.1001-506X.2026.08.02

摘要/Abstract

摘要：

针对无人机测向的高精度和强鲁棒需求，提出一种基于动态加权均匀圆阵的鲁棒测向方法。该方法在均匀圆阵结构基础上，通过迭代计算各基线相位差的残差方差，实时评估噪声对每条基线的影响程度，并融合基线长度对测向分辨力的影响，动态构建权重矩阵，从而优化方向估计过程。实验结果表明，在复杂的高斯?脉冲混合噪声环境下，所提方法显著抑制了强噪声干扰，实现了测向的高精度，并展现出毫秒级的实时性和优异的鲁棒性，为低空安防系统中的无人机实时监测与跟踪提供了可靠的技术支撑。

关键词: 无人机测向, 均匀圆阵, 动态加权, 相位干涉仪

Abstract:

To address the high-precision and strong robustness requirements of unmanned aerial vehicle (UAV) direction finding, a robust direction-finding method based on a dynamic weighted uniform circular array (UCA) is proposed. Building upon the UCA structure, the method iteratively calculates the residual variance of the phase difference for each baseline to evaluate the impact of noise on each baseline in real time. By integrating the influence of baseline length on direction-finding resolution, it dynamically constructs a weight matrix to optimize the direction estimation process. Experimental results demonstrate that in a complex Gaussian-pulse mixed noise environment, the proposed method significantly suppresses strong noise interference, achieves high-precision direction finding, and exhibits millisecond-level real-time performance along with excellent robustness, providing reliable technical support for real-time UAV monitoring and tracking in low-altitude security systems.

Key words: direction finding of unmanned aerial vehicle, uniform circular array (UCA), dynamic weighting, phase interferometer

中图分类号:

TN 971.+1

黄敏, 李召瑞, 孙慧贤, 倪想. 基于动态加权均匀圆阵的无人机鲁棒测向方法[J]. 系统工程与电子技术, 2026, 48(8): 2520-2525.

Min HUANG, Zhaorui LI, Huixian SUN, Xiang NI. Robust direction finding method for UAV based on dynamic weighted UCA[J]. Systems Engineering and Electronics, 2026, 48(8): 2520-2525.

图/表 7

图1

图2

表1

图3

图4

图5

表2

参考文献 15

16	HUO S W, ZHANG M, LIU Y X, et al. A uniform funnel array for DOA estimation in FANET using fibonacci sampling[J]. Sensors, 2025, 25 (9): 2651. doi: 10.3390/s25092651
17	QU M C, SI W J, LIU R Z. Array design and phase interferometer-based DOA estimation for diversely polarized antenna arrays[J]. Measurement, 2025, 242 (5): 116222.
18	HU Z P, WU Q, ZOU J F, et al. Fast and efficient two-dimensional DOA estimation for signals with known waveforms using uniform circular array[J]. Applied Sciences, 2022, 12 (8): 4007. doi: 10.3390/app12084007
19	SIMONCIC A, JAVORNIK T, SESEK A, et al. Direction of arrival estimation for BLE: antenna array design and evaluation[J]. AEU-International Journal of Electronics and Communications, 2023, 168 (4): 154722.
20	BODDI M, ROSAMILIA M, AUBRY A, et al. Iterative calibration and direction-of-arrival estimation for uniform circular arrays affected by mutual coupling[J]. IEEE Sensors Letters, 2024, 8 (6): 7003004.
21	姚志成, 许佳诺, 杨剑, 等. 一种改进的干涉仪-MUSIC联合测向算法[J]. 兵器装备工程学报, 2023, 44 (11): 240- 247. doi: 10.11809/bqzbgcxb2023.11.030
	YAO Z C, XU J N, YANG J, et al. An improved interferometer-MUSIC joint direction finding algorithm[J]. Journal of Weaponry and Equipment Engineering, 2023, 44 (11): 240- 247. doi: 10.11809/bqzbgcxb2023.11.030
22	LIAO B, WU Y T, CHAN S C. A generalized algorithm for fast two-dimensional angle estimation of a single source with uniform circular arrays[J]. IEEE Antennas and Wireless Propagation Letters, 2012, 11, 984- 986. doi: 10.1109/LAWP.2012.2213792
23	DING X R, XU W B, LIU H. An iterative DOA estimation method for uniform circular arrays with weighted baselines[C]//Proc. of the IEEE 97th Vehicular Technology Conference, 2023.
24	BELOUSOV A O, ZHECHEV Y S, CHERNIKOVA E B, et al. UAVs protection and countermeasures in a complex electromagnetic environment[J]. Complexity, 2022, 1: 8539326.
25	LIN B, HU G P, ZHOU H, et al. The DOA estimation method for low-altitude targets under the background of impulse noise[J]. Sensors, 2022, 22 (13): 4853. doi: 10.3390/s22134853
26	JI T M, WEN L B, JIE W, et al. A robust direction of arrival estimation method with high DOF mirror coprime array in impulsive noise[J]. IEEE Trans. on Vehicular Technology, 2024, 73 (6): 7994- 8006. doi: 10.1109/TVT.2023.3349026
27	KUN G, LIANG Z, YING S L, et al. Variational bayesian inference for DOA estimation under impulsive noise and nonuniform noise[J]. IEEE Trans. on Aerospace and Electronic Systems, 2023, 59 (5): 5778- 5790.
28	SURAM S R, PRASAD N, GOTTAPU S R. Optimized algebraic algorithm for ambiguity resolution and DOA computation in baseline interferometer[J]. Recent Advances in Electrical & Electronic Engineering, 2022, 15(1): 51−66.
29	HU W W, WANG Q. DOA estimation for UCA in the presence of mutual coupling via error model equivalence[J]. IEEE Wireless Communications Letters, 2020, 9 (1): 121- 124. doi: 10.1109/LWC.2019.2944816
30	LIU X, BALLAL T, AHMED M, et al. Instantaneous GNSS ambiguity resolution and attitude determination via Riemannian manifold optimization[J]. IEEE Trans. on Aerospace and Electronic Systems, 2023, 59 (3): 3296- 3312. doi: 10.1109/TAES.2022.3223330
31	LI Y, ZOU X H, LIU P Y, et al. Four-element array for GNSS attitude determination using IRLS: an improved rounding of long-short baseline approach[J]. IEEE Trans. on Vehicular Technology, 2020, 69 (5): 4920- 4934. doi: 10.1109/TVT.2020.2978862
1	LI Q, CUI L J, WANG Q, et al. Construction and application of an agent-based intelligent operation and maintenance system for UAV[J]. Drones, 2025, 9 (4): 309. doi: 10.3390/drones9040309
2	CHAUHAN D, KAGATHARA H, MEWADA H, et al. Nation’s defense: a comprehensive review of anti-drone systems and strategies[J]. IEEE Access, 2025, 13, 53476- 53505. doi: 10.1109/ACCESS.2025.3550338
3	KUNERTOVA D. Drones have boots: learning from Russia’s war in Ukraine[J]. Contemporary Security Policy, 2023, 44 (4): 576- 591. doi: 10.1080/13523260.2023.2262792
4	LI Y N, ZENG Q H, SHAO C, et al. UAV localization method with key points on the edges of semantic objects for low-altitude economy[J]. Drones, 2024, 9 (1): 14. doi: 10.3390/drones9010014
5	NAIR M M, SRIRAMAN H, SAI G H, et al. DroneSilient （drone+ resilient）: an anti-drone system[J]. Journal of Big Data, 2024, 11 (1): 144. doi: 10.1186/s40537-024-01004-6
6	HOU L L, JIN L, HUANG K Z, et al. Beamspace spatial smoothing MUSIC DOA estimation method using dynamic metasurface antenna[J]. Entropy, 2025, 27 (4): 335. doi: 10.3390/e27040335
7	王栗沅, 何华锋, 韩晓斐, 等. 宽带相干信号DOA和极化参数联合估计方法[J]. 系统工程与电子技术, 2024, 46 (3): 805- 813.
	WANG L Y, HE H F, HAN X F, et al. Joint estimation method of DOA and polarization parameters based on broadband coherent signals[J]. Systems Engineering and Electronics, 2024, 46 (3): 805- 813.
8	NAN H, MA X F, HAN Y B, et al. A computationally efficient MUSIC algorithm with an enhanced DOA estimation performance for a crossed-dipole array[J]. Sensors, 2025, 25 (11): 3469. doi: 10.3390/s25113469
9	DOAN V, HUYNH T T, HOANG V, et al. Phase-difference measurement-based angle of arrival estimation using long-baseline interferometer[J]. IET Radar, Sonar & Navigation, 2023, 17(3): 449-465.
10	WEI Y H. An efficient DOA algorithm for phase interferometers[J]. IEEE Trans. on Aerospace and Electronic Systems, 2020, 56 (3): 1819- 1828. doi: 10.1109/TAES.2019.2937662
11	ZHU J Z, FAN K G, HE Q, et al. Two-dimensional real-time direction-finding system for UAV RF signals based on uniform circular array and MUSIC-WAA[J]. Drones, 2025, 9 (4): 278. doi: 10.3390/drones9040278
12	江首德, 鄢社锋, 毛琳琳, 等. 基于迭代原子范数最小化的均匀圆阵方位估计[J]. 系统工程与电子技术, 2025, 47 (6): 1746- 1756.
	JIANG S D, YAN S F, MAO L L, et al. Uniform circular array direction-of-arrival estimation based on iterative atomic norm minimization[J]. Systems Engineering and Electronics, 2025, 47 (6): 1746- 1756.
13	HU Z X, LYU T T, WANG W X. Multi-source 2D DOA estimation of uniform circular array based on deep learning[C]//Proc. of the 7th International Conference on Information Communication and Signal Processing, 2024: 554−558.
14	POLIKAROVSKYKH O, HULA I. Implementing the search algorithm of the correlation interferometer direction finder through the GNU radio software platform[J]. Security of Infocommunication Systems and Internet of Things, 2023, 1 (2): 02006. doi: 10.31861/sisiot2023.2.02006
15	HAN Y, ZHANG J J, LUO J L. Relative DOA estimation method for UAV swarm based on phase difference information without fixed anchors[J]. Scientific Reports, 2025, 15 (1): 14394. doi: 10.1038/s41598-025-97961-w

条件类别	参数	值/范围	说明
阵列结构	阵元数量	15	均匀分布
阵列结构	半径	$\lambda /\left[ {4\sin (\text {π} /M)} \right]$	满足无模糊
信号特征	信号中心频率/GHZ	5.8	参考大疆M300系列
	信号带宽/MHZ	10	窄带信号
	快拍数	500	时域采样点数
噪声模型	脉冲噪声出现概率	0~0.4	鲁棒性分析变量
噪声模型	强度比	1000	固定基准值
入射信号	方位角/（°）	150	无人机飞行方向
入射信号	俯仰角/（°）	60	低空爬升/降落姿态
算法参数	最大迭代次数	10	收敛保障
算法参数	收敛阈值/（°）	0.01	实时保障
评估设置	蒙特卡罗实验次数	1000	稳定性保障
评估设置	SNR/dB	−5~20	步长1 dB

算法	SNR/dB
算法	−5	0	5	10
广义最小二乘法	0.051	0.024	0.022	0.021
现有迭代加权法	0.258	0.143	0.103	0.083
本文方法	0.464	0.295	0.208	0.178

[1]	吴双, 蒲泓宇, 付泰, 罗太元. 基于无监督学习的均匀圆阵二维测向方法[J]. 系统工程与电子技术, 2026, 48(2): 422-429.
[2]	李震, 何华锋, 周涛, 张鑫, 韩晓斐, 王栗沅. 基于UCA-FDA雷达距离补偿的DOA估计方法[J]. 系统工程与电子技术, 2024, 46(6): 1967-1974.
[3]	沈季, 万显荣, 易建新, 刘燕, 程丰. 复杂干扰场景下的稳健自适应波束形成[J]. 系统工程与电子技术, 2023, 45(4): 941-949.
[4]	李冬, 焦义文, 高泽夫, 杨文革, 毛飞龙, 滕飞. 基于GPU的相位干涉仪FX鉴相算法[J]. 系统工程与电子技术, 2022, 44(11): 3320-3329.
[5]	汪鹏, 熊钊, 于俊鹏, 田勇, 李万春. 基于均匀圆阵伪协方差矩阵的单快拍测向方法[J]. 系统工程与电子技术, 2021, 43(10): 2812-2818.
[6]	苏志刚, 陈欣然, 郝敬堂. 基于粒子群优化的圆阵列波束形成方法[J]. 系统工程与电子技术, 2020, 42(7): 1449-1454.
[7]	王雅婧, 罗明. 宽带LFM信号的压缩感知测向算法[J]. 系统工程与电子技术, 2018, 40(12): 2649-2654.
[8]	崔开博, 陈曦, 黄敬健, 袁乃昌. 基于均匀圆阵时频干涉仪的LFM信号二维测向算法[J]. 系统工程与电子技术, 2017, 39(8): 1669-1676.
[9]	崔开博, 黄敬健, 陈曦, 袁乃昌. 基于均匀圆阵模式空间和多重旋转不变子空间算法的完备二维DOA估计算法[J]. 系统工程与电子技术, 2017, 39(12): 2646-2651.
[10]	高炜, 张庆普, 敦晓彪, 赵天. 基于改进的可拓层次分析法和动态加权的航天高技术综合评价研究[J]. 系统工程与电子技术, 2016, 38(1): 102-109.
[11]	吕小永, 王俊. 8单元均匀圆阵天线互耦合校正方法[J]. 系统工程与电子技术, 2015, 37(10): 2212-2216.
[12]	司伟建1，吴迪1，韩惠莲2，吴娜1. 均匀圆阵互耦自校正的级联估计方法[J]. 系统工程与电子技术, 2014, 36(7): 1225-1231.
[13]	张春杰, 李智东. 非均匀圆阵天线模型解模糊误差研究[J]. Journal of Systems Engineering and Electronics, 2012, 34(8): 1525-1529.
[14]	张曙,李亮. 零点约束的有向阵元圆阵方向图最优综合[J]. Journal of Systems Engineering and Electronics, 2012, 34(12): 2418-2422.
[15]	王伟, 马跃华, 李欣. 基于相位差的均匀圆阵DOA估计新方法[J]. Journal of Systems Engineering and Electronics, 2012, 34(10): 1994-1998.