An unmanned aerial vehicle navigation interference system and a navigation interference method

Abstract

The present invention discloses a UAV navigation interference system, which includes a ground control station, a jammer, and a UAV with a remote controller; the UAV is used to receive the remote control signal of the remote controller, perform line-of-sight flight according to the received remote control signal, and output flight parameters to the ground control station; the remote controller is used to send a remote control signal to the UAV, connect to the ground control station through the Internet, and receive the control signal output by the ground control station; the ground control station is used to set the working parameters of the jammer, generate a control signal according to the set working parameters of the jammer and output it to the jammer, obtain the flight parameters output by the UAV and the operating parameters output by the jammer and display them; the jammer is used to receive the control signal output by the ground control station, output a jamming signal according to the received control signal, and output the operating parameters to the ground control station in real time. The present invention can conduct anti-jamming training on the UAV to ensure the safety of the UAV during actual flight.

Description

Technical Field

[0001] The present invention belongs to the field of UAV navigation, and particularly relates to a UAV navigation interference system and a navigation interference method. Background Art

[0002] During navigation countermeasure training, a UAV carrying a jammer flies to implement navigation interference on ground targets. Since the UAV operates in an environment where satellite navigation is interfered, both the onboard navigation and the navigation jammer are centrally installed in the limited space of the UAV. The navigation jammer has a large transmission power, seriously interfering with the UAV navigation and unable to suppress the navigation interference to a level where the UAV can fly normally. Since the safe flight of the UAV depends on satellite navigation, if the satellite navigation is interfered, the UAV will deviate from its flight path and the ground control cannot remotely control the UAV to fly safely. Therefore, it is necessary to solve the problem that the countermeasure training UAV can fly safely in an interference environment. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a UAV navigation interference system and a navigation interference method for anti-interference training of UAVs, which can ensure the safety of the UAV during actual flight by obtaining training parameters.

[0004] The technical solution adopted by the present invention is: a UAV navigation interference system, including a ground control station, a jammer, and a UAV with a remote controller, wherein the jammer is mounted on the UAV;

[0005] The UAV is used to receive the remote control signal from the remote controller, perform line-of-sight flight according to the received remote control signal, and output flight parameters to the ground control station;

[0006] The remote controller is used to send a remote control signal to the UAV, connect to the ground control station through the Internet, and receive the control signal output by the ground control station;

[0007] The ground control station is used to set the working parameters of the jammer, generate a control signal according to the set working parameters of the jammer and output it to the jammer, obtain the flight parameters output by the UAV and the operating parameters output by the jammer and display them;

[0008] The jammer is used to receive the control signal output by the ground control station, output an interference signal according to the received control signal, and output the operating parameters to the ground control station in real time.

[0009] In one embodiment, the ground control station includes a control module, a control station communication module, and a control station power supply module;

[0010] The control module is used to set the operating parameters of the jammer, generate a control signal according to the set operating parameters and output it to the control station communication module, and acquire and display the flight parameters output by the UAV and the operating parameters output by the jammer.

[0011] The control station communication module is used to receive the control signal output by the control module and output the received control signal to the jammer.

[0012] The control station power supply module is used to output the working voltage to each electrical component.

[0013] In one embodiment, the jammer includes a jammer communication module, a signal source, a power amplifier, a transmitting antenna, and a jammer power supply module;

[0014] The jammer communication module is used to receive the control signal sent by the control station communication module, output the received control signal to the signal source, and acquire and output in real time the operating state and operating parameters of the signal source to the control station communication module;

[0015] The signal source is used to receive the control signal output by the interference communication module, generate an interference signal according to the received control signal and output the interference signal to the power amplifier;

[0016] The power amplifier is used to receive the interference signal and amplify the received interference signal, and output the amplified interference signal to the transmitting antenna;

[0017] The transmitting antenna is used to receive the interference signal output by the power amplifier and output it to the UAV;

[0018] The jammer power supply module is used to output the working voltage to each electrical component.

[0019] The present invention also discloses a UAV navigation interference method, including the following steps:

[0020] Step 10: Mount the jammer and prepare for the conventional flight mode, specifically as follows:

[0021] Mount the jammer on the UAV, connect the control module of the ground control station and the remote controller through the Internet, and communicatively connect the control station communication module and the jammer communication module;

[0022] Step 20: Start the conventional flight mode and remotely control the UAV to take off, specifically as follows:

[0023] The ground control station outputs a control signal to the remote controller through the control module, the remote controller receives the control signal output by the ground control station and outputs a remote control signal to the UAV according to the control signal, and the UAV receives the remote control signal and flies according to the remote control signal;

[0024] Step 30: Activate the interference flight mode and set the working parameters of the jammer as follows:

[0025] Activate the jammer. The control module of the ground control station sets the working parameters of the jammer, generates a control signal, and outputs it to the communication module of the jammer through the communication module of the control station.

[0026] Step 40: Maintain the interference flight mode and conduct interference as follows:

[0027] The communication module of the jammer receives the control signal and outputs it to the signal source. The signal source generates an interference signal according to the received control signal. After being amplified by the power amplifier, the interference signal is output to the UAV through the transmitting antenna to conduct interference. If it is necessary to adjust the interference distance, go to Step 30; if the interference is to be stopped, go to Step 50.

[0028] Step 50: Activate the normal flight mode and remotely control the UAV to fly as follows:

[0029] The ground control station outputs a control signal to the remote controller through the control module. The remote controller receives the control signal output by the ground control station and outputs a remote control signal to the UAV according to the control signal. The UAV receives the remote control signal and flies according to the remote control signal. If it is necessary to activate the interference, go to Step 30.

[0030] Step 60: End the normal flight mode, land or change the battery, and unload the jammer.

[0031] In one embodiment, in the normal flight mode, the UAV flies using satellite navigation.

[0032] In one embodiment, in the interference flight mode, the UAV flies using inertial navigation.

[0033] In one embodiment, in Step 40, to adjust the interference distance, it is as follows:

[0034] The control module sets the RF signal output level of the signal source, and the power amplifier outputs the corresponding power according to the set RF signal.

[0035] In one embodiment, it further includes an anti-interference safe flight step as follows:

[0036] Activate the interference flight mode and set the flight distance for flight mode switching.

[0037] Monitor the flight distance of the UAV. When the flight distance of the UAV exceeds the set flight distance for flight mode switching, the jammer stops working, the UAV enters the normal flight mode, corrects the inertial navigation parameters, and the satellite navigation recaptures the UAV signal and enters the interference flight mode.

[0038] In one embodiment, the flight distance is calculated by the following formula:

[0039] d i+1 =d i +v i ×Δt

[0040] Among them, v i is the projection component of the current unit flight speed of the drone on the horizontal plane, d i is the current unit position of the drone, d i+1 is the unit position of the UAV when it moves downward, and Δt is the unit time.

[0041] The beneficial effects of the present invention are:

[0042] 1. In the UAV navigation jamming system, the UAV is equipped with a jammer, and the jamming parameters are set through the ground control station. The various jamming situations encountered during the flight of the UAV can be simulated by adjusting the parameters, providing more theoretical support for the actual flight of the UAV. By switching between the two flight modes, the safe flight of the UAV can be guaranteed during the simulated jamming flight.

[0043] 2. The setting of anti-interference safe flight steps can switch the flight mode in time during the flight of the drone to ensure the safety of the drone during flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a structural block diagram of the UAV navigation jamming system of the present invention;

[0045] Figure 2 This is a working principle diagram of the UAV navigation jamming system of the present invention;

[0046] Figure 3 This is a flowchart of the steps of the UAV navigation interference method of the present invention; DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] like Figure 1 and Figure 2 As shown, the present invention discloses a UAV navigation jamming system, comprising a ground control station, a jammer and a UAV with a remote controller, wherein the jammer is mounted on the UAV;

[0049] The drone is used to receive a remote control signal from a remote controller, perform visual range flight according to the received remote control signal, and output flight parameters to a ground control station;

[0050] The remote controller is used to send remote control signals to the drone, connect to the ground control station via the Internet and receive control signals output by the ground control station;

[0051] The ground control station is used to set the operating parameters of the jammer, generate a control signal according to the set operating parameters of the jammer and output it to the jammer, and acquire and display the flight parameters output by the UAV and the operating parameters output by the jammer.

[0052] The jammer is used to receive the control signal output by the ground control station, output a jamming signal according to the received control signal, and output the operating parameters to the ground control station in real time.

[0053] In this embodiment, the ground control station includes a control module, a control station communication module, and a control station power supply module;

[0054] The control module is used to set the operating parameters of the jammer, generate a control signal according to the set operating parameters and output it to the control station communication module, and acquire and display the flight parameters output by the UAV and the operating parameters output by the jammer.

[0055] The control station communication module is used to receive the control signal output by the control module and output the received control signal to the jammer;

[0056] The control station power supply module is used to output the working voltage to each electrical component.

[0057] In this embodiment, the jammer includes a jammer communication module, a signal source, a power amplifier, a transmitting antenna, and a jammer power supply module;

[0058] The jammer communication module is used to receive the control signal sent by the control station communication module, output the received control signal to the signal source, acquire the operating state and operating parameters of the signal source in real time, and output the acquired parameters to the control station communication module;

[0059] The signal source is used to receive the control signal output by the interference communication module, generate a jamming signal according to the received control signal, and output the jamming signal to the power amplifier;

[0060] The power amplifier is used to receive the jamming signal and amplify the received jamming signal, and output the amplified jamming signal to the transmitting antenna;

[0061] The transmitting antenna is used to receive the jamming signal output by the power amplifier and output it to the UAV;

[0062] The jammer power supply module is used to output the working voltage to each electrical component.

[0063] As Figure 3 shown, the present invention also discloses a UAV navigation interference method, including the following steps:

[0064] Step 10: Mount the jammer and prepare for the normal flight mode as follows:

[0065] Mount the jammer on the UAV. Connect the control module of the ground control station and the remote controller through the Internet, and communicatively connect the communication module of the control station and the communication module of the jammer;

[0066] Step 20: Start the normal flight mode and remotely control the UAV to take off as follows:

[0067] The ground control station outputs a control signal to the remote controller through the control module. The remote controller receives the control signal output by the ground control station and outputs a remote control signal to the UAV according to the control signal. The UAV receives the remote control signal and flies according to the remote control signal;

[0068] Step 30: Start the interference flight mode and set the working parameters of the jammer as follows:

[0069] Start the jammer. The control module of the ground control station sets the working parameters of the jammer, generates a control signal, and outputs it to the communication module of the jammer through the communication module of the control station;

[0070] Step 40: Continuously interfere with the flight mode and implement interference as follows:

[0071] The communication module of the jammer receives the control signal and outputs it to the signal source. The signal source generates an interference signal according to the received control signal. After the interference signal is amplified by the power amplifier, it is output to the UAV through the transmitting antenna to implement interference. If it is necessary to adjust the interference distance, go to Step 30. If the interference is to be stopped, go to Step 50;

[0072] Step 50: Start the normal flight mode and remotely control the UAV to fly as follows:

[0073] The ground control station outputs a control signal to the remote controller through the control module. The remote controller receives the control signal output by the ground control station and outputs a remote control signal to the UAV according to the control signal. The UAV receives the remote control signal and flies according to the remote control signal. If it is necessary to start the interference, go to Step 30;

[0074] Step 60: End the normal flight mode, land or change the battery, and unload the jammer.

[0075] In this embodiment, in the normal flight mode, the UAV flies using satellite navigation.

[0076] In this embodiment, in the interference flight mode, the UAV flies using inertial navigation.

[0077] In this embodiment, in Step 40, to adjust the interference distance, it is as follows:

[0078] The control module sets the RF signal output level of the signal source, and the power amplifier outputs corresponding power according to the set RF signal.

[0079] In this embodiment, it further includes an anti-interference safe flight step, which is as follows:

[0080] Start the interference flight mode and set the flight distance for flight mode switching;

[0081] Monitor the flight distance of the UAV. When the flight distance of the UAV exceeds the set flight distance for flight mode switching, the jammer stops working, the UAV enters the normal flight mode, corrects the inertial navigation parameters, the satellite navigation recaptures the UAV signal, and enters the interference flight mode.

[0082] In this embodiment, the flight distance is calculated by the following formula:

[0083] d i+1 =d i +v i ×Δt

[0084] Where, v i is the projection component of the flight speed of the UAV at the current unit time on the horizontal plane, d i is the position of the UAV at the current unit time, d i+1 is the position of the UAV at the next unit time, and Δt is the unit time.

[0085] In this system, the jammer can interfere with signals such as GPS L1 and L2, BD2 B1 / B2 and B3, GLONASS L1 and L2. The control module of the ground control station is a terminal with control software. The control software can wirelessly control the frequency, waveform parameters, transmission power, etc. of the jammer through the control station communication module and the jammer communication module.

[0086] The system of the present invention has two working modes: normal flight mode and interference flight mode. In the normal flight mode, the jammer does not work, and the remote controller controls the flight of the UAV. In the interference flight mode, the jammer works, and the remote controller controls the flight of the UAV.

[0087] When the jammer is working, its interference distance depends on factors such as the interference method, interference signal frequency, power and signal pattern, radio wave propagation, antenna height, antenna gain, line-of-sight range, and interference-to-signal ratio. Since the navigation frequency can be obtained in advance, the interference signal frequency can be aligned with the navigation frequency, the interference method adopts the artificial guidance alignment interference method, and the interference frequency is aimed at GPS L1 / L2, BD2 B1 / B2 and B3, GLONASS L1 and L2. By controlling the RF signal output level, the output power of the power amplifier can be controlled, so as to realize the adjustable interference range.

[0088] Since the safe flight of the drone depends on effectively receiving GPS / BD2 / GLONASS navigation signals, the operation of the on-board jammer will cause the drone to be unable to receive GPS / BD2 / GLONASS navigation signals or the received signals to drop, affecting the flight safety of the drone. Therefore, anti-jamming safe flight steps are set to ensure the safety of the drone during flight.

[0089] In the present invention, the drone navigation adopts the combination of inertial navigation and satellite navigation. When the on-board jammer is controlled not to emit interference, the satellite navigation works normally, and the drone flies using satellite navigation while correcting the inertial navigation parameters; when the on-board jammer is controlled to emit interference, the satellite navigation is interfered and cannot be used for aircraft navigation. At this time, inertial navigation is adopted to monitor the flight distance of the drone. When the flight distance of the drone reaches the preset distance value, when the on-board jammer is controlled not to emit interference, the drone navigation switches to satellite navigation while correcting the inertial navigation parameters. The switching of the drone's inertial navigation to satellite navigation is based on the flight distance of the drone. When the drone emits interference, it flies using inertial navigation, and when the drone does not emit interference, it flies using satellite navigation, thus avoiding the interference of the interference signal emitted by the on-board jammer on the drone navigation. A satellite navigation receiver with a satellite navigation hot capture signal time not exceeding 1 second is used, and the switching time between the drone's inertial navigation and satellite navigation is controlled within no more than 1 second, without affecting the endurance time of the countermeasure training drone. During the calculation of the flight distance, Δt can be set to 0.5 seconds, 1 second, etc., and the set value is determined by the actual situation.

[0090] In this system, the remotely controlled drone takes off, lands, and flies vertically, and the drone flight route can be pre-planned; the satellite navigation can be interfered by controlling the jammer, and the interference state and parameters can be set and adjusted during the interference process to control the interference range of action.

[0091] The above-described embodiments merely represent the specific implementation manners of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A method for interfering with the navigation of an unmanned aerial vehicle, characterized in that, It includes the following steps: Step 10: Mount the jammer and prepare for the normal flight mode, specifically as follows: Mount the jammer on the UAV, connect the control module of the ground control station and the remote controller through the Internet, and communicatively connect the communication module of the control station and the communication module of the jammer; Step 20: Start the normal flight mode, remotely control the UAV to take off, and the UAV flies using satellite navigation, specifically as follows: The ground control station outputs a control signal to the remote controller through the control module. The remote controller receives the control signal output by the ground control station and outputs a remote control signal to the UAV according to the control signal. The UAV receives the remote control signal and flies according to the remote control signal; Step 30: Start the interference flight mode and set the working parameters of the jammer, specifically as follows: Start the jammer. The control module of the ground control station sets the working parameters of the jammer, generates a control signal, and outputs it to the communication module of the jammer through the communication module of the control station; Step 40: Continuously interfere with the flight mode, implement interference, and the UAV flies using inertial navigation, specifically as follows: The communication module of the jammer receives the control signal and outputs it to the signal source. The signal source generates an interference signal according to the received control signal. After the interference signal is amplified by the power amplifier, it is output to the UAV through the transmitting antenna to implement interference. If it is necessary to adjust the interference distance, go to Step 30. If the interference is stopped, go to Step 50; Step 50: Start the normal flight mode, remotely control the UAV to fly, and the UAV flies using satellite navigation, specifically as follows: The ground control station outputs a control signal to the remote controller through the control module. The remote controller receives the control signal output by the ground control station and outputs a remote control signal to the UAV according to the control signal. The UAV receives the remote control signal and flies according to the remote control signal. If it is necessary to start interference, go to Step 30; Step 60: End the normal flight mode, land or change the battery, and unload the jammer.

2. The method for interfering with the navigation of an unmanned aerial vehicle according to claim 1, characterized in that, It is realized through the UAV navigation interference system. The UAV navigation interference system includes a ground control station, a jammer, and a UAV with a remote controller. The jammer is mounted on the UAV; The UAV is used to receive the remote control signal of the remote controller, perform line-of-sight flight according to the received remote control signal, and output the flight parameters to the ground control station; The remote controller is used to send a remote control signal to the UAV, connect to the ground control station through the Internet, and receive the control signal output by the ground control station; The ground control station is used to set the working parameters of the jammer, generate a control signal according to the set working parameters of the jammer and output it to the jammer, and obtain and display the flight parameters output by the UAV and the operation parameters output by the jammer; The jammer is used to receive the control signal output by the ground control station, output an interference signal according to the received control signal, and output the operation parameters to the ground control station in real time.

3. The method for interfering with the navigation of an unmanned aerial vehicle according to claim 2, characterized in that, The ground control station includes a control module, a communication module of the control station, and a power supply module of the control station; The control module is used to set the operation parameters of the jammer, generate a control signal according to the set operation parameters and output it to the communication module of the control station, and obtain and display the flight parameters output by the UAV and the operation parameters output by the jammer; The described control station communication module is used to receive the control signal output by the control module and output the received control signal to the jammer; The control station power supply module is used to output the working voltage to each electrical component.

4. The method for interfering with the navigation of an unmanned aerial vehicle according to claim 2 or 3, characterized in that, The jammer includes a jammer communication module, a signal source, a power amplifier, a transmitting antenna, and a jammer power supply module; The jammer communication module is used to receive the control signal sent by the control station communication module, output the received control signal to the signal source, and obtain the operating status and operating parameters of the signal source in real time and output the obtained parameters to the control station communication module; The signal source is used to receive the control signal output by the interference communication module, generate an interference signal according to the received control signal, and output the interference signal to the power amplifier; The power amplifier is used to receive the interference signal and amplify the received interference signal, and output the amplified interference signal to the transmitting antenna; The transmitting antenna is used to receive the interference signal output by the power amplifier and output it to the UAV; The jammer power supply module is used to output the working voltage to each electrical component.

5. The method for interfering with the navigation of an unmanned aerial vehicle according to claim 1, characterized in that, In step 40, the interference distance is adjusted as follows: The control module sets the RF signal output level of the signal source, and the power amplifier outputs the corresponding power according to the set RF signal.

6. The method for interfering with the navigation of an unmanned aerial vehicle according to claim 1 or 5, characterized in that, It also includes an anti-interference safe flight step, which is as follows: Start the interference flight mode and set the flight distance for flight mode switching; Monitor the flight distance of the UAV. When the flight distance of the UAV exceeds the set flight distance for flight mode switching, the jammer stops working, the UAV enters the normal flight mode, corrects the inertial navigation parameters, the satellite navigation recaptures the UAV signal, and enters the interference flight mode.

7. A method for interfering with UAV navigation according to claim 6, characterized in that The described flight distance is calculated by the following formula: d i+1 = d i + v i × Δt Among them, v i is the projection component of the flight speed of the UAV at the current unit time on the horizontal plane, d i is the position of the UAV at the current unit time, d i+1 is the position of the UAV at the next lower unit time, and Δt is the unit time.

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