Method, device, electronic device and medium for handling illegal countermeasures against drones

Abstract

The present invention provides a processing method, device, electronic device and storage medium for illegal countermeasures against unmanned aerial vehicles, which specifically include: monitoring whether a communication signal of a unmanned aerial vehicle occurs a specified abnormal event; the specified abnormal event can indicate that: the communication signal is interfered by a countermeasure device; if the specified abnormal event is monitored, then: according to the positions of multiple target unmanned aerial vehicles where the abnormal event occurs, determining the preliminary position information of the target countermeasure device; the target countermeasure device refers to: a countermeasure device that sends an illegal countermeasure signal and causes the specified abnormal event to occur; and locating the target countermeasure device according to the preliminary position information.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a method, device, electronic device and storage medium for processing illegal countermeasures against unmanned aerial vehicles. Background Art

[0002] The rapid development of the drone industry has brought about a rapid increase in the supervision and countermeasures against drones. The countermeasures against drones interfere with the normal communication of drones by interfering with and blocking the flight control system and signal transmission system of drones. Although the countermeasures against drones are proposed from the perspective of security management, there are actually many illegal, unauthorized, and arbitrary drone countermeasures. Illegal drone countermeasures not only pose a great threat to drones flying normally, but also have an adverse impact on the development of the drone industry. They also violate relevant regulations on public security management, become an illegal means of competition, and seriously disrupt the regular order of the industry. Therefore, discovering and locating illegal countermeasures against drones is a difficult problem that needs to be solved in the field of social security management, and it is also a difficult problem that needs to be solved for the healthy development of the drone industry.

[0003] Currently, most countermeasures against drones use electromagnetic countermeasures, which have limited time periods and ranges and leave no visible countermeasure traces, so illegal countermeasures against drones are difficult to detect and locate. Summary of the invention

[0004] The present invention provides a processing method, device, electronic device and storage medium for illegal countermeasures against drones, so as to solve the problems of difficulty in discovering, locating and controlling illegal drone countermeasures.

[0005] According to a first aspect of the present invention, a method for processing illegal countermeasures against drones is provided, comprising:

[0006] Monitoring the communication signal of the drone to see if a specified abnormal event occurs; the specified abnormal event can indicate that: the communication signal is interfered by the countermeasure device;

[0007] If the specified abnormal event is detected, then: according to the positions of the multiple target UAVs where the abnormal event occurs, the preliminary position information of the target countermeasure device is determined; the target countermeasure device refers to the countermeasure device that sends out an illegal countermeasure signal and causes the specified abnormal event to occur;

[0008] The target countermeasure device is positioned according to the preliminary position information.

[0009] Optionally, determining preliminary position information of the target countermeasure device according to the position of the target UAV where the abnormal event occurs includes:

[0010] Determining interference intensity information of the target UAV; the interference intensity information represents the intensity of interference of the target UAV by the target countermeasure device;

[0011] The preliminary orientation information is determined according to the position of the target UAV and the interference intensity information.

[0012] Optionally, determining the preliminary position information according to the position of the target UAV and the signal strength information includes:

[0013] According to the positions of all the target UAVs, the incoming direction range of the illegal countermeasure signal of the target countermeasure device is determined.

[0014] The preliminary azimuth information is determined according to the incoming wave direction range, the interference intensity information and the electromagnetic signal attenuation model.

[0015] Optionally, determining the direction range of the illegal countermeasure signal according to the positions of all the target drones includes:

[0016] Determine an outer envelope graph according to the positions of all the target drones; wherein the positions of all the target drones are included in the outer envelope graph, and the shape of the outer envelope graph is adapted to the position distribution of the target drones;

[0017] Based on the outer envelope graph, the range of the incoming wave direction is determined.

[0018] Optionally, positioning the target countermeasure device according to the preliminary position information includes:

[0019] According to the preliminary position information, dispatching an adapted TDOA positioning monitoring station so that the adapted TDOA positioning monitoring station monitors the illegal counter signal in the frequency band of the illegal counter signal;

[0020] Based on the illegal countermeasure signal detected by the TDOA positioning monitoring station, the target countermeasure device is located.

[0021] Optionally, when the adapted TDOA positioning monitoring station monitors an illegal counter signal, the position of the TDOA positioning monitoring station matches the direction of arrival of the illegal counter signal, and the adapted TDOA positioning monitoring station is distributed in a polygonal manner.

[0022] Optionally, the specified abnormal event includes at least one of the following:

[0023] The noise of the communication signal increases to exceed a specified range within a specified time;

[0024] The communication signal is interrupted.

[0025] According to a second aspect of the present invention, a processing device for illegal countermeasures against a drone is provided, comprising:

[0026] The abnormality monitoring module is used to monitor whether a specified abnormal event occurs in the communication signal of the drone; the specified abnormal event can indicate that the communication signal is interfered by the countermeasure device;

[0027] A module for determining preliminary position information of a target countermeasure device, for determining preliminary position information of the target countermeasure device according to the positions of the multiple target drones where the abnormal event occurs, if the specified abnormal event is detected; the target countermeasure device refers to a countermeasure device that sends an illegal countermeasure signal and causes the specified abnormal event to occur;

[0028] A target countermeasure device positioning module is used to locate the target countermeasure device according to the preliminary position information.

[0029] According to a third aspect of the present invention, there is provided an electronic device comprising a processor and a memory; the memory stores a program that can be called by the processor; wherein, when the processor executes the program, a method for processing illegal countermeasures against drones as described in the first aspect of the present invention and its optional solutions is implemented.

[0030] According to a fourth aspect of the present invention, there is provided a storage medium on which a program is stored. When the program is executed by a processor, a method for processing illegal countermeasures against drones as described in the first aspect of the present invention and its optional solutions is implemented.

[0031] The processing method, device, electronic device and storage medium for illegal countermeasures against drones provided by the present invention monitor the communication signals of drones and locate the target countermeasure equipment according to the positions and positioning systems of multiple target drones where the abnormal event occurs, thereby achieving accurate real-time discovery and positioning of illegal drone countermeasure behaviors, and providing sufficient basis for further control thereof, which can effectively solve the problems of difficult discovery, positioning and control of illegal drone countermeasure behaviors. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 The following is a flow chart of a method for handling illegal countermeasures against drones in one embodiment of the present invention. Figure 1 ;

[0034] Figure 2 The following is a flow chart of a method for handling illegal countermeasures against drones in one embodiment of the present invention. Figure 2 ;

[0035] Figure 3 The following is a flow chart of a method for handling illegal countermeasures against drones in one embodiment of the present invention. Figure 3 ;

[0036] Figure 4 Schematic diagram of a module of a processing device for illegal countermeasures against drones in one embodiment of the present invention Figure 1 ;

[0037] Figure 5 It is a schematic diagram of the structure of an electronic device for a method of handling illegal countermeasures against drones in one embodiment of the present invention;

[0038] Figure 6 It is a schematic diagram of a positioning scenario for illegal countermeasures against drones in one embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0042] Figure 1The following is a flow chart of a method for handling illegal countermeasures against drones in one embodiment of the present invention. Figure 1 , please combine Figure 1 and Figure 6 , the specific methods for dealing with illegal countermeasures by drones include:

[0043] S1: Monitor the drone's communication signal to see if a specified abnormal event occurs;

[0044] The specified abnormal event can be characterized as: the communication signal is interfered by the countermeasure device;

[0045] S2: If the specified abnormal event is detected, then: determining preliminary position information of the target countermeasure device according to the positions of the multiple target drones where the abnormal event occurs;

[0046] The target countermeasure device refers to: a countermeasure device that sends out an illegal countermeasure signal and causes the specified abnormal event to occur;

[0047] S3: Positioning the target countermeasure device according to the preliminary position information.

[0048] Existing drone countermeasure technology mainly uses electromagnetic interference technology, which uses high-power electromagnetic signals to suppress the frequency bands of drone remote control, telemetry and data transmission signals. At present, the communication frequency bands used by most drones are 2.4GHZ and 5.8GHZ. In view of the frequency band characteristics of this electromagnetic signal, the drone countermeasure system uses high-power electronic jammers to suppress and interfere with drone communication signals.

[0049] The specified abnormal event in step S1 includes at least one of the following:

[0050] The noise of the communication signal increases to exceed a specified range within a specified time;

[0051] The communication signal is interrupted.

[0052] When a normally flying drone receives an interference signal during communication, the noise of the communication signal will increase. When the interference signal suddenly increases, an abnormal event of interruption of the communication signal may even occur. Furthermore, the event of "the noise of the communication signal increases to exceed the specified range within a specified time" may represent a sudden increase in noise or an interruption of the communication signal.

[0053] In the specific examples of step S1 and step S2, please combine Figure 6, the communication contact (i.e., communication signal) of the normally flying UAV can be monitored. If the specified abnormal event is found, the UAV flight control end reads and records the navigation and positioning information of the UAV (i.e., obtains the position of the target UAV), and in step S2, uses the navigation and positioning information of the UAV where the specified abnormal event occurs to analyze the possible illegal counter-signal direction and strength.

[0054] In the above scheme, accurate real-time detection and positioning of illegal drone counter-action behaviors are achieved, and sufficient basis is provided for further control over them, which can effectively solve the problems of difficulty in detecting, positioning and controlling illegal drone counter-action behaviors.

[0055] Figure 2 The following is a flow chart of a method for handling illegal countermeasures against drones in one embodiment of the present invention. Figure 2 In one embodiment, determining the preliminary position information of the target countermeasure device according to the position of the target UAV where the abnormal event occurs (i.e., step S2) specifically includes:

[0056] S21: Determine the interference intensity information of the target UAV;

[0057] The interference intensity information represents the intensity of interference of the target UAV by the target countermeasure device;

[0058] In one embodiment, when the communication signal of the target UAV is interfered, the noise suddenly increases, and the energy value of the signal received by the target UAV increases. The increased energy value represents the interference intensity of the target UAV, and any information describing it can be used as interference intensity information.

[0059] S22: Determine the preliminary orientation information according to the position of the target UAV and the interference intensity information.

[0060] Among them, the closer to the target countermeasure equipment, the greater the interference intensity will be. Therefore, based on the position and interference intensity information of the target UAV, the determined preliminary direction information can reflect the distance of the target countermeasure equipment relative to each target UAV. Therefore, the above process can ensure that the preliminary direction information has a certain accuracy.

[0061] In one embodiment, Figure 3 As shown, step S22 specifically includes:

[0062] S221: Determine the direction range of the illegal countermeasure signal of the target countermeasure device according to the positions of all the target UAVs.

[0063] Step S221 may specifically include:

[0064] According to the positions of all the target drones, an outer envelope graph is determined; wherein the positions of all the target drones are included in the outer envelope graph, and the shape of the outer envelope graph is adapted to the position distribution of the target drones,

[0065] Based on the outer envelope graph, the range of the incoming wave direction is determined.

[0066] A set graph is formed by the position coordinates of all the target drones, that is, the target drones where the abnormal event occurs, and an outer envelope graph of the set graph is determined. Figure 6 As shown, the outer envelope graph can point to the approximate direction of the illegal counter signal, for example: the direction of the outer envelope graph is the approximate direction of the illegal counter signal. By extending each edge of the outer envelope to the approximate direction of the illegal counter signal, the possible range of the direction of the illegal counter signal is framed;

[0067] Among them, since the shape of the outer envelope graph is adapted to the position distribution of the target UAV, it can reflect the distribution of the range of action of the illegal counter-signal of the target counter-device. Furthermore, based on the outer envelope graph, the approximate direction of the illegal counter-signal (i.e., the approximate direction of the target counter-device) can be effectively reflected.

[0068] S222: Determine the preliminary azimuth information according to the incoming wave direction range, the interference intensity information and the electromagnetic signal attenuation model.

[0069] The electromagnetic signal attenuation model, i.e., the free space propagation model, is used to predict the field strength of the received signal when there is a completely unobstructed line-of-sight path between the receiver and the transmitter. After the signal energy propagates a certain distance in free space, the signal energy will also attenuate. Usually, satellite communication systems and microwave line-of-sight wireless links are typical examples of free space propagation.

[0070] According to the electromagnetic signal attenuation model, the closer the drone is to the incoming wave direction, the stronger the interference it will receive, and the electromagnetic signal attenuation model can reflect the quantitative characteristics of the change in interference intensity. Therefore, based on the incoming wave direction range and the interference intensity information determined in step S211, the preliminary orientation information of the target countermeasure device can be determined more accurately.

[0071] In one embodiment, please combine Figure 6 , positioning the target countermeasure device according to the preliminary position information (i.e., step S3), including:

[0072] S31: According to the preliminary position information, dispatch an adapted TDOA positioning monitoring station so that the adapted TDOA positioning monitoring station monitors the illegal counter signal in the frequency band of the illegal counter signal.

[0073] S32: Based on the illegal countermeasure signal detected by the TDOA positioning monitoring station, locate the target countermeasure device.

[0074] TDOA positioning is a method of positioning using time difference. The position of the signal can be determined by measuring the absolute time difference of the signal reaching each monitoring site. The TDOA site can be understood as the monitoring site used for TDOA positioning, or as the signal receiver for TDOA positioning. In this embodiment, TDOA positioning technology is used, but not limited to TDOA positioning technology, to locate the target countermeasure device.

[0075] In step S31, when the adapted TDOA positioning monitoring station monitors the illegal counter signal, the position of the TDOA positioning monitoring station matches the direction of the illegal counter signal, and the adapted TDOA positioning monitoring station is distributed in a polygonal shape.

[0076] The TDOA monitoring stations that are scheduled to adapt should avoid linear configuration, avoid being blocked by buildings as much as possible, and choose open and direct-view stations. Under the premise of ensuring that the monitoring stations can receive illegal counter signals, the geometric area of ​​the city surrounded by the scheduled monitoring stations should be maximized as much as possible. The scheduled TDOA monitoring stations simultaneously receive the counter signals in the illegal counter signal frequency band, calculate the signal arrival time difference, and send the monitoring data to the TDOA positioning calculation server. The calculation server uses the time difference positioning algorithm to calculate the specific location of the target counter device.

[0077] To sum up, the processing method for illegal countermeasures against drones provided in the embodiments of the present invention monitors the communication signals of drones and determines the preliminary orientation information of the target countermeasure equipment according to the positions of multiple target drones where the abnormal event occurs, and combines the TDOA positioning system for positioning, thereby realizing accurate real-time positioning of illegal drone countermeasure behaviors.

[0078] Please refer to Figure 4 , a schematic diagram of a module of a processing device for illegal countermeasures against drones in one embodiment of the present invention Figure 1 , the processing device 200 for illegal countermeasures against drones includes:

[0079] The abnormality monitoring module 201 is used to monitor whether a specified abnormal event occurs in the communication signal of the drone; the specified abnormal event can indicate that: the communication signal is interfered by the countermeasure device;

[0080] The module 202 for determining the preliminary position information of the target countermeasure device is used to determine the preliminary position information of the target countermeasure device according to the positions of the multiple target drones where the abnormal event occurs, if the specified abnormal event is detected; the target countermeasure device refers to the countermeasure device that sends out an illegal countermeasure signal and causes the specified abnormal event to occur;

[0081] The target countermeasure device positioning module 203 is used to locate the target countermeasure device according to the preliminary position information.

[0082] Please refer to Figure 5 , an electronic device 30 is provided, comprising:

[0083] processor 31; and

[0084] A memory 32, used to store executable instructions of the processor;

[0085] The processor 31 is configured to execute the above-mentioned method by executing the executable instructions.

[0086] The processor 31 can communicate with the memory 32 via a bus 33 .

[0087] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method is implemented.

[0088] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for handling illegal countermeasures against drones, characterized in that: include, Monitoring whether a specified abnormal event occurs in the communication signal of the drone; the specified abnormal event can indicate that: the communication signal is interfered by the countermeasure device; If the specified abnormal event is detected, then: determining preliminary position information of the target countermeasure device according to the positions of the multiple target drones where the abnormal event occurs; The target countermeasure device refers to: a countermeasure device that sends out an illegal countermeasure signal and causes the specified abnormal event to occur; Positioning the target countermeasure device according to the preliminary position information; Among them, the method for determining the preliminary position information of the target countermeasure device according to the position of the target UAV where the abnormal event occurs includes: Determining interference intensity information of the target UAV; the interference intensity information represents the intensity of interference of the target UAV by the target countermeasure device; Determining the preliminary orientation information according to the position of the target UAV and the interference intensity information; The method for determining the preliminary position information according to the position of the target UAV and the interference intensity information includes: According to the positions of all the target UAVs, determining the direction range of the illegal countermeasure signals of the target countermeasure equipment; Determining the preliminary azimuth information according to the incoming wave direction range, the interference intensity information and the electromagnetic signal attenuation model; Among them, the method for determining the direction range of the illegal countermeasure signal according to the positions of all the target drones includes: Determine an outer envelope graph according to the positions of all the target drones; wherein the positions of all the target drones are included in the outer envelope graph, and the shape of the outer envelope graph is adapted to the position distribution of the target drones; Based on the outer envelope graph, the range of the incoming wave direction is determined.

2. The method according to claim 1, characterized in that Positioning the target countermeasure device according to the preliminary position information includes: According to the preliminary position information, dispatching an adapted TDOA positioning monitoring station so that the adapted TDOA positioning monitoring station monitors the illegal counter signal in the frequency band of the illegal counter signal; Based on the illegal countermeasure signal detected by the TDOA positioning monitoring station, the target countermeasure device is located.

3. The method according to claim 2, characterized in that When the adapted TDOA positioning monitoring station monitors the illegal counter signal, the position of the TDOA positioning monitoring station matches the incoming direction of the illegal counter signal, and the adapted TDOA positioning monitoring station is distributed in a polygonal manner.

4. The method according to claim 1, characterized in that: The specified abnormal event includes at least one of the following: The noise of the communication signal increases to exceed a specified range within a specified time; The communication signal is interrupted.

5. A processing device for illegal countermeasures against drones, characterized in that: include, The abnormality monitoring module is used to monitor whether a specified abnormal event occurs in the communication signal of the drone; the specified abnormal event can indicate that the communication signal is interfered by the countermeasure device; A module for determining preliminary position information of a target countermeasure device, for determining preliminary position information of the target countermeasure device according to the positions of the multiple target drones where the abnormal event occurs, if the specified abnormal event is detected; The target countermeasure device refers to: a countermeasure device that sends out an illegal countermeasure signal and causes the specified abnormal event to occur; A target countermeasure device positioning module, used for positioning the target countermeasure device according to the preliminary position information; Among them, the method for determining the preliminary position information of the target countermeasure device according to the position of the target UAV where the abnormal event occurs includes: Determining interference intensity information of the target UAV; the interference intensity information represents the intensity of interference of the target UAV by the target countermeasure device; Determining the preliminary orientation information according to the position of the target UAV and the interference intensity information; The method for determining the preliminary position information according to the position of the target UAV and the interference intensity information includes: According to the positions of all the target UAVs, determining the direction range of the illegal countermeasure signals of the target countermeasure equipment; Determining the preliminary azimuth information according to the incoming wave direction range, the interference intensity information and the electromagnetic signal attenuation model; Among them, the method for determining the direction range of the illegal countermeasure signal according to the positions of all the target drones includes: Determine an outer envelope graph according to the positions of all the target drones; wherein the positions of all the target drones are included in the outer envelope graph, and the shape of the outer envelope graph is adapted to the position distribution of the target drones; Based on the outer envelope graph, the range of the incoming wave direction is determined.

6. An electronic device, characterized in that: It comprises a processor and a memory; the memory stores a program that can be called by the processor; wherein, when the processor executes the program, it implements the processing method for illegal countermeasures against drones as described in any one of claims 1-4.

7. A storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, a method for processing illegal countermeasures against a drone as described in any one of claims 1 to 4 is implemented.

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