A laser safety control method for a laser anti-UAV system

Abstract

The present application relates to the field of unmanned aerial vehicle countermeasure, in particular to a kind of laser safety control method of laser anti-unmanned aerial vehicle system.This method first establishes the three-dimensional layout model of the protected area, then combines target information, equipment information and the three-dimensional layout model of the protected area, calculates airspace visibility safety degree, view target safety degree, shielding area safety degree, and introduces target threat degree, finally weights and sums airspace visibility safety degree, view target safety degree, shielding area safety degree and target threat degree, obtains the final safety degree, and obtains laser control judgment result.The present application combines three-dimensional layout model, multi-dimensional safety degree and target threat degree, realizes the safety control of laser of laser anti-unmanned aerial vehicle system under controllable collateral damage, so that laser anti-unmanned aerial vehicle system can exert maximum damage power.

Description

Technical Field

[0001] The present invention relates to the field of high-energy laser UAV countermeasures and strikes, and in particular to a laser safety control method for a laser anti-UAV system. Background Art

[0002] The laser anti-UAV system is a damage and strike system that emits adjustable directional high-energy laser beams. The system has the characteristics of visual tracking and aiming, tracking and striking, fast response speed, small collateral damage, and strong anti-electromagnetic interference ability. The system can also be widely used in anti-missile air defense, anti-unmanned equipment, airborne floating object removal, non-contact demolition and other fields.

[0003] With the deep integration of artificial intelligence and electronic information technology, laser counter-drone systems are gradually evolving toward full autonomy from detection to destruction. However, due to technical bottlenecks in artificial intelligence, these systems present significant security risks. While completing the mission of striking drone targets, they may also cause damage to other non-strike targets, resulting in uncontrollable harm to personnel, civilian facilities, and legal aircraft. Therefore, while meeting the requirements of full process automation, it is necessary to automate the manual safety control logic, judge and correct the results of intelligent processing, and achieve protection of non-strike targets, thereby avoiding or reducing damage to non-strike targets. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a laser safety control method for a laser anti-UAV system, which automates the manual safety control logic, judges and corrects the laser control results, realizes the protection of non-strike targets, and thereby avoids or reduces damage to non-strike targets.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a laser safety control method for a laser anti-UAV system, comprising the following steps:

[0006] S01. Establish a three-dimensional layout model of the protected area;

[0007] S02. Calculate the airspace visibility safety. Calculate the laser spot and obtain the laser path based on the laser spot size and laser direction. Determine whether the laser path obstructs an object based on the three-dimensional layout model of the protected area. If no object is obstructed, the airspace visibility safety is 1. If an object is obstructed, the minimum distance between the edge of the spot and the edge of the object and the tolerance distance I are used to calculate the airspace visibility safety.

[0008] S03. Calculate the safety of the target in the field of view. Perform target detection on the current video image of the laser strike system camera to obtain all target types, the number of pixels occupied by the target, the target's circumscribed rectangle, and the target confidence. Calculate the distance between the target and the center point of the image. Calculate the safety of the target in the field of view based on the distance between the target and the center point of the image.

[0009] S04. Calculating the safety of the shielded area: extracting pre-set shielded area information from the three-dimensional layout model of the protected area, adding a fault tolerance distance II to the shielded area based on the nature of the shielded area, calculating the distance between the target to be hit and the shielded area, and calculating the safety of the shielded area based on the distance between the target to be hit and the shielded area and the fault tolerance distance II;

[0010] S05. Set the target threat level, perform weighted summation on the airspace visibility safety level, visual target safety level, shielded area safety level, and target threat level, and obtain the final safety level and laser control judgment result.

[0011] Furthermore, step S01 forms a three-dimensional layout model of the protected area based on the map data of the protected area, combined with elevation data, detailed information of buildings in the protected area, power vector data of the laser anti-drone system, and shielding area information. The specific process is as follows:

[0012] S11. Import the digital elevation model of the protected area to form a three-dimensional model of the bare ground of the protected area, and build a basic three-dimensional framework of the protected area;

[0013] S12. Importing vector data of surface objects within the protected area, unifying the coordinates of the surface object vector data into the coordinate system of the digital elevation model, combining the surface elevation data in the digital elevation model with the height information in the surface object vector data, obtaining the actual elevation data of the surface object at each coordinate point, and forming an accurate three-dimensional topographic map;

[0014] S13, importing the power vector data of the laser anti-UAV system and combining it with the accurate three-dimensional terrain map formed in step S12 to form a strike area layout model of the laser anti-UAV system;

[0015] S14, drawing the shielding area in the strike area layout model and saving it in the three-dimensional layout model;

[0016] S15. Export the data to form a three-dimensional layout model of the protected area.

[0017] Furthermore, by combining the surface elevation data in the digital elevation model and the height information in the surface object vector data, the formula for obtaining the actual elevation data of the surface object at each coordinate point is:

[0018] ,

[0019] wherein is the actual height data of the coordinate point, is the ground height data of the coordinate point, is the height data of the ground object of the coordinate point.

[0020] Further, the formula for calculating the airspace visual safety degree using the minimum distance of the spot edge from the object edge and the fault tolerance distance I is:

[0021] ,

[0022] wherein represents the airspace visual safety degree, , is the minimum distance of the spot edge from the height and width edge of the object, is the fault tolerance distance I.

[0023] Further, when performing step S02, according to the relative position relationship between the laser device and the object, the three-dimensional model of the building is reduced to a two-dimensional model, the two-dimensional model retains the width and height of the building, and according to the safety level of the building, a fault tolerance distance I is added to the two-dimensional model of the building.

[0024] Further, the formula for calculating the visual target safety degree is:

[0025] ,

[0026] wherein is the visual target safety degree, is the distance of the target from the center point of the picture, r is a set threshold value, W and H are the width and height of the pixels occupied by the laser spot in the picture.

[0027] Further, the formula for calculating the shielding area safety degree is:

[0028] ,

[0029] wherein represents the shielding area safety degree, is the distance of the to-be-attacked area from the shielding area, is the fault tolerance distance II, is the height of the to-be-attacked target, is the height of the shielding area.

[0030] Further, the weights of the airspace visual safety degree, the visual target safety degree, the shielding area safety degree, and the target threat degree are 0.15, 0.15, 0.55, and 0.15, respectively.

[0031] Furthermore, the laser control judgment result is obtained based on the final safety degree, and the calculation formula is:

[0032] ,

[0033] in This is the result of laser control judgment. The final airspace safety.

[0034] Furthermore, steps S02 to S04 are executed in parallel.

[0035] The present invention establishes a three-dimensional layout model for the protected area and, in combination with target and equipment information, calculates airspace visibility safety, visual target safety, and shielded area safety. The target threat level is then incorporated into the final safety calculation. By combining the three-dimensional layout model, multi-dimensional safety, and target threat levels, the present invention achieves safe control of the laser counter-UAV system's laser with controlled collateral damage, maximizing the system's destructive power. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Flowchart of this method;

[0037] Figure 2 It is a schematic diagram of the three-dimensional layout model of the protected area;

[0038] Figure 3 Schematic diagram of the laser path and the position of the obscured object;

[0039] Figure 4 Schematic diagram of the position of the target and the center of the picture;

[0040] Figure 5 A schematic diagram of the locations of the targets to be struck and the shielded areas;

[0041] In the figure: 1. Shielded area, 2. Laser equipment power range, 3. Laser equipment installation position, 4. Laser emitting device, 5. Obstruction, 6. Target to be hit, 7. Target to be hit. DETAILED DESCRIPTION

[0042] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0043] Example 1

[0044] This embodiment discloses a laser safety control method for a laser anti-UAV system. Figure 1 As shown, the method includes:

[0045] S01. Establish a three-dimensional layout model of the protected area. Based on the map data of the protected area, combine accurate elevation data, detailed information on buildings in the area (including but not limited to building outline dimensions, height, facade materials, usage, security level, etc.), power vector data of the laser anti-UAV system, shielded area and other information to form an accurate three-dimensional layout map of the protected area.

[0046] This example uses QGIS to build a 3D layout model of the protected area. The specific steps are as follows:

[0047] S11. Import the digital elevation model (DEM) of the protected area to form a three-dimensional model of the bare ground of the protected area and build a basic three-dimensional framework of the protected area.

[0048] S12. Import vector data of surface objects within the protected area (this vector data includes attribute information such as the object's outline, height, exterior material, usage, and safety level) and convert the coordinate system of the surface object vector data to the DEM coordinate system. Combining the surface elevation data in the DEM with the height information in the surface object vector data, the actual elevation data of the surface object at each coordinate point is obtained, forming a precise 3D topographic map.

[0049] Combining the surface elevation data in the DEM and the height information in the surface object vector data, the actual elevation data formula of each coordinate point containing the surface object can be obtained:

[0050] ,

[0051] in is the actual elevation data of the coordinate point, is the surface elevation data of the coordinate point, The height data of the surface object at the coordinate point.

[0052] S13. Import the laser anti-UAV system's power vector data, which includes the laser anti-UAV system's longitude, latitude, altitude, strike range, and pointing angle. Combined with the precise three-dimensional terrain map generated in the previous step, a laser anti-UAV system strike area layout model is generated.

[0053] S14. Based on the strike area layout model diagram formed in the previous step, combined with the shielding area existing in the actual on-site environment (the area is designated by personnel familiar with the on-site environment and facility attributes), manually draw in the strike area layout model diagram and save it to the 3D layout project.

[0054] S15. Export the data generated in the previous steps to form an accurate three-dimensional layout model of the protected area. The exported model can be a single project file or multiple vector files, whichever is more convenient for subsequent use.

[0055] Figure 2 A schematic diagram of the three-dimensional layout model of the protected area established for this step shows the shielding area 1, the laser equipment's power range 2, and the laser equipment's installation location 3. The laser strikes or counters drone targets within the protected area while also ensuring the safety of other targets within the protected area (buildings, aircraft flying normally, pedestrians, etc.).

[0056] S02. Calculate the target airspace safety. This calculation utilizes multiple dimensions in parallel, and the results are weighted to determine the target airspace safety. The calculation dimensions can be divided into: airspace visibility safety, visual target safety, and shielded area safety.

[0057] S21, airspace visibility safety calculation, its purpose is to determine whether the laser emitting device and the target are blocked. The relative position relationship between the laser emitting device 4 and the blocking object 5 and the target 6 is as follows: Figure 3 As shown, the calculation steps are as follows:

[0058] Calculate the laser spot size using the following formula:

[0059] ,

[0060] in represents the laser spot diameter at distance d, is the beam waist diameter of the laser emission system, is the laser wavelength, d is the distance between the point where the laser spot is calculated and the laser emitting device;

[0061] The calculation formula is:

[0062] ,

[0063] is the beam waist diameter of the laser emission system before passing through the lens, f is the focal length of the lens, s is the distance between the laser divergence component and the lens, , s are the design parameters of the laser launch system, and f can be obtained in real time when the laser launch system is running.

[0064] The laser spot size is obtained by the above and the direction of the laser emitting device (laser direction), a conical beam is obtained, and the diameter of this conical beam is enlarged to 10 , forming a new conical beam, the edge of the new beam is the laser path.

[0065] The ray method is used in combination with the three-dimensional layout model of the protected area to extract whether the laser path blocks objects and provide detailed information about the blocked objects, including object height, dimensions, material, protection level, usage nature, and fault tolerance distance I. If there is no blocked object on the laser path, the airspace visibility safety is 1. If there is an blocked object on the laser path, the minimum distance between the edge of the spot and the edge of the object and the fault tolerance distance I are used to calculate the airspace visibility safety. The calculation formula is:

[0066] ,

[0067] in Indicates the airspace visibility safety degree, 、 is the minimum distance between the edge of the light spot and the height and width edges of the object, is the fault tolerance distance I.

[0068] When executing this step, the 3D model of the building is reduced to a 2D model based on the relative position relationship between the laser device and the object. The 2D model retains the width and height of the building. According to the safety level of the building, the fault tolerance distance I is added to the 2D model of the building. The fault tolerance distance I is set according to the building's usage, material, safety level and other information. Generally, the fault tolerance distance I of the building can be set to the laser spot size. 5 times of the laser spot size, important buildings can be set to The fault tolerance distance I can be adjusted according to the actual situation on site and the empirical value.

[0069] S22, Calculation of field target safety, which is used to determine the relative position relationship between all targets in the current field of view of the laser strike system camera and the laser spot, thereby obtaining the degree of influence of the laser spot on other targets in the field of view. The specific calculation steps are:

[0070] Target detection and recognition is performed on the current video feed from the laser strike system camera, providing information such as target categories, target pixel count, target bounding box, and target confidence. This step can employ a variety of real-time target recognition algorithms and techniques, with the YOLO family of algorithms being the most commonly used.

[0071] Calculate the distances between the four vertices of the target's circumscribed rectangle and the center of the image, and take the minimum value as the distance between the target and the center of the image;

[0072] ,

[0073] Among them, (x1, y1), (x2, y2), (x3, y3), and (x4, y4) are the coordinates of the four vertices of the target's circumscribed rectangular box. It is the minimum distance between the four vertices of the target's circumscribed rectangle and the center of the screen, and also the distance between the target and the center of the screen. Figure 4 is a schematic diagram of the position of the target and the center point of the picture, O represents the center point of the picture, and the rectangular box surrounded by points P1, P2, P3, and P4 is the circumscribed rectangular box of the identified target. Figure 4 It can be seen that the distance between point P4 and the center point of the picture is the shortest, and the distance between point P4 and the center point of the picture is taken as the distance between the target and the center point of the picture.

[0074] According to the above information, the safety degree of the visual field target is calculated. The calculation formula is:

[0075] ,

[0076] in is the visual target safety, is the distance between the target and the center of the image, r is the set threshold, and W and H are the width and height of the laser spot in pixels in the image.

[0077] The laser strike system calibrates the laser spot position and the image center before leaving the factory. Therefore, the laser spot position corresponds to the image center. The laser spot size can be calculated using the same method used to calculate the target laser spot size in the airspace visibility safety.

[0078] The number of pixels occupied by the laser spot in the image can be calculated based on the current focal length value, target distance value, and pixel size of the laser striking system camera. This calculation formula is the basic calculation formula in this field and will not be listed separately.

[0079] S23. Calculation of the safety of the shielded area. Its purpose is to obtain the degree of influence of the laser strike system on the equipment and facilities in the shielded area by calculating the relative position of the target to be struck and the shielded area. Figure 5 The figure below is a schematic diagram of the positions of the target to be hit and the shielded area. Label 1 is the shielded area and label 7 is the target to be hit. The calculation steps are:

[0080] The pre-set shielding area information is extracted from the three-dimensional layout model of the protected area. According to the nature of the shielding area (general, important, core), the fault tolerance distance II is added to the shielding area. The general area fault tolerance distance II is set to 30 meters, the important area is set to 60 meters, and the core area is set to 120 meters.

[0081] The distance between the target and each vertex of the shielding area can be calculated by the longitude and latitude of each vertex of the shielding area polygon and the longitude and latitude of the target to be hit. The minimum distance value is taken as the distance between the target and the shielding area. The calculation formula is:

[0082] ,

[0083] ,

[0084] in Indicates the safety level of the shielded area. is the distance between the area to be struck and the shielded area, is the fault tolerance distance II, The height of the target to be hit, is the height of the shielded area.

[0085] S03. Weighted processing of airspace safety. Since the shielded area is artificially set and is confirmed to be an area that cannot be attacked, the safety of the shielded area will be assigned a higher weight.

[0086] When calculating the final result, the target threat level is taken into account and included in the final calculation. The purpose is to carry out destructive strikes on targets with higher threat levels while maintaining acceptable collateral damage.

[0087] The final safety calculation formula is as follows:

[0088] ,

[0089] in Indicates the ultimate safety level, Indicates the airspace visibility safety, visual target safety, shielded area safety or target threat level. for The weight of .

[0090] The laser control judgment results are as follows:

[0091] ,

[0092] in This is the result of laser control judgment. Indicates the implementation of laser strike action, Indicates that no laser strike action will be performed. The final airspace safety.

[0093] In this embodiment, the weights of the airspace visibility safety, visual target safety, shielded area safety, and target threat level are 0.15, 0.15, 0.55, and 0.15, respectively.

[0094] Example 2

[0095] The disclosed embodiments provide a laser safety control device for a laser counter-UAV system, comprising a processor and memory. Optionally, the device may also include a communication interface and a bus. The processor, communication interface, and memory may communicate with each other via the bus. The communication interface may be used for information transmission. The processor may invoke logic instructions stored in the memory to execute the laser safety control method for a laser counter-UAV system according to Example 1.

[0096] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0097] Memory, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as the program instructions / modules corresponding to the methods in the embodiments of the present disclosure. The processor executes the program instructions / modules stored in the memory to perform functional applications and data processing, thereby implementing the laser safety control method for the laser counter-UAV system in Example 1.

[0098] The memory may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal device. Furthermore, the memory may include high-speed random access memory and non-volatile memory.

[0099] Example 3

[0100] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the laser safety control method for the laser anti-UAV system in Example 1.

[0101] The aforementioned computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0102] The technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method disclosed in the embodiments of the present disclosure. The aforementioned storage medium can be a non-transitory storage medium, including: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes, or can be a transitory storage medium.

[0103] The above description and drawings sufficiently illustrate the embodiments of the present disclosure to enable one skilled in the art to practice them. Other embodiments can include structural, logical, electrical, process, and other changes. The embodiments represent only a few of the possible variations. Individual components and functions are optional unless explicitly required, and the order of operations can be changed. Parts and features of some embodiments can be included in or replace parts and features of other embodiments. Also, the words used in this application are only used to describe the embodiments and not to limit the scope of protection. As used in the description herein, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms as well. Similarly, as used in this application, the term "and / or" refers to any and all possible combinations of one or more associated listed items. In addition, when used in this application, the term "comprise" and its variants "comprises" and / or comprises, etc. refer to the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups of these. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, or device that includes the stated element. In this document, each embodiment focuses on the differences from other embodiments, and the same or similar parts between various embodiments can be referred to each other. For the method, product, etc. disclosed in the embodiments, if it corresponds to the method part disclosed in the embodiments, the relevant part can be referred to the description of the method part.

[0104] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. The technicians will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0105] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices and equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units may be merely a logical functional division. In actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another system, or omitting or disabling some features. In addition, the coupling or direct coupling or communication connection shown or discussed between each other may be through some interface, or the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to implement the present embodiments according to actual needs. In addition, the functional units in the embodiments of the present disclosure may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

Claims

1. A laser safety control method for a laser anti-UAV system, characterized by: The following steps are involved: S01. Establish a three-dimensional layout model of the protected area; S02. Calculate the airspace visibility safety. Calculate the laser spot and obtain the laser path based on the laser spot size and laser direction. Determine whether the laser path obstructs an object based on the three-dimensional layout model of the protected area. If no object is obstructed, the airspace visibility safety is 1. If an object is obstructed, the minimum distance between the edge of the spot and the edge of the object and the tolerance distance I are used to calculate the airspace visibility safety. S03. Calculate the safety of the target in the field of view. Perform target detection on the current video image of the laser strike system camera to obtain all target types, the number of pixels occupied by the target, the target's circumscribed rectangle, and the target confidence. Calculate the distance between the target and the center point of the image. Calculate the safety of the target in the field of view based on the distance between the target and the center point of the image. S04. Calculating the safety of the shielded area: extracting pre-set shielded area information from the three-dimensional layout model of the protected area, adding a fault tolerance distance II to the shielded area based on the nature of the shielded area, calculating the distance between the target to be hit and the shielded area, and calculating the safety of the shielded area based on the distance between the target to be hit and the shielded area and the fault tolerance distance II; S05. Set the target threat level, perform weighted summation on the airspace visibility safety level, visual target safety level, shielded area safety level, and target threat level, and obtain the final safety level and laser control judgment result.

2. The laser safety control method for a laser anti-UAV system according to claim 1, characterized in that: Step S01 uses the map data of the protected area as a basis, combined with elevation data, detailed information on buildings within the protected area, power vector data of the laser anti-drone system, and shielding area information, to form a three-dimensional layout model of the protected area. The specific process is as follows: S11. Import the digital elevation model of the protected area to form a three-dimensional model of the bare ground of the protected area, and build a basic three-dimensional framework of the protected area; S12. Importing vector data of surface objects within the protected area, unifying the coordinates of the surface object vector data into the coordinate system of the digital elevation model, combining the surface elevation data in the digital elevation model with the height information in the surface object vector data, obtaining the actual elevation data of the surface object at each coordinate point, and forming an accurate three-dimensional topographic map; S13, importing the power vector data of the laser anti-UAV system and combining it with the accurate three-dimensional terrain map formed in step S12 to form a strike area layout model of the laser anti-UAV system; S14, drawing the shielding area in the strike area layout model and saving it in the three-dimensional layout model; S15. Export the data to form a three-dimensional layout model of the protected area.

3. The laser safety control method for a laser anti-UAV system according to claim 2, characterized in that: Combining the surface elevation data in the digital elevation model and the height information in the surface object vector data, the formula for obtaining the actual elevation data of the surface object at each coordinate point is: ， in is the actual elevation data of the coordinate point, is the surface elevation data of the coordinate point, The height data of the surface object at the coordinate point.

4. The laser safety control method for a laser anti-UAV system according to claim 1, characterized in that: The formula for calculating the airspace visibility safety using the minimum distance between the edge of the light spot and the edge of the object and the error tolerance distance I is: ， in Indicates the airspace visibility safety degree, 、 is the minimum distance between the edge of the light spot and the height and width edges of the object, is the fault tolerance distance I.

5. The laser safety control method for a laser anti-UAV system according to claim 1, characterized in that: When executing step S02, the three-dimensional model of the building is reduced to a two-dimensional model based on the relative position relationship between the laser device and the object. The two-dimensional model retains the width and height of the building, and the fault tolerance distance I is increased for the two-dimensional model of the building based on the safety level of the building.

6. The laser safety control method for a laser anti-UAV system according to claim 1, characterized in that: The calculation formula for the visual field target safety is: ， in is the visual target safety, is the distance between the target and the center of the image, r is the set threshold, and W and H are the width and height of the laser spot in pixels in the image.

7. The laser safety control method for a laser anti-UAV system according to claim 1, characterized in that: The calculation formula for the shielding area safety is: ， in Indicates the safety level of the shielded area. is the distance between the area to be struck and the shielded area, is the fault tolerance distance II, The height of the target to be hit, is the height of the shielded area.

8. The laser safety control method for a laser anti-UAV system according to claim 1, characterized in that: The weights of airspace visibility safety, visual target safety, shielded area safety and target threat are 0.15, 0.15, 0.55 and 0.15 respectively.

9. The laser safety control method for a laser anti-UAV system according to claim 1, characterized in that: The laser control judgment result is based on the final safety degree, and the calculation formula is: ， in This is the result of laser control judgment. The final airspace safety.

10. The laser safety control method for a laser anti-UAV system according to claim 1, characterized in that: Steps S02 to S04 are executed in parallel.

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