Electronic fence intrusion detection method and device, medium and equipment

Abstract

The invention discloses an intrusion detection method and device for an electronic fence, a medium and equipment, and relates to the technical field of low-altitude electronic fences. According to the method, the candidate electronic fences where the target unmanned aerial vehicle possibly falls are quickly retrieved through the plane circumscribed rectangles of all the electronic fences, then the specific relation between the target unmanned aerial vehicle and the candidate electronic fences is quickly judged through the ray method, finally height judgment is conducted, and through layer-by-layer progressive judgment, the height of the target unmanned aerial vehicle is judged. According to the method, only possibly invaded fences can be accurately judged, the detection efficiency is improved, meanwhile, space calculation is carried out through a layer-by-layer progressive 3D calculation means, intrusion detection of variable three-dimensional electronic fences can be rapidly coped with, therefore, the electronic fences in any three-dimensional form can be self-defined in a complex airspace, a plane no-fly zone is defined, and the detection efficiency is improved. And the height layer of the airspace is accurately managed, three-dimensional airspace management is realized, and the flexibility of airspace management is improved.

Description

Technical Field

[0001] This invention relates to the field of low-altitude electronic fence technology, and in particular to an intrusion detection method, apparatus, medium and equipment for electronic fences. Background Technology

[0002] Currently, the BeiDou low-altitude electronic fence system can be considered a core infrastructure for the digital governance of low-altitude airspace, functioning similarly to building a "digital highway" for this emerging strategic space. Within this system, the BeiDou satellite navigation system plays a crucial role as an independently controllable, high-precision spatiotemporal reference source. This system is essential for achieving independent control over airspace information security.

[0003] In terms of technical performance, the BeiDou system's unique integrated navigation and communication capabilities offer irreplaceable advantages. Its positioning function provides continuous and accurate spatiotemporal references for electronic fences, while its short message communication service enables drones to transmit data and receive commands even in remote areas lacking ground network coverage, effectively solving the problem of "remote invisibility and unreachable communication" in low-altitude surveillance.

[0004] At the level of industrial development, BeiDou low-altitude electronic fences are the core digital infrastructure driving the large-scale development of the low-altitude economy. They provide reliable airspace boundary management and security redundancy for applications such as drone logistics, urban air traffic, and large-scale industrial inspections. Simultaneously, they support governments in achieving efficient and automated airspace supervision, significantly reducing management costs and improving operational efficiency, thus becoming a prerequisite and enabling platform for the true commercial operation of the low-altitude economy.

[0005] At the social and public safety level, the system significantly enhances modern social governance capabilities. In disaster emergency scenarios, rescue drones equipped with BeiDou terminals can maintain communication through short message service, enabling precise operations within the electronic fence marking range. In large-scale event security, the system supports dynamic deployment and real-time issuance of temporary airspace control strategies, effectively preventing security interference caused by unauthorized flights.

[0006] In existing technologies, intrusion detection methods for electronic fences have a single control dimension, mostly two-dimensional plane or fixed height management, which cannot accurately delineate electronic fences and has poor flexibility. Summary of the Invention

[0007] Therefore, it is necessary to provide an intrusion detection method, device, medium, and equipment for electronic fences to address the aforementioned technical problems.

[0008] The present invention adopts the following technical solution: This invention provides an intrusion detection method for electronic fences, comprising: Acquire the positioning data and electronic fence data of the target drone; the electronic fence data includes a two-dimensional point list and height range of the vertices of the planar polygons corresponding to each electronic fence. Determine the circumscribed rectangle of each electronic fence. When the target drone falls into the interior of several circumscribed rectangles based on the positioning data, determine whether the positioning data of the target drone is inside the planar polygon of the electronic fence corresponding to any of the circumscribed rectangles it falls into using the ray casting method. If so, then when the positioning data of the target drone falls within the height range of the electronic fence corresponding to the circumscribed polygon, it is determined that the target drone is within the electronic fence space.

[0009] Optionally, determining that the target UAV is located within a plurality of bounding rectangles based on positioning data specifically includes: Obtain the index tree of each electronic fence, which is pre-constructed using a tree-indexing algorithm based on the bounding rectangle of each electronic fence. Based on the index tree of each electronic fence, the bounding rectangle that intersects with the positioning data is determined by searching, and the target drone is determined to be inside the bounding rectangle that intersects with the positioning data.

[0010] Optionally, determining whether the target UAV is inside any planar polygon using the ray casting method specifically includes: The positioning data is projected onto a two-dimensional horizontal plane to obtain projection points. For each circumscribed rectangle into which the target UAV falls, the planar polygon corresponding to it is determined whether the number of intersections between the ray obtained from the projection point based on any direction and the planar polygon is odd. If so, then the target drone is determined to be inside the polygon in the plane; If not, then the target drone is determined to be outside the polygon in the plane.

[0011] Optionally, the electronic fence data further includes: a buffer radius for offsetting positioning errors; the buffer radius is inversely proportional to the positioning accuracy of the target UAV; Determining the circumscribed rectangle of each electronic fence specifically includes: Based on the planar polygon of the electronic fence and the buffer radius, the outward expansion area formed by extending the buffer radius outward from the planar polygon of the electronic fence is determined by the Minkowski sum operation. The circumscribed rectangle of each electronic fence is determined based on the extreme values ​​of each dimension of the extended area in the preset planar coordinate system.

[0012] Optionally, the method further includes: If the target drone's location data is not inside the planar polygon of the electronic fence corresponding to any of the bounding rectangles it falls into, determine whether the target drone's location data is outside the outer area of ​​the electronic fence corresponding to any of the bounding rectangles it falls into; if so, determine that the target drone is in the warning zone. If the location data of the target drone is inside the planar polygon of the electronic fence corresponding to any of the circumscribed rectangles it falls into, and the location data of the target drone does not fall within the height range of the electronic fence corresponding to the circumscribed polygon, then the target drone is determined to be in the warning zone.

[0013] Optionally, the method further includes: The planar polygon of the electronic fence is negatively offset based on the buffer radius to determine the shrinkage area formed by expanding the planar polygon of the electronic fence inward by the buffer radius. If the target drone's location data is within the electronic fence space, determine whether the target drone's location data falls within the inner area of ​​the electronic fence and within the height range of the electronic fence. If so, then the target drone is located in the core area.

[0014] This invention provides an intrusion detection device for an electronic fence, comprising: The acquisition module is used to acquire the positioning data and electronic fence data of the target drone; the electronic fence data includes a two-dimensional point list and height range of the vertices of the planar polygons corresponding to each electronic fence. The determination module is used to determine the circumscribed rectangles of each electronic fence. When it is determined from the positioning data that the target drone falls into the interior of several circumscribed rectangles, the ray casting method is used to determine whether the positioning data of the target drone is inside the planar polygon of the electronic fence corresponding to any of the circumscribed rectangles it falls into. If so, when the positioning data of the target drone is within the height range of the electronic fence corresponding to the circumscribed polygon, the target drone is determined to be within the electronic fence space.

[0015] The present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described intrusion detection method for electronic fences.

[0016] The present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-mentioned intrusion detection method for electronic fences.

[0017] The above-mentioned at least one technical solution adopted in this invention can achieve the following beneficial effects: This invention first uses the circumscribed rectangles of each electronic fence to quickly search for candidate electronic fences into which a target drone might land. Then, it uses the ray casting method to quickly determine the specific relationship between the target drone and the candidate electronic fences. Finally, it performs an altitude determination. Through this progressive determination, it can accurately identify only the fences that may be intruded, improving detection efficiency. At the same time, this invention uses progressive 3D calculation methods for spatial calculation, which can quickly handle intrusion detection of variable three-dimensional electronic fences. This supports the customization of electronic fences of arbitrary three-dimensional form in complex airspaces. It not only defines no-fly zones on a plane but also precisely manages the altitude layer of the airspace, realizing three-dimensional airspace management and improving the flexibility of airspace management. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 A schematic flowchart of an intrusion detection method for an electronic fence provided by the present invention; Figure 2 This invention provides a schematic diagram of an intrusion detection technology process. Figure 3 This invention provides a schematic diagram of a low-altitude electronic fence area and alarm points for a simulation experiment. Figure 4 This invention provides a schematic diagram of the flight altitude profile and alarm of a simulated experimental drone. Figure 5 This invention provides a schematic diagram comparing the number of electronic fences in a simulation experiment with the execution time of two different schemes. Figure 6 A schematic diagram of a low-altitude electronic fence area and alarm points for a field experiment provided by the present invention. Figure 7 This invention provides a schematic diagram of the flight altitude profile and alarm of a field experimental unmanned aerial vehicle (UAV). Figure 8 A schematic diagram comparing the number of site experiments and the execution time of two schemes is provided for this invention; Figure 9 A schematic diagram of an intrusion detection device for an electronic fence provided by the present invention; Figure 10 This is a schematic diagram of a computer device for implementing an intrusion detection method for electronic fences, as provided by the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0021] Developing BeiDou low-altitude electronic fence technology is not only a rigid requirement for maintaining national airspace security, but also an inherent trend in technological evolution and a fundamental support for the development of the low-altitude industry.

[0022] Currently, in the field of low-altitude electronic fence technology, existing technologies have shortcomings in performance, reliability, and other aspects. Existing technologies have a single control dimension, mostly managing two-dimensional planes or fixed heights, and cannot accurately delineate airspace height layers. Furthermore, regulation and standardization lag behind; although industry standards exist, technology and application scenarios iterate rapidly, requiring continuous improvement of standards, testing specifications, and management policies.

[0023] This invention addresses these shortcomings with significant advantages: it constructs a "variable three-dimensional electronic fence." Through 3D calculations, it not only defines planar no-fly zones but also precisely manages the altitude layers of the airspace, achieving three-dimensional airspace management. Dynamic fencing and temporary no-fly zones: The system supports configuring effective and ineffective time periods for electronic fences and can quickly deploy temporary and dynamic electronic fences (such as for major events or emergencies), improving the flexibility and response speed of airspace management.

[0024] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic diagram of an intrusion detection method for an electronic fence according to the present invention, which specifically includes the following steps: S101: Acquire the positioning data and electronic fence data of the target drone; the electronic fence data includes a two-dimensional point list and height range of the vertices of the planar polygons corresponding to each electronic fence.

[0026] S102: Determine the circumscribed rectangles of each electronic fence. When the target drone falls into the interior of several circumscribed rectangles based on the positioning data, determine whether the positioning data of the target drone is inside the planar polygon of the electronic fence corresponding to any of the circumscribed rectangles it falls into using the ray casting method. If so, proceed to step S103.

[0027] S103: When the positioning data of the target drone falls within the height range of the electronic fence corresponding to the circumscribed polygon, it is determined that the target drone is within the electronic fence space.

[0028] For ease of explanation, the following description focuses solely on the server as the executing entity. The server mentioned in this invention can be a server set up on a business platform, or a device such as a desktop computer or laptop computer capable of executing the solution of this invention.

[0029] Figure 2 This is a schematic diagram of an intrusion detection technology process in this invention. The process first connects the drone positioning data and the electronic fence data. After coordinate transformation and spatial indexing, it uses a two-step method to determine whether the drone's horizontal projection is within the fence and whether the height is within the fence. If an intrusion occurs, alarms and other strategies are executed and logs are recorded. At the same time, the electronic fence is dynamically managed and the data is persistently stored to support the connection of the fence data.

[0030] 1. Data perception and access To acquire all the input data required for system calculations and decision-making, the server needs to complete two core tasks: accessing UAV positioning data and loading electronic fence data. The UAV positioning data is received in real-time from the UAV flight control system via a data transmission module or a general mobile network. Key data includes the aircraft's longitude, latitude, and geodetic altitude provided by BeiDou and other positioning modules through point positioning or precise positioning, as well as auxiliary information such as equipment identification and timestamps. Furthermore, the electronic fence data is loaded from a database or configuration file, and its data structure has clear specifications: it includes a list of polygon vertices for unique identification, marking the fence's purpose, defining the horizontal boundary, and delineating the vertical range.

[0031] 2. Data Preprocessing First, the original spherical coordinates (such as latitude and longitude) are projected onto a unified planar coordinate system to eliminate the complexity of spherical calculations and establish a standardized benchmark for geometric operations; for latitude and longitude (spherical coordinates) Through the projection function Convert to Cartesian coordinates : in, Indicates longitude. Indicates latitude, Represents a specific projection transformation (such as UTM projection). The transformed planar coordinates are used to unify the spherical coordinates to the same planar coordinate system, simplifying subsequent distance and area calculations.

[0032] After determining the Cartesian coordinate system, based on the coordinate positions of the two-dimensional point list corresponding to the vertices of the planar polygon of each electronic fence, the coordinates are then determined in the Cartesian coordinate system. x shaft and yThe maximum and minimum values ​​on the axis can be used to determine the circumscribed rectangle of the electronic fence (electronic fences are usually predetermined, so the circumscribed rectangle of the electronic fence can also be predetermined and obtained in real time during application).

[0033] Obviously, the circumscribed rectangle of an electronic fence will cover and be larger than the planar polygon of the electronic fence. Therefore, although electronic fences usually do not have overlapping areas, the circumscribed rectangles of multiple electronic fences may overlap. That is, the positioning data of the target drone may fall into the circumscribed rectangles of multiple electronic fences.

[0034] Based on this, the present invention can first quickly search for electronic fences that the target drone may intrude into through the circumscribed rectangle of the electronic fence (if the target drone does not fall into the circumscribed rectangle of the electronic fence, then the target drone will definitely not intrude into the corresponding electronic fence; if it falls into the circumscribed rectangle of the electronic fence, then it may also fall into the planar polygon of the electronic fence). Subsequently, the searched electronic fences are further used to make a specific judgment on whether the target drone has intruded into the electronic fence.

[0035] Specifically, in one or more embodiments of the present invention, the server can obtain an index tree of each electronic fence, pre-constructed using the R-Tree algorithm based on the bounding rectangle of each electronic fence. Specifically, the minimum bounding rectangle of the electronic fence is hierarchically organized using a tree-like index structure (such as an R-Tree). Let the set of electronic fences be... Each fence Corresponding circumscribed rectangle An index structure can be constructed using the R-Tree algorithm:

[0036] Based on this, the server can determine the bounding rectangle that intersects with the location data by searching the index tree of each electronic fence, and determine that the target drone is inside the bounding rectangle that intersects with the location data. For example, for the drone's location... Quickly filter candidate fence sets using indexes:

[0037] in For the candidate fence set that may intersect with the drone's location, an index is used to achieve efficient querying, optimizing the full traversal query into a rapid candidate set filtering, significantly reducing the computational load under large-scale data. The index tree can quickly identify electronic fences that may be connected to the drone, avoiding the need for one-by-one relationship judgments on complex polygonal electronic fence data, thus accelerating the entire intrusion detection process. Subsequent core judgments can be made based on electronic fences that may be connected to the drone.

[0038] 3. Calculation of core spatial relationships Let the UAV projection point be The vertices of the planar polygon of the electronic fence are ,in , side is ( The previous step involved quick filtering of the circumscribed rectangle: Let the circumscribed rectangle of the polygon be... ,like If so, it is directly determined to be external ( ).

[0039] Then, the ray casting method can be used for accurate judgment. Specifically, in one or more embodiments of the present invention, the server can determine whether the number of intersections between the ray obtained from the projection point based on any direction and the plane polygon corresponding to each circumscribed rectangle into which the target drone falls is odd. If so, the target drone is determined to be inside the plane polygon; if not, the target drone is determined to be outside the plane polygon.

[0040] For example, defining a horizontal ray to the right. Calculate the number of intersections between the ray and the edge: in, This is an indicator function (1 for true, 0 for false). Finally, based on... When the number of points is odd, the points are inside the polygon; when the number of points is even, the judgment is performed on the outside.

[0041] If the target drone's positioning data lies within the planar polygon of the electronic fence corresponding to any of the bounding rectangles it falls into, then its height can be further determined. The mathematical expression for vertical height determination can be triggered based on the horizontal position determination result; for example, assuming the drone's height is... The lower limit of the vertical height range of the electronic fence is The upper limit is ,like < < This allows for further determination that the drone is within the three-dimensional space of the fence.

[0042] Furthermore, in one or more embodiments of the present invention, in order to avoid the impact of drone positioning errors on intrusion detection, inner and outer double buffer zones can be set based on the planar polygon of the electronic fence.

[0043] Specifically, in one or more embodiments of the present invention, the electronic fence data may further include: a buffer radius for offsetting positioning errors and intrusion response measures, comprehensively covering the fence parameters required for subsequent spatial relationship calculation and strategy execution; the buffer radius is inversely proportional to the positioning accuracy of the target UAV, that is, the higher the positioning accuracy of the target UAV, the smaller the buffer radius can be.

[0044] At this time, when the server determines the circumscribed rectangle of each electronic fence, it can, on the one hand, determine the outer expansion area formed by expanding the buffer radius of the electronic fence's planar polygon outward based on the Minkowski sum operation of the electronic fence's planar polygon and the buffer radius; and on the other hand, determine the circumscribed rectangle of each electronic fence based on the extreme values ​​of each dimension of the outer expansion area in the preset planar coordinate system.

[0045] Furthermore, in one or more embodiments of the present invention, if the positioning data of the target drone is not inside the planar polygon of the electronic fence corresponding to any of the bounding rectangles it falls into, it can also be determined whether the positioning data of the target drone is in the outer extension area of ​​the electronic fence corresponding to any of the bounding rectangles it falls into; if so, the target drone is determined to be in the warning zone. Alternatively, if the positioning data of the target drone is inside the planar polygon of the electronic fence corresponding to any of the bounding rectangles it falls into, and the positioning data of the target drone does not fall within the height range of the electronic fence corresponding to the bounding polygon, the target drone is determined to be in the warning zone.

[0046] On the other hand, the server can also negatively offset the planar polygon of the electronic fence based on the buffer radius to determine the contracted area formed by expanding the planar polygon of the electronic fence inward by the buffer radius. Based on this, if the positioning data of the target drone is within the electronic fence space, it can be determined whether the positioning data of the target drone falls within the contracted area of ​​the electronic fence and within the height range of the electronic fence; if so, it is determined that the target drone is in the core area.

[0047] For example, let the original polygon be... The buffer radius is ( ): Define the warning area as the radius of the outward expansion of the original polygon. The formed area ( (This represents the Minkowski sum operation, i.e., outward buffering), with the core region being the inward shrinkage radius of the original polygon. The formed area ( This indicates a negative offset operation, i.e., inward buffering. The decision rule is: if the drone's position... (Only in the warning zone) can trigger an alert; if (In the core area), forced actions can be executed, among which... This represents the set difference operation.

[0048] 4. Decision-making and response Based on preset strategies and intrusion levels, the system sends control commands to the drone via a data transmission link. The command types include "warning" to send prompts to the ground station, "forced return" to trigger the automatic return-to-home process, "immediate landing" to automatically land in place, and "still hovering" to stop moving forward and wait for instructions. At the same time, all intrusion events and command transmission records are written to the database for post-event audit analysis, and the system pushes real-time alarms to monitoring personnel through sound and light, SMS, API notifications, and other means.

[0049] 5. System Management With comprehensive system management capabilities as its core objective, the technical implementation revolves around the full lifecycle management and data security of electronic fences: On the one hand, by providing API interfaces or visual management interfaces, it supports dynamic operations on electronic fences, covering the addition, deletion, modification, and query of fence information, as well as the activation and disabling of fence status, meeting the need for flexible adjustment of fence configurations; on the other hand, it persistently stores all electronic fence data in a database or designated file, ensuring that data is not lost after system restart, and guaranteeing the continuity and reliability of electronic fence management.

[0050] 6. Experimental Results 6.1 Simulation Experiment Simulate the following data using the above method, such as Figure 3 As shown, Figure 3 This is a schematic diagram of a low-altitude electronic fence area and alarm points in a simulation experiment of the present invention, which includes two electronic fences and a drone flight path that includes 50 points. Figure 4 This is a schematic diagram of the flight altitude profile and alarm of a simulated experimental UAV in this invention. Figure 3 and Figure 4 As can be seen, when the point is located within the fence in the lower left corner, a core area prompt is given because both its horizontal and vertical dimensions are within the fence's range; when the point is located within the electronic fence in the upper right corner, its horizontal dimension is within the range, but its vertical dimension is outside the range, a warning area prompt is given.

[0051] Figure 5 This is a schematic diagram comparing the number of electronic fences and the execution time of two schemes in a simulation experiment according to the present invention. By artificially increasing the number of electronic fences, testing the ray casting method, and the proposed index-based discrimination method, it can be seen that as the number of electronic fences increases, the execution time of the traditional ray casting method increases with the number of fences, while the improved method proposed in this invention remains almost unchanged.

[0052] 6.2 Field Test Using a drone and a self-developed integrated communication and navigation module, a data segment was collected. The trajectory included more than 1,000 points, providing single-point positioning results. An electronic fence was set up, and the judgment results are as follows: Figure 6 , Figure 7 As shown, Figure 6 This is a schematic diagram of a low-altitude electronic fence area and alarm points for a field experiment according to the present invention. Figure 7 This is a schematic diagram of the flight altitude profile and alarm of a field test drone according to the present invention. The drone starts within an electronic fence but is on the ground. As it takes off, a core area warning is given. As it flies away from the electronic fence, the core area warning is canceled. Then, as it returns to home and re-enters the electronic fence, a core area warning is given again. Finally, upon landing, the warning changes to a warning zone warning.

[0053] Figure 8 This is a schematic diagram comparing the number of field experiments and the execution time of two schemes in this invention. Similar to the simulation experiment, by artificially adding the number of electronic fences, testing the ray casting method, and the index-based discrimination method proposed in this invention, it can be seen that as the number of electronic fences increases, the execution time of the traditional ray casting method increases with the number of fences, while the improved method proposed in this invention remains almost unchanged.

[0054] based on Figure 1 The electronic fence intrusion detection method shown in this invention first quickly retrieves candidate electronic fences that the target drone may fall into by using the circumscribed rectangles of each electronic fence. Then, it quickly determines the specific relationship between the target drone and the candidate electronic fences using the ray method. Finally, it makes a height judgment. Through this progressive judgment, it can accurately determine only the fences that may be intruded into, thus improving detection efficiency. At the same time, this invention performs spatial calculations using progressive 3D calculation methods, which can quickly handle intrusion detection of variable three-dimensional electronic fences. This supports the customization of electronic fences of arbitrary three-dimensional form in complex airspaces. It not only defines no-fly zones on the plane but also accurately manages the height layers of the airspace, realizing three-dimensional airspace management and improving the flexibility of airspace management.

[0055] When applying the intrusion detection method for electronic fences provided by this invention, it is not necessary to... Figure 1 The steps shown are executed in sequence. The specific execution order of each step can be determined as needed, and this invention does not impose any restrictions on it.

[0056] The above describes one or more embodiments of the electronic fence intrusion detection method provided by the present invention. Based on the same idea, the present invention also provides a corresponding electronic fence intrusion detection device, such as... Figure 9 As shown.

[0057] Figure 9 A schematic diagram of an intrusion detection device for an electronic fence provided by the present invention includes: The acquisition module 201 is used to acquire the positioning data and electronic fence data of the target drone; the electronic fence data includes a two-dimensional point list and height range of the vertices of the planar polygons corresponding to each electronic fence. The determination module 202 is used to determine the outer rectangle of each electronic fence. When it is determined from the positioning data that the target drone falls into the interior of several outer rectangles, the positioning data of the target drone is determined by the ray method to determine whether the positioning data of the target drone is inside the planar polygon of the electronic fence corresponding to any of the outer rectangles it falls into. If so, when the positioning data of the target drone is within the height range of the electronic fence corresponding to the outer polygon, the target drone is determined to be within the electronic fence space.

[0058] Specific limitations regarding intrusion detection devices for electronic fences can be found in the above description of intrusion detection methods for electronic fences, and will not be repeated here. Each module in the aforementioned intrusion detection device for electronic fences can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0059] The present invention also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 The provided intrusion detection method for electronic fences.

[0060] The present invention also provides Figure 10 The schematic diagram of the computer device shown is as follows: Figure 10 As shown, at the hardware level, this computer device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for business operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then executes it to achieve the above. Figure 1 The provided intrusion detection method for electronic fences.

[0061] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0062] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this invention.

Claims

1. An intrusion detection method for an electronic fence, characterized in that, include: Acquire the target drone's location data and electronic fence data; The electronic fence data includes a two-dimensional point list and height range of the vertices of the planar polygon corresponding to each electronic fence; Determine the circumscribed rectangle of each electronic fence. When the target drone falls into the interior of several circumscribed rectangles based on the positioning data, determine whether the positioning data of the target drone is inside the planar polygon of the electronic fence corresponding to any of the circumscribed rectangles it falls into using the ray casting method. If so, then when the positioning data of the target drone falls within the height range of the electronic fence corresponding to the circumscribed polygon, it is determined that the target drone is within the electronic fence space.

2. The intrusion detection method for an electronic fence as described in claim 1, characterized in that, The step of determining that the target UAV is located within a number of bounded rectangles based on positioning data specifically includes: Obtain the index tree of each electronic fence, which is pre-constructed using a tree-indexing algorithm based on the bounding rectangle of each electronic fence. Based on the index tree of each electronic fence, the bounding rectangle that intersects with the positioning data is determined by searching, and the target drone is determined to be inside the bounding rectangle that intersects with the positioning data.

3. The intrusion detection method for an electronic fence as described in claim 1, characterized in that, The method of determining whether a target UAV is inside any planar polygon using the ray casting method specifically includes: The positioning data is projected onto a two-dimensional horizontal plane to obtain projection points. For each circumscribed rectangle into which the target UAV falls, the planar polygon corresponding to it is determined whether the number of intersections between the ray obtained from the projection point based on any direction and the planar polygon is odd. If so, then the target drone is determined to be inside the polygon in the plane; If not, then the target drone is determined to be outside the polygon in the plane.

4. The intrusion detection method for an electronic fence as described in claim 1, characterized in that, The electronic fence data also includes: a buffer radius for offsetting positioning errors; the buffer radius is inversely proportional to the positioning accuracy of the target drone; Determining the circumscribed rectangle of each electronic fence specifically includes: Based on the planar polygon of the electronic fence and the buffer radius, the outward expansion area formed by extending the buffer radius outward from the planar polygon of the electronic fence is determined by the Minkowski sum operation. The circumscribed rectangle of each electronic fence is determined based on the extreme values ​​of each dimension of the extended area in the preset planar coordinate system.

5. The intrusion detection method for an electronic fence as described in claim 4, characterized in that, The method further includes: If the target drone's location data is not inside the planar polygon of the electronic fence corresponding to any of the bounding rectangles it falls into, determine whether the target drone's location data is outside the outer area of ​​the electronic fence corresponding to any of the bounding rectangles it falls into; if so, determine that the target drone is in the warning zone. If the location data of the target drone is inside the planar polygon of the electronic fence corresponding to any of the circumscribed rectangles it falls into, and the location data of the target drone does not fall within the height range of the electronic fence corresponding to the circumscribed polygon, then the target drone is determined to be in the warning zone.

6. The intrusion detection method for an electronic fence as described in claim 4, characterized in that, The method further includes: The planar polygon of the electronic fence is negatively offset based on the buffer radius to determine the shrinkage area formed by expanding the planar polygon of the electronic fence inward by the buffer radius. If the target drone's location data is within the electronic fence space, determine whether the target drone's location data falls within the inner area of ​​the electronic fence and within the height range of the electronic fence. If so, then the target drone is located in the core area.

7. An intrusion detection device for an electronic fence, characterized in that, include: The acquisition module is used to acquire the location data and electronic fence data of the target drone; The electronic fence data includes a two-dimensional point list and height range of the vertices of the planar polygon corresponding to each electronic fence; The determination module is used to determine the outer rectangle of each electronic fence. When it is determined from the positioning data that the target drone has fallen into several outer rectangles, the ray method is used to determine whether the positioning data of the target drone is inside the planar polygon of the electronic fence corresponding to any of the outer rectangles it has fallen into. If so, then when the positioning data of the target drone is within the height range of the electronic fence corresponding to the circumscribed polygon, it is determined that the target drone is within the electronic fence space.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method as described in any one of claims 1 to 6.

9. A computer device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method as described in any one of claims 1 to 6.

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