Methods, devices, equipment and media for countering drones

Abstract

The present invention provides a method, device, equipment and medium for countering a drone, comprising: obtaining a drone signal, and judging whether a target drone turns on a RID reporting function to actively report RID information based on the drone signal; if not actively reporting, judging whether the target drone is a drone to be countered based on the drone signal and a signal feature database of known drones; the signal feature database records known signal features of the known drones and RID information corresponding to the known drones; if the target drone is the drone to be countered, emitting a counter signal in the direction of the drone to be countered.

Description

Technical Field

[0001] The present invention relates to the field of drone control, and in particular to a method, device, equipment and medium for countering drones. Background Art

[0002] As the requirements for orderly management of drones continue to increase, the requirements for drone identification and regulatory technology are also getting higher and higher. Among them, the drone identification code (RID), as an important basis for drone control, has become a requirement in the production and use of drones. Most of the regulatory measures for drones, including identification, tracking, positioning, countermeasures, etc., are based on the reception and identification of the drone RID, and are also based on the drone itself complying with the relevant RID specifications and actively broadcasting its RID information correctly and in accordance with the regulations.

[0003] At present, drone tracking and countermeasure technology mainly focuses on the control during RID broadcast, and lacks drone tracking and countermeasure technology when the RID function is turned off. When the target drone deliberately turns off the RID broadcast or the drone fails to broadcast RID information due to RID-related function failure, the current drone tracking and countermeasure technology cannot track and counter such drones in time, which brings harm to social security and order, and targeted supervision needs to be strengthened. Summary of the invention

[0004] The present invention provides a method, device, equipment and medium for countering unmanned aerial vehicles, so as to solve the problem that illegal unmanned aerial vehicles cannot be countered in time when the RID function is turned off.

[0005] According to a first aspect of the present invention, a method for countering a drone is provided, comprising: obtaining a drone signal, and based on the drone signal, determining whether the target drone turns on the RID reporting function to actively report RID information; if not actively reporting, then: determining whether the target drone is a drone to be countered based on the drone signal and a signal feature database of known drones; the signal feature database records the known signal features of the known drones, and the RID information corresponding to the known drones; if the target drone is the drone to be countered, transmitting a counter signal in the direction of the drone to be countered.

[0006] Optionally, based on the drone signal, determining whether the target drone has turned on the RID reporting function to actively report the RID information includes: demodulating the first signal part in the drone signal, the first signal part including a signal for recording the current RID information of the target drone; if the demodulation is successful, it is determined that the target drone has turned on the RID reporting function and has actively reported the RID information; if the demodulation is unsuccessful, it is determined that the target drone has turned off the RID reporting function and has not actively reported the RID information.

[0007] Optionally, based on the drone signal and a signal feature database of known drones, determining whether the target drone is a drone to be countered includes: extracting a current signal feature of the second signal part in the drone signal; and determining whether the target drone is a drone to be countered based on the current signal feature and the known signal feature.

[0008] Optionally, based on the current signal feature and the known signal feature, determining whether the target UAV is a UAV to be countered includes: if the current signal feature matches any one of the known signal features, determining the RID information of the known UAV corresponding to the matched known signal feature as the RID information of the target UAV; based on the RID information of the target UAV, retrieving the planned flight information of the target UAV from the information system; obtaining the actual flight information of the target UAV; based on the planned flight information and actual flight information of the target UAV, determining whether the target UAV violates the rules; if it violates the rules, determining that the target UAV is a UAV to be countered.

[0009] Optionally, judging whether the target UAV is the UAV to be countered based on the current signal feature and the known signal feature includes: if the current signal feature does not match all known signal features, determining that the target UAV is the UAV to be countered.

[0010] Optionally, multiple radio signals from multiple drones are collected and signal features of the radio signals are extracted; among the signal features of the radio signals, signal features used to distinguish different drones are determined as the known signal features, and the signal feature database is constructed or updated based on the known signal features and their corresponding RID information.

[0011] Optionally, if the target drone is the drone to be countered, a counter signal is transmitted in the direction of the drone to be countered, including: obtaining the position of the drone to be countered; for multiple drones to be countered, based on the distance between the position of the drone to be countered and the position of the counter device, determining the transmission order of multiple groups of counter signals; according to the position of the drone to be countered, determining the transmission direction of each group of counter signals; according to the transmission order and transmission direction of multiple groups of counter signals, transmitting corresponding counter signals to multiple drones to be countered one by one.

[0012] According to a second aspect of the present invention, a countermeasure device for a drone includes:

[0013] The acquisition module is used to acquire drone signals and determine whether the target drone has turned on the RID reporting function to actively report RID information;

[0014] An identity matching module, used to determine whether the target drone is a drone to be countered based on the drone signal and a signal feature database of known drones;

[0015] The countermeasure module is used to transmit a countermeasure signal in the direction of the UAV to be countermeasured.

[0016] According to a third aspect of the present invention, there is provided an electronic device, comprising a processor and a memory, wherein the memory is used to store code and related data;

[0017] The processor is used to execute the code in the memory to implement the method involved in the first aspect of the present invention and its optional solutions.

[0018] According to a fourth aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements the method involved in the first aspect of the present invention and its optional solutions.

[0019] In the drone countermeasure method, device, equipment and medium provided by the present invention, it is determined whether the RID function of the drone is turned on or off. Furthermore, for a drone with the RID function turned off, based on the signal feature database and the drone signal, it can be determined whether the target drone is the drone to be countermeasured, so that the countermeasure device can accurately find the drone to be countermeasured and countermeasure it when the RID function is turned off. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 The following is a schematic diagram of the process of the drone countermeasure method in one embodiment of the present invention. Figure 1 ;

[0022] Figure 2 The following is a schematic diagram of the process of the drone countermeasure method in one embodiment of the present invention. Figure 2 ;

[0023] Figure 3 is a schematic flow chart of step S1 in one embodiment of the present invention;

[0024] Figure 4 is a schematic flow chart of step S2 in one embodiment of the present invention;

[0025] Figure 5is a schematic flow chart of step S22 in one embodiment of the present invention;

[0026] Figure 6 is a flow chart of step S3 in one embodiment of the present invention;

[0027] Figure 7 is a schematic diagram of the working principle of an embodiment of the present invention;

[0028] Figure 8 is a schematic diagram of a program module of a drone countermeasure device in one embodiment of the present invention;

[0029] Fig. 9 It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0030] 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.

[0031] 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.

[0032] 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.

[0033] The target drone involved in the embodiment of the present invention can be understood as a drone or a combination of drones that needs to be determined whether it is a drone to be countered;

[0034] The positioning base station described in the embodiment of the present invention can be understood as a device or a combination of devices used to locate the target drone. In one example, it can be a TDOA base station;

[0035] The countermeasure device described in the embodiment of the present invention may be understood as a device or a combination of devices used to counter the drone or the combination of drones to be countermeasured.

[0036] The method for countering a drone described in the embodiment of the present invention can be applied to a countering device to implement data processing in the countering device, and can also be applied to other data processing devices that can communicate with the countering device.

[0037] The present invention provides a method for countering a drone. Figure 1 Combined with Figure 7 ,include:

[0038] S1: Obtaining drone signals, and based on the drone signals, determining whether the target drone has turned on the RID reporting function to actively report RID information;

[0039] S2: If no active report is made, then: based on the drone signal and a database of signal characteristics of known drones, determine whether the target drone is a drone to be countered;

[0040] S3: If the target UAV is the UAV to be countered, a counter signal is transmitted in the direction of the UAV to be countered.

[0041] The RID information can be understood as the identification code of the drone;

[0042] The RID reporting function can be understood as a function of making the radio signal emitted by the drone include RID information. In one example, the drone can report the RID information periodically, and in another example, the drone can report the RID information continuously;

[0043] The signal feature database can be understood as being used to store the signal features of drones, and specifically can record the known signal features of known drones, and the RID information of the known drones (i.e., the RID information bound to the known signal features). In further some schemes, known signal features that are not bound to RID information can also be recorded, and / or: RID information that is not bound to known signal features.

[0044] In one example, the signal feature database is indexed by RID information, and the signal feature is bound to the RID information. If the signal feature of the corresponding drone can be matched in the signal feature database, the RID information of the drone matching it can also be found in the signal feature database;

[0045] The counter signal is characterized as a signal emitted by a counter device and having a counter effect on the drone to be countered. In one example, the counter device can counter the drone to be countered by emitting electromagnetic signals. In another example, it can counter it by releasing radio signal interference, cutting off its control communication link, forcing the drone to land, and stopping illegal flight.

[0046] Among them, the direction of the drone to be countered refers to the direction of the drone to be countered relative to the countering device. Furthermore, the present invention can identify the drone that needs to be countered, so that the countering device can accurately counter the direction of the drone to be countered, reducing the impact on drones flying legally and compliantly.

[0047] In one embodiment, before step S1, it includes: using a detection device to detect the radio signal emitted by the target UAV, the detection device can be, for example, a detection station, which can be a ground detection station or a flight detection station, and the detection station sends the detected radio signal to a device for signal processing, and the device determines whether the RID reporting function is turned on.

[0048] Please refer to Figure 2 , step S1 comprises:

[0049] S11: Demodulating the first signal part of the drone signal;

[0050] The first signal part includes a signal for recording the current RID information of the target UAV;

[0051] S12: If the demodulation is successful, it is determined that the target UAV has turned on the RID reporting function and actively reported the RID information;

[0052] S13: If the demodulation is unsuccessful, it is determined that the target UAV has turned off the RID reporting function and has not actively reported the RID information.

[0053] The first signal part includes a signal for recording the current RID information of the target UAV;

[0054] The demodulation herein can be understood as a process of recovering information and signals in drone signals based on signal processing means (for example, obtaining RID information). Any existing or improved demodulation means in the art can be used as an optional solution. In addition, the demodulation process can be implemented by the executor of the method or by using other equipment; that is, the process of demodulating the first signal part can be direct demodulation or demodulation using other equipment.

[0055] In the above scheme, it is determined whether the RID function of the drone is turned on or off. Then, for the drone with the RID function turned off, based on the signal feature database and the drone signal, it can be determined whether the target drone is the drone to be countered, so that the countermeasure device can accurately find the drone to be countered and counter it when the RID function is turned off.

[0056] In one embodiment, please refer to Figure 2 , and combined with Figure 7 , the method may further include:

[0057] S4: Collect multiple radio signals of multiple drones and their corresponding RID information, and extract signal features of the radio signals;

[0058] S5: Among the signal characteristics of the radio signal, determine the signal characteristics used to distinguish different drones as the known signal characteristics, and build or update the signal characteristics database based on the known signal characteristics and their corresponding RID information.

[0059] The above steps S4 and S5 may be performed before step S1 , or may be performed simultaneously with steps S1 to S3 .

[0060] Furthermore, when the UAV turns on the RID reporting function, the above steps S4 and S5 are implemented to establish or update a signal feature database indexed by the RID information;

[0061] In one example, when the drone is normally broadcasting RID information, a signal feature database indexed by RID is established, and the radio signal features of the drone in different frequency bands, different communication modes, and different flight states are summarized respectively. Moreover, for drones with different RIDs, the signal features that distinguish them are found and identified based on their long-term collected radio signal data, thereby forming the known signal features.

[0062] Please refer to Figure 4 In step S2, the process of determining whether the target drone is a drone to be countered based on the drone signal and the signal feature database of known drones may include:

[0063] S21: extracting current signal features of the second signal part in the drone signal;

[0064] S22: Based on the current signal feature and the known signal feature, determine whether the target UAV is a UAV to be countered.

[0065] The signal features involved above may be features in the time domain or in the frequency domain. Furthermore, they may be features extracted from a spectrum diagram, and may be periodic features or non-periodic features. Regardless of the features, they do not depart from the scope of the embodiments of the present invention. At the same time, the selected signal features may be signal features of any signal segment. In a specific example, the waveform features of the pilot signal may be selected as the signal features here.

[0066] In the above scheme, the current signal characteristics and the known signal characteristics can be used as the basis for judging whether the target UAV is the UAV to be countered, which can help identify the UAV to be countered based on the characteristics of the signal. Compared with the scheme that can only determine whether countermeasures are needed by extracting RID information, the present invention can be applied to situations where RID information cannot be extracted, effectively expanding the scope of application and covering a wider range of signal environments.

[0067] For specific solutions, please refer to Figure 5 , step S22 may include:

[0068] S221: If the current signal feature matches any known signal feature, determining the RID information of the known UAV corresponding to the matched known signal feature as the RID information of the target UAV;

[0069] S222: Based on the RID information of the target UAV, retrieve the planned flight information of the target UAV from the information system;

[0070] S223: Acquire actual flight information of the target UAV;

[0071] S224: judging whether the target UAV violates a violation based on the planned flight information and the actual flight information of the target UAV;

[0072] S225: If there is a violation, determining the target drone as a drone to be countered.

[0073] Through the above step S225, it can be determined Figure 7 The drones shown are those that are in violation and need to be countered because their flight information is inconsistent with the reported information.

[0074] In addition, step S22 may further include:

[0075] S226: If the current signal feature does not match any known signal features, the target UAV is determined to be the UAV to be countered.

[0076] Through the above step S226, it can be determined Figure 7 The drones shown are those that are in violation and need to be countered because they are not in the database.

[0077] In one embodiment, if it is determined that the RID reporting function is turned off, the second signal part in the drone signal is obtained, and the current signal feature is extracted from the second signal part to determine whether the current signal feature matches the known signal feature recorded in the known signal feature database.

[0078] In a specific implementation, appropriate signal segments are selected to receive UAV radio signals based on signal features with higher discrimination in a signal feature database; for environments with complex terrain, high background noise, and more electromagnetic interference, multiple UAV signal receiving devices (in one example, detection stations) are enabled to collaboratively receive UAV signals to enhance their reception gain.

[0079] Among them, the matching of the current signal characteristics and the known signal characteristics can be understood as:

[0080] If the correlation (or similarity) between the current signal feature and the known signal feature recorded in the known signal feature database is higher than a predetermined threshold, such as 95%, a match can be determined, and the RID information of the known UAV to which the matched known signal feature belongs is used as the RID information of the target UAV;

[0081] The flight information may include, for example, at least one of the following:

[0082] Flight time, flight area, flight trajectory, location points passed, etc.; further, when the planned flight information of the target drone matches the actual flight information, it can be judged that the target drone has not violated the rules and countermeasures are taken; if they do not match, it can be judged that the target drone has violated the rules and countermeasures are needed;

[0083] The matching between the planned flight information and the actual flight information may be, for example:

[0084] If the planned flight information includes a planned flight trajectory and the actual flight information includes an actual flight trajectory, the matching includes: the planned flight trajectory matches the actual flight trajectory;

[0085] If the planned flight information includes multiple planned location points (such as starting point, end point, waypoint, etc.), and the actual flight information includes an actual flight trajectory, then the match includes: the planned location point falls on the actual flight trajectory or is adjacent to the actual flight trajectory;

[0086] If the actual flight information includes multiple actual flight location points (such as starting point, end point, waypoint, etc.), and the planned flight information includes a planned flight trajectory, then the match includes: the actual location point falls on the planned flight trajectory or is adjacent to the planned flight trajectory;

[0087] If the planned flight information includes a planned flight area, and the actual flight information includes an actual flight area or an actual flight location point, then the match includes: the actual flight area or the actual flight location point falls within the planned flight area;

[0088] If the planned flight information includes a planned flight time period, and the actual flight information includes an actual flight time, then the match includes: the actual flight time falls within the planned flight time period.

[0089] The violation can be understood as the actual flight information of the target UAV not matching the planned flight information in the information system; specifically, the information system may include: a UAV management information system or a UAV flight reporting system in this airspace.

[0090] In one embodiment, in the above step S22, the relevant signal feature data can be extracted from the received second signal part according to the signal feature concerned by the signal feature database, and matched with the second signal part of the drone signal in the signal feature database. A drone signal with a matching degree higher than a predetermined threshold in the signal feature database, for example, higher than 95%, is selected, and it is determined that the received second signal part belongs to the signal feature of the drone in the database.

[0091] In one embodiment, in the above step S22, relevant signal feature data can be extracted from the received second signal part according to the signal feature concerned by the signal feature database, and matched and analyzed with the second signal part of the drone signal in the signal feature database; a drone signal whose matching degree in the signal feature database is not higher than a predetermined threshold, for example, not higher than 95%, is selected, and it is determined that the received second signal part does not belong to the signal feature of the drone in the signal feature database, the second signal part of the current drone signal is stored in the signal feature database and the current drone signal is named, and the target drone is determined to be the drone to be countered;

[0092] In one example, the current drone signal is named and stored in the signal feature database. If a target drone with its RID function turned off is found again during a subsequent countermeasure process, the target drone can be directly determined as the drone to be countered based on its name. In another example, the current drone signal is named and stored in the signal feature database. If a target drone with its RID function turned on is found during a subsequent countermeasure process, the demodulated RID is bound to the signal feature of the current drone, that is, the signal feature of the current drone is stored in the signal feature database with RID as the index.

[0093] In a specific embodiment, the positioning base station can use a TDOA passive time difference positioning base station to locate the UAV, and can select data from multiple signal recognition devices, for example, 4, to locate the UAV based on the time difference from the detection device discovering to receiving the UAV's radio signal. Every 1 second, it performs signal collection and time difference positioning calculation to form continuous positioning tracking and draw its flight trajectory;

[0094] In one embodiment, for a drone whose RID or signal feature is found in a signal feature database, the drone's trajectory is determined and compared with the flight plan and requirements of the drone reported in the drone management information system. If its flight behavior (i.e., flight information) is inconsistent with the reported plan, it is determined to be an illegal flight and is countered by releasing radio interference to cut off its control communication link, forcing it to land and stop the illegal flight.

[0095] Please refer to Figure 6 , step S3 comprises:

[0096] S31: Obtain the position of the drone to be countered;

[0097] S32: for the plurality of drones to be countered, determining a transmission order of the plurality of groups of counter signals based on the distance between the position of the drone to be countered and the position of the counter device;

[0098] S33: Determine the transmission direction of each set of countermeasure signals according to the position of the UAV to be countermeasured;

[0099] S34: According to the transmission order and transmission direction of the multiple groups of countermeasure signals, corresponding countermeasure signals are transmitted one by one to the multiple drones to be countermeasured.

[0100] Combination Figure 7 It can be seen that the process of obtaining the position in step S31 can be, for example, a process of using the scheduled TDOA monitoring station to locate the UAV to be countered and thus obtain the position. The transmission of the counter signal in step S34 can refer to Figure 7 Understanding of the countermeasure signals shown.

[0101] The launch order can be characterized as a sequential counterattack order for multiple drones to be countered;

[0102] The transmitted signal may be characterized as the direction from which the counter signal is transmitted;

[0103] In one embodiment, the countermeasure device selects the order of countermeasures (i.e., the transmission order) based on the principle of from near to far according to the results of drone identity authentication and illegal flight behavior analysis; then determines the release direction of the countermeasure signal (i.e., the transmission direction) according to the TDOA positioning results, and performs countermeasures in sequence. In one example, a noise signal of sufficient power can be released to interfere with the communication between the drone and the remote control, so that the drone cannot correctly receive the remote control's instructions.

[0104] In summary, in the specific scheme of the present invention, the following positive effects can be achieved:

[0105] The drone countermeasure method designed by the present invention can determine whether the RID function of the target drone is turned off. By establishing a signal feature database indexed by RID when the RID is broadcast normally, when the RID is turned off, the signal feature of the current drone is extracted and matched with the signal feature in the signal feature database, so that the illegal drone that needs to be countered can be identified, so that the countermeasure device can accurately counter the illegal drone and reduce the dependence on the RID broadcast function; the problem that the countermeasure device cannot automatically identify the identity of the drone and cannot counter when the RID function is turned off is solved, and the accuracy of drone countermeasure is enhanced.

[0106] Please refer to Figure 6 The embodiment of the present invention provides a drone countermeasure device 5, comprising:

[0107] The acquisition module 51 is used to acquire the drone signal and determine whether the target drone has turned on the RID reporting function to actively report the RID information;

[0108] An identity matching module 52, used to determine whether the target drone is a drone to be countered based on the drone signal and a database of signal characteristics of known drones;

[0109] The countermeasure module 53 is used to transmit a countermeasure signal in the direction of the UAV to be countermeasured;

[0110] Optionally, the acquisition module 51 is specifically used to:

[0111] Based on the drone signal, determining whether the target drone turns on the RID reporting function to actively report the RID information includes: demodulating a first signal portion in the drone signal, the first signal portion including a signal for recording the current RID information of the target drone; if the demodulation is successful, determining that the target drone turns on the RID reporting function and actively reports the RID information; if the demodulation is unsuccessful, determining that the target drone turns off the RID reporting function and does not actively report the RID information.

[0112] Optionally, the identity matching module 52 is specifically configured to:

[0113] Based on the drone signal and a database of signal features of known drones, determining whether the target drone is a drone to be countered includes: extracting a current signal feature of the second signal part in the drone signal; and determining whether the target drone is a drone to be countered based on the current signal feature and the known signal feature;

[0114] Based on the current signal feature and the known signal feature, judging whether the target drone is a drone to be countered, including: if the current signal feature matches any one of the known signal features, determining the RID information of the known drone corresponding to the matched known signal feature as the RID information of the target drone; based on the RID information of the target drone, retrieving the planned flight information of the target drone from the information system; obtaining the actual flight information of the target drone; judging whether the target drone violates the rules based on the planned flight information and the actual flight information of the target drone; if it violates the rules, determining that the target drone is a drone to be countered;

[0115] Based on the current signal feature and the known signal feature, determining whether the target drone is a drone to be countered includes: if the current signal feature does not match any known signal feature, determining that the target drone is the drone to be countered;

[0116] Optionally, the device further comprises:

[0117] A collection module, used to collect multiple radio signals of multiple drones and their corresponding RID information, and extract signal features of the radio signals;

[0118] A database construction and updating module, configured to determine, from the signal features of the radio signal, a signal feature for distinguishing different drones as the known signal feature, and to construct or update the signal feature database based on the known signal feature and its corresponding RID information;

[0119] Optionally, the countermeasure module 53 is specifically used to:

[0120] Get the location of the drone to be countered;

[0121] For the plurality of drones to be countered, determining a transmission order of the plurality of groups of counter signals based on the distance between the position of the drone to be countered and the position of the counter device;

[0122] Determine the transmission direction of each set of countermeasure signals according to the position of the drone to be countermeasured;

[0123] According to the transmission order and transmission direction of the multiple groups of countermeasure signals, corresponding countermeasure signals are transmitted one by one to the multiple drones to be countermeasured.

[0124] Please refer to Figure 7 , an electronic device 6 is provided, comprising:

[0125] processor 61; and

[0126] A memory 62, used to store executable instructions of the processor;

[0127] The processor 61 is configured to execute the above-mentioned method by executing the executable instructions.

[0128] The processor 61 can communicate with the memory 62 via a bus 63 .

[0129] 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.

[0130] 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.

[0131] 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 countering a drone, characterized in that: include, Obtaining drone signals, and based on the drone signals, determining whether the target drone has turned on the RID reporting function to actively report RID information; If no active reporting is done: Based on the drone signal and a signal feature database of known drones, determining whether the target drone is a drone to be countered; the signal feature database records known signal features of the known drones and RID information corresponding to the known drones; If the target UAV is the UAV to be countered, transmitting a counter signal in the direction of the UAV to be countered; Based on the drone signal, determining whether the target drone has turned on the RID reporting function to actively report the RID information includes: Demodulating a first signal portion of the drone signal, wherein the first signal portion includes a signal for recording current RID information of the target drone; If the demodulation is successful, it is determined that the target drone has turned on the RID reporting function and actively reported the RID information; If the demodulation is unsuccessful, it is determined that the target UAV has turned off the RID reporting function and has not actively reported the RID information.

2. The method for countering a drone according to claim 1, characterized in that: Based on the drone signal and a signal feature database of known drones, determining whether the target drone is a drone to be countered includes: Extracting a current signal feature of a second signal portion of the drone signal; Based on the current signal feature and the known signal feature, it is determined whether the target UAV is a UAV to be countered.

3. The method for countering a drone according to claim 2, characterized in that: The determining, based on the current signal feature and the known signal feature, whether the target drone is a drone to be countered includes: If the current signal feature matches any one of the known signal features, the RID information of the known UAV corresponding to the matched known signal feature is determined as the RID information of the target UAV; Based on the RID information of the target UAV, retrieve the planned flight information of the target UAV from the information system; Acquiring actual flight information of the target UAV; Based on the planned flight information and the actual flight information of the target UAV, determining whether the target UAV violates the regulations; If there is a violation, the target drone is determined to be a drone to be countered.

4. The method for countering a drone according to claim 2, characterized in that: The determining, based on the current signal feature and the known signal feature, whether the target drone is a drone to be countered includes: If the current signal feature does not match any known signal features, the target UAV is determined to be the UAV to be countered.

5. The method for countering a drone according to any one of claims 1 to 4, characterized in that: Also includes: Collect multiple radio signals of multiple drones and their corresponding RID information, and extract signal features of the radio signals; Among the signal characteristics of the radio signal, a signal characteristic used to distinguish different drones is determined as the known signal characteristic, and the signal characteristic database is constructed or updated based on the known signal characteristic and its corresponding RID information.

6. The method for countering a drone according to any one of claims 1 to 4, characterized in that: Transmitting a countermeasure signal in the direction of the UAV to be countermeasured includes: Obtaining the position of the drone to be countered; For the plurality of drones to be countered, determining a transmission order of the plurality of groups of counter signals based on the distance between the position of the drones to be countered and the position of the counter device; Determine the transmission direction of each set of countermeasure signals according to the position of the UAV to be countermeasured; According to the transmission order and transmission direction of the multiple groups of countermeasure signals, corresponding countermeasure signals are transmitted one by one to the multiple drones to be countermeasured.

7. A countermeasure device for a drone, characterized in that: include: The acquisition module is used to acquire drone signals and determine whether the target drone has turned on the RID reporting function to actively report RID information; An identity matching module, used to determine whether the target drone is a drone to be countered based on the drone signal and a signal feature database of known drones; A countermeasure module, used for transmitting a countermeasure signal in the direction of the UAV to be countermeasured; Based on the drone signal, determining whether the target drone has turned on the RID reporting function to actively report the RID information includes: Demodulating a first signal portion of the drone signal, wherein the first signal portion includes a signal for recording current RID information of the target drone; If the demodulation is successful, it is determined that the target drone has turned on the RID reporting function and actively reported the RID information; If the demodulation is unsuccessful, it is determined that the target UAV has turned off the RID reporting function and has not actively reported the RID information.

8. An electronic device, characterized in that: It includes a processor and a memory, wherein the memory is used to store codes and related data; The processor is used to execute the code in the memory to implement the method according to any one of claims 1 to 7.

9. A storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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