An anti-countermeasure method and device for the flight synchronization of an unmanned aerial vehicle cluster

Abstract

The present invention provides a countermeasure method and device for the flight synchronization of an unmanned aerial vehicle (UAV) cluster. When detecting the UAV cluster, the speed angle and target connectivity of the UAV group are monitored; the speed angle includes the speed angles of the nodes in the UAV cluster, and the target connectivity is the ratio of the number of nodes included in the largest connected component of the UAV cluster at the monitoring moment to the total number of nodes; according to the entropy difference of the speed angles of the UAV cluster, it is determined whether the UAV cluster starts flight synchronization. If so, an interference signal is sent to counter the UAV cluster. When the target connectivity of the UAV cluster is less than a preset connectivity threshold or the UAV cluster reaches the flight synchronization state, the countermeasure against the UAV cluster is terminated. Thereby, the possibility of the countermeasure side being exposed is reduced, and the countermeasure success rate is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of countermeasures against unmanned aerial vehicle (UAV) swarms, and particularly to a method and device for countering the flight synchronization of UAV swarms. Background Art

[0002] As an important force that transforms the future battlefield combat mode, UAV swarms have great application potential in battlefield reconnaissance and surveillance, electronic jamming and countermeasure, cooperative penetration, etc. When UAV swarms are applied in combat, it is often necessary for each node in the swarm to achieve flight synchronization, that is, the velocity directions of each node are the same and the magnitudes are similar, while avoiding collisions. Before achieving flight synchronization, the system is in a disordered state with low defense capabilities; after achieving flight synchronization, the anti-destruction capabilities of the system are significantly improved. It can be seen that the process of constructing and maintaining flight synchronization is a relatively vulnerable stage of the system, which is an opportune time to counter UAV swarms.

[0003] To achieve flight synchronization, information interaction is required within the UAV swarm system. For example, nodes announce their own positions and speeds, and measure distances between individuals, etc., which is usually completed by wireless communication. Due to the openness of the wireless medium, this process is vulnerable to interference. Therefore, by timely identifying the start of the UAV swarm flight synchronization process and actively interfering with the wireless communication between individuals, it is possible to delay or even disrupt the flight synchronization of UAV swarms, and thus counter the construction of UAV swarm flight synchronization.

[0004] In the existing countermeasure technologies for UAV swarm flight synchronization, it is impossible to accurately determine whether the construction of UAV swarm flight synchronization is successful. Therefore, it is impossible to timely stop the countermeasure interference against UAV swarms, which is likely to expose the intentions of the countermeasure side and result in the failure of countermeasures. Summary of the Invention

[0005] Based on the above defects and deficiencies of the existing technology, the present invention proposes a method and device for countering the flight synchronization of UAV swarms, which can accurately identify the construction process of UAV swarm flight synchronization, thereby improving the success rate of countering UAV swarm flight synchronization.

[0006] To achieve the above object, the present invention proposes the following technical solutions:

[0007] A method for countering the flight synchronization of UAV swarms, the method comprising:

[0008] When detecting a UAV swarm, monitoring the velocity angles and the target connectivity of the UAV swarm; the velocity angles include the velocity angles of each node in the UAV swarm, and the target connectivity is the ratio of the number of nodes included in the largest connected component of the UAV swarm at the monitoring moment to the total number of nodes;

[0009] Obtain the entropy difference of the speed angles of the UAV cluster, and determine whether the UAV cluster starts flight synchronization according to the entropy difference. If so, send an interference signal to counter the UAV cluster;

[0010] When the target connectivity of the UAV cluster is less than the preset connectivity threshold, it is determined that the countermeasure is successful, and the countermeasure against the UAV cluster is ended. Or when the UAV cluster reaches the flight synchronization state, it is determined that the countermeasure fails, and the countermeasure against the UAV cluster is ended.

[0011] Preferably, the entropy difference of the speed angles of the UAV cluster is used to determine whether the UAV cluster starts flight synchronization, including: when the entropy difference of the speed angles of the UAV cluster is greater than zero, it is determined that the UAV cluster starts flight synchronization.

[0012] Preferably, when the UAV cluster reaches the flight synchronization state, it includes: the target connectivity of the UAV cluster is not less than the preset connectivity threshold, and the entropy differences of the speed angles of the UAV cluster at three consecutive moments satisfy the entropy difference conditions. The entropy difference conditions include: the entropy difference increases, the entropy difference increment decreases, and the relative entropy difference increment is less than the preset threshold value.

[0013] Preferably, the method further includes: restricting the average power of the interference signal to be lower than the threshold value.

[0014] Preferably, the sending of the interference signal to counter the UAV cluster specifically includes:

[0015] Obtain the path loss, and determine the average power of the interference signal according to the countermeasure intention and the path loss, generate an interference pattern, determine the interference power according to the interference pattern and send the interference signal. The countermeasure intention includes a destruction intention or a delay intention.

[0016] Based on another aspect of the embodiments of the present invention, the embodiments of the present invention provide a countermeasure device for UAV cluster flight synchronization. The device includes:

[0017] A monitoring unit, configured to monitor the speed angles and target connectivity of the UAV group when a UAV cluster is discovered; the speed angles include the speed angles of each node in the UAV cluster, and the target connectivity is the ratio of the number of nodes included in the largest connected component of the UAV cluster at the monitoring moment to the total number of nodes;

[0018] A synchronization judgment unit, configured to obtain the entropy difference of the speed angles of the UAV cluster, and determine whether the UAV cluster starts flight synchronization according to the entropy difference;

[0019] A countermeasure execution unit, configured to send interference signals when the synchronization judgment unit determines that the UAV cluster starts flight synchronization, so as to counter the UAV cluster;

[0020] The countermeasure execution unit is further configured to determine that the countermeasure is successful when it is determined that the target connectivity of the UAV cluster is less than the preset connectivity threshold, and control the countermeasure execution unit to end the countermeasure against the UAV cluster, or when the UAV cluster reaches the flight synchronization state, determine that the countermeasure fails, and control the countermeasure execution unit to end the countermeasure against the UAV cluster.

[0021] Preferably, the synchronization judgment unit is specifically configured to: determine that the UAV cluster starts flight synchronization when the entropy difference of the speed angles of the UAV cluster is greater than zero.

[0022] Preferably, the synchronization judgment unit includes:

[0023] A synchronization judgment subunit, configured to determine that the UAV cluster reaches the flight synchronization state when it is determined that the UAV cluster meets the condition that the target connectivity is not less than the preset connectivity threshold, and the entropy difference of the speed angles of the UAV cluster at three consecutive moments meets the entropy difference condition, where the entropy difference condition includes: the entropy difference increases, the entropy difference increment decreases, and the relative entropy difference increment is less than the preset threshold.

[0024] Preferably, the countermeasure execution unit is specifically configured to: obtain the path loss, determine the average power of the interference signal according to the countermeasure intention and the path loss, generate an interference pattern, determine the interference power according to the interference pattern, and send the interference signal, where the countermeasure intention includes a destruction intention or a delay intention.

[0025] Based on another aspect of the embodiments of the present invention, an embodiment of the present invention provides a countermeasure device for UAV cluster flight synchronization, where the device includes a memory and a processor, and the processor is configured to execute a program stored in the memory to implement any of the countermeasure methods for UAV cluster flight synchronization described above.

[0026] When the technical solution of the present invention discovers a UAV cluster, it monitors the speed angle and target connectivity of the UAV cluster; the speed angle includes the speed angles of each node in the UAV cluster, and the target connectivity is the ratio of the number of nodes included in the largest connected component of the UAV cluster at the monitoring moment to the total number of nodes; obtain the entropy difference of the speed angles of the UAV cluster, and judge whether the UAV cluster starts flight synchronization according to the entropy difference. If so, send an interference signal to counter the UAV cluster; when the target connectivity of the UAV cluster is less than the preset connectivity threshold or the UAV cluster reaches the flight synchronization state, end the countermeasure against the UAV cluster. The above technical solution can accurately identify the construction process of UAV cluster flight synchronization. When the target connectivity value of the UAV cluster is less than the preset connectivity threshold or the flight synchronization has been achieved, stop the interference countermeasure, avoiding the inability to determine the flight synchronization stage of the UAV cluster and being unable to stop the interference on the UAV cluster in time, exposing the intention of the countermeasure side, resulting in the exposure of the countermeasure side and affecting the countermeasure effect, thereby improving the success rate of countering UAV cluster flight synchronization. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0028] Figure 1 It is a schematic flowchart of a method for countering UAV cluster flight synchronization provided by an embodiment of the present invention;

[0029] Figure 2 It is a schematic flowchart of another method for countering UAV cluster flight synchronization provided by an embodiment of the present invention;

[0030] Figure 3 It is a typical interference pattern of a method for countering UAV cluster flight synchronization provided by an embodiment of the present invention;

[0031] Figures 4 - 10 It is a relevant simulation result diagram in the simulation experiment for different countermeasure intentions provided by an embodiment of the present invention;

[0032] Figure 11 It is a schematic diagram of a device for countering UAV cluster flight synchronization provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The technical solution of the embodiment of the present invention is applicable to the application scenario of countering UAV cluster flight synchronization.

[0034] It has been found that in the existing countermeasure technologies for the flight synchronization of UAV clusters, it is impossible to accurately determine whether the construction of the flight synchronization of the UAV cluster is successful. Therefore, it is impossible to stop the countermeasure interference against the UAV cluster in a timely manner, which easily exposes the intention of the countermeasure side, resulting in the exposure of the countermeasure intention and affecting the countermeasure effect. By adopting the technical solution of the embodiment of the present invention, the construction process of the flight synchronization of the UAV cluster can be accurately identified, thereby improving the success rate of countermeasures against the flight synchronization of the UAV cluster.

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] An embodiment of the present invention discloses a countermeasure method for the flight synchronization of a UAV cluster. Refer to Figure 1 as shown, the method includes:

[0037] Step S100: Monitor the speed angle and target connectivity of the UAV cluster;

[0038] The monitoring system (such as a radar, etc.) starts to detect the UAV cluster. When a target is found, the speed angle and target connectivity of the UAV cluster are monitored;

[0039] Specifically, when implementing, start the radio frequency signal monitoring device to determine whether a target UAV cluster is found; if a target is found, measure the individual speed angle in the UAV cluster is the speed angle of the i-th individual in the UAV fleet.

[0040] Figure is used to represent the UAV cluster, where is a set composed of UAV individuals, and the number of nodes is denoted as ε is an edge set composed of communication links between individuals. Assume that the edge is an undirected edge, and the connected component means that for any there is at least one path from i to j.

[0041] Denote the number of nodes included in as N c , at time t, the cluster may be split into several mutually unconnected components Denote the number of nodes therein as Satisfy the following formula:

[0042]

[0043]

[0044] The target connectivity C(t) is the ratio of the number of nodes in the largest connected component at time t to the total number of nodes, which reflects the degree of system connectivity of the UAV swarm, that is:

[0045]

[0046] Step S200: Determine whether the UAV swarm starts flight synchronization according to the entropy difference of the velocity angles of the UAV swarm. If so, enter step S300;

[0047] The specific steps of step S200 include:

[0048] S201: Set the initial values of the parameters, the velocity angle Φ = {φ}, the measurement position L = {l0}, and the connectivity threshold δ c , where the connectivity threshold δ c > 0, and the connectivity threshold δ c reflects the tolerance of the disconnectedness degree.

[0049] S202: Denote the current time as t = 0, estimate the probability distribution of the velocity angle Φ according to equations (3) and (4), and calculate the initial observation time entropy H0 according to equation (5).

[0050] Let X = {x i .i = 1,..., N be the observation samples, then the probability density function estimation of the random variable x can be as follows:

[0051]

[0052] where h is the window width and K(·) is the kernel function; the kernel function can adopt the Gaussian form, that is,

[0053]

[0054] S203: Discretize the probability distribution p(x), and there is no constraint on the discretization method. Then, for the discretized result p i , (i = 1,..., m), calculate the initial entropy.

[0055]

[0056] S204: Measure the velocity angle at time t Calculate its probability distribution according to the methods of equations (3) and (4), calculate the angle entropy H t , and calculate the entropy difference E = H0 - H t .

[0057] If E > 0, determine that the UAV swarm starts flight synchronization and enter S300; otherwise, return to S204.

[0058] Step S300: Send interference signals to counter the UAV swarm.

[0059] For the UAV swarm to achieve flight synchronization, information interaction is required within the UAV swarm system. For example, nodes announce their own positions and speeds, and measure distances between individuals, etc., which is usually accomplished through wireless communication. Due to the openness of the wireless medium, this process is vulnerable to interference. Therefore, by sending wireless signals to actively interfere with the wireless communication between individuals in the UAV swarm, synchronous countermeasures against the UAV swarm can be achieved.

[0060] Optionally, in step S300, the countermeasure against the UAV swarm includes: countering the UAV swarm according to the countermeasure intention, see Figure 2 .

[0061] In this embodiment, the countermeasure intentions are divided into two types: disruption and delay. The disruption intention is to split the UAV swarm into multiple unconnected parts, making it impossible to achieve flight synchronization; the delay intention is to extend the time required for the UAV swarm to achieve flight synchronization.

[0062] When specifically implemented, the countermeasure against the UAV swarm according to the countermeasure intention specifically includes:

[0063] S301: Measure the distance to the center of the UAV swarm, and calculate the path loss using Equation (6),

[0064] Loss[dB] = 32.44 + 20logd(km) + 20lgf(MHz) - 20lgA (6)

[0065] where A is the path loss factor, usually taken as 2 to 4, d is the distance to the center of the UAV swarm, f is the operating frequency of the UAV, and calculate the path loss l path = 10 Loss / 10 .

[0066] S302: Generate an interference pattern according to the countermeasure intention and the path loss l path , and determine the interference power according to the interference pattern and send interference signals. In practical applications, if the countermeasure intention is the delay intention, then the average interference power I0 = n0Bl

[0067] ; I path ~N(I0,1), m = 1,..., M; generate an interference pattern m and determine the interference power according to the interference pattern and send interference signals; if the countermeasure intention is the disruption intention, then I = kn0Bl m ; I path ; I m~N(I0,1), m = 1, …, M, k > 1; generate interference patterns Determine the interference power according to the interference pattern and send an interference signal to achieve countermeasures against different countermeasure intentions of the UAV swarm.

[0068] Step S400: When the target connectivity of the UAV swarm is less than the preset connectivity threshold or the UAV swarm reaches the flight synchronization state, end the countermeasures against the UAV swarm.

[0069] When the target connectivity of the UAV swarm is less than the preset connectivity threshold, that is, the target connectivity C(t) < δ c , it indicates that the connectivity degree of the system formed by the current UAV swarm is low and flight synchronization cannot be achieved, that is, the countermeasures against the UAV swarm are successful, then stop sending the interference signal and end the countermeasures against the UAV swarm;

[0070] When the UAV swarm has reached the flight synchronization state, that is, the flight synchronization of the UAV swarm has been established, the countermeasures against the UAV swarm fail, then stop sending the interference signal and end the countermeasures against the UAV swarm.

[0071] In practical applications, in step S400, the "when the target connectivity of the UAV swarm is less than the preset value or the UAV swarm reaches the flight synchronization state, end the countermeasures against the UAV swarm" includes:

[0072] S4001: At time t, set the sliding window length to 3 and continuously observe the UAV swarm within the sliding window;

[0073] S4002: Measure the velocity angle Φ of each node in the swarm and measure the positions L = {l i , i = 1, …, N};

[0074] S4003: Calculate C(t) according to formula (2) and determine whether C(t) < δ is satisfied c . If satisfied, it is determined that the UAV swarm cannot reach synchronization; if not satisfied, go to step S3004;

[0075] S4004: Calculate the entropy difference E at time t t , and make a joint determination with the E at the previous two times t-1 , E t-2 . If it is found that the entropy difference increases, the entropy difference increment decreases, and the relative entropy difference increment is less than the preset threshold value, it is determined that flight synchronization is achieved. Specifically, it includes: satisfying ΔE1 = E t - E t-1 > 0, ΔE2 = E t-1 - E t-2 > 0, and ΔE1 < ΔE2, where δ this a preset threshold value.

[0076] As can be seen from the above introduction, in the technical solution of the embodiment of the present invention, a flight synchronization emergence determination method based on a double threshold is used to determine whether the UAV cluster starts flight synchronization, and interference countermeasures are carried out on the UAV cluster. By monitoring the entropy difference and connectivity of the UAV cluster, when the target connectivity value of the UAV cluster is less than the preset connectivity threshold or flight synchronization has been achieved, the interference countermeasures are stopped, so as to avoid being unable to determine the flight synchronization stage of the UAV cluster and thus unable to stop the interference on the UAV cluster in time, which is likely to expose the intention of the countermeasure side, resulting in the exposure of the countermeasure side and affecting the countermeasure effect.

[0077] Optionally, to constrain the average intensity of the interference signal, the method further includes:

[0078] Assume that the countermeasure side can obtain the communication frequency points of the UAV cluster and implement interference by sending in-band interference.

[0079] Denote the basic pulse as s0(t), which has a duration of T0 and a unit average power, as shown in (7).

[0080]

[0081] The interference signal is a pulse sequence obtained by delaying and amplifying the power of s0(t).

[0082]

[0083] where M is the number of pulses included in one interference, ai i indicates whether interference is implemented in the i-th time slot, and ai i takes 1 to indicate interference and otherwise indicates no interference, d i is the duty cycle, 0 ≤ d i ≤ 1, and S i is the power of the interference pulse.

[0084] The greater the power of the interference signal, the stronger the destructive ability to the UAV cluster. However, under confrontation conditions, the UAV cluster will monitor whether there is an interference signal. Once the interference behavior is detected, it will switch the working frequency point or change the frequency hopping pattern, which will lead to the failure of interference. Therefore, the interference signal intensity cannot be increased blindly, and interference should be carried out under intensity constraints.

[0085] Assume that the target UAV system monitors the average power within the monitoring window M. If the average power is higher than the threshold S th it is considered that there is interference. To avoid being detected, the following constraint is imposed on the average power intensity of the interference signal:

[0086]

[0087] Among them, the threshold S th is set by the monitoring system (such as radar, etc.) according to the actual situation of the UAV cluster;

[0088] Let be called the interference pattern. The interference pattern refers to the interference signal intensity, duration, etc. involved when the countermeasure party applies interference. A typical interference pattern is as shown in Figure 3 .

[0089] As can be seen from the above introduction, in the technical solution of the embodiment of the present invention, by constraining the average intensity of the interference signal, it is avoided that the interference signal power is too strong and the interference behavior is exposed, thereby improving the success rate of interference countermeasures.

[0090] In another embodiment of the present application, the following simulation experiments are carried out for two countermeasure intentions. The experimental environment and parameter settings are as follows: The UAV cluster contains 100 nodes. The node release starts at t = 0 and is completed at t = 10. The synchronization process is started at t = 11, and the communication radius of the cluster nodes is 60 meters.

[0091] (1) Countermeasure for the intention of destruction

[0092] For the purpose of destroying flight synchronization, set the intensity of the interference signal to 2 times the average intensity, equal intensity, duty cycle 100%, and the connectivity threshold δ c is 0.85, Figure 4 is the simulation result of the emergence intensity, Figure 5 is the simulation result of the connectivity.

[0093] In this experiment, the algorithm determines that the target system starts synchronization at t = 11 and immediately starts interference. In order to achieve the destruction of the flight synchronization of the target system, the equivalent noise coefficient is set to 2, and the entropy difference and connectivity ratio of the target system are monitored. At t = 19, the target system splits, and for the first time, the connectivity is lower than δ in two consecutive monitoring time slots c , Figure 6 is the network topology diagram at the moment of successful countermeasure. When the target system splits into 2 clusters, it is determined that the countermeasure is successful, and the interference is immediately terminated. After that, although no interference signal is released, the splitting of the target system intensifies, Figure 7 is the network topology diagram at 10 cycles after stopping the countermeasure. Although the interference is no longer implemented, the network splitting of the target system is more serious, indicating that the countermeasure purpose has been achieved.

[0094] (2) Countermeasure for the intention of hysteresis

[0095] For the purpose of delaying flight synchronization, set the intensity of the interference signal to 0.25, equal intensity, duty cycle 100%, and the connectivity threshold δ c is 0.85.

[0096] In this experiment, the algorithm determined that the target system started synchronization at t = 11 and immediately began to interfere. The target system achieved flight synchronization at t = 20, and the interference failed. The final synchronization time T suc = 9. Comparing with the situation without releasing interference, the target system achieved flight synchronization at t = 17, and the final synchronization time T suc = 6. Thus, the countermeasure party extended the synchronization period of the target system by 50% by releasing low-intensity interference, and the countermeasure achieved the expected effect. Figure 8 shows the change in the entropy difference of the flight angles of the target system when being interfered and without interference. From Figure 8 it can be seen that after releasing interference, the system synchronization process converges more slowly and the final synchronization error is higher.

[0097] Figure 9 is the network topology of the target system after achieving flight synchronization when being interfered. Figure 10 is the network topology of the target system after achieving flight synchronization without interference.

[0098] Comparing the two network topologies, without interference, the target system is finally distributed in the ranges of [180, 290] and [10, 140], and the distribution is more concentrated, forming a stronger topology structure. While under the condition of implementing interference, the target system is finally distributed in the ranges of [160, 340] and [-20, 240], the distribution is more dispersed, and the formed topology structure is more fragile. Thus, the hysteresis countermeasure behavior extended the synchronization duration of the target system by 50% and had a certain destructive effect on network connectivity.

[0099] Based on the countermeasure method for the flight synchronization of the unmanned aerial vehicle cluster provided in the above embodiments, the embodiments of the present invention also provide a countermeasure device for the flight synchronization of the unmanned aerial vehicle cluster.

[0100] As Figure 11 shown, a countermeasure device for the flight synchronization of the unmanned aerial vehicle cluster provided by the embodiments of the present invention, the device includes: a monitoring unit 100, a synchronization judgment unit 200, and a countermeasure execution unit 300;

[0101] The monitoring unit 100 is used to monitor the speed angle and target connectivity of the unmanned aerial vehicle cluster when detecting the unmanned aerial vehicle cluster; the speed angle includes the speed angles of each node in the unmanned aerial vehicle cluster, and the target connectivity is the ratio of the number of nodes included in the largest connected component of the unmanned aerial vehicle cluster at the monitoring moment to the total number of nodes;

[0102] The synchronization judgment unit 200 is used to obtain the entropy difference of the speed angles of the unmanned aerial vehicle cluster and judge whether the unmanned aerial vehicle cluster starts flight synchronization according to the entropy difference;

[0103] The countermeasure execution unit 300 is configured to send interference signals when the synchronization judgment unit determines that the UAV cluster starts flight synchronization, so as to counter the UAV cluster;

[0104] The countermeasure execution unit 300 is further configured to end the countermeasure against the UAV cluster when the target connectivity of the UAV cluster is less than the preset connectivity threshold or after the UAV cluster reaches the flight synchronization state.

[0105] On the one hand, the synchronization judgment unit 200 is specifically configured to: when the entropy difference of the speed angles of the UAV cluster is greater than zero, determine that the UAV cluster starts flight synchronization.

[0106] On the other hand, the synchronization judgment unit 200 includes:

[0107] The synchronization judgment subunit 2001 is configured to determine that the UAV cluster reaches the flight synchronization state when it is judged that the UAV cluster meets the condition that the target connectivity is not less than the preset connectivity threshold and the entropy difference of the speed angles of the UAV cluster at three consecutive moments meets the entropy difference condition. The entropy difference condition includes: the entropy difference increases, the entropy difference increment decreases, and the relative entropy difference increment is less than the preset threshold value;

[0108] Furthermore, to avoid the power of the interference signal being too large and being detected by the UAV cluster, switching the working frequency point or changing the frequency hopping pattern, which will lead to interference failure, the average intensity of the interference signal is constrained to limit the average power of the interference signal sent by the countermeasure execution unit 300 to be lower than the threshold value.

[0109] Thus, by constraining the average intensity of the interference signal, it is avoided that the interference behavior is exposed due to the too strong power of the interference signal, thereby improving the success rate of interference countermeasures.

[0110] In some other embodiments, the countermeasure execution unit 300 can determine the average power of the interference signal according to the countermeasure intention and path loss, generate an interference pattern, determine the interference power according to the interference pattern and send the interference signal. The countermeasure intention includes a destruction intention or a delay intention, and the specific steps correspond to the countermeasure method for the flight synchronization of the UAV cluster described above.

[0111] The anti - interference device for the flight synchronization of an unmanned aerial vehicle (UAV) cluster provided by an embodiment of the present invention determines whether the UAV cluster starts flight synchronization based on a dual - threshold - based flight synchronization emergence determination method, and performs interference countermeasures on the UAV cluster. By monitoring the entropy difference and connectivity of the UAV cluster, it is determined that when the target connectivity value of the UAV cluster is less than a preset connectivity threshold or flight synchronization has been achieved, the interference countermeasures are stopped, avoiding the situation where, due to the inability to determine the flight synchronization stage of the UAV cluster, the interference on the UAV cluster cannot be stopped in time, easily exposing the intention of the counter - measure side, resulting in the exposure of the counter - measure side and affecting the counter - measure effect.

[0112] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial descriptions of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative efforts.

[0113] The present invention also provides an anti - interference device for realizing the flight synchronization of a UAV cluster. The device includes a memory and a processor. The processor is used to execute the program stored in the memory and run the program code of the program steps for implementing the anti - interference method steps for the flight synchronization of the UAV cluster as described above.

[0114] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An anti-countermeasure method for the flight synchronization of an unmanned aerial vehicle cluster, characterized in that, The method includes: When a drone swarm is detected, monitoring the speed angle and the target connectivity of the drone swarm; the speed angle includes the speed angles of the nodes in the drone swarm, and the target connectivity is the ratio of the number of nodes included in the largest connected component of the drone swarm at the monitoring moment to the total number of nodes; Obtaining the entropy difference of the speed angles of the drone swarm, and judging whether the drone swarm starts flight synchronization according to the entropy difference. If so, sending an interference signal to counter the drone swarm; When the target connectivity of the drone swarm is less than a preset connectivity threshold, judging that the countermeasure is successful and ending the countermeasure against the drone swarm, or when the drone swarm reaches the flight synchronization state, judging that the countermeasure fails and ending the countermeasure against the drone swarm; The sending of the interference signal to counter the drone swarm specifically includes: Obtaining the path loss, determining the average power of the interference signal according to the countermeasure intention and the path loss, generating an interference pattern, determining the interference power according to the interference pattern, and sending the interference signal, where the countermeasure intention includes a disruption intention or a delay intention.

2. The method according to claim 1, wherein The judging whether the drone swarm starts flight synchronization according to the entropy difference of the speed angles of the drone swarm includes: when the entropy difference of the speed angles of the drone swarm is greater than zero, determining that the drone swarm starts flight synchronization.

3. The method according to claim 1, wherein The drone swarm reaches the flight synchronization state, including: the target connectivity of the drone swarm is not less than the preset connectivity threshold, and the entropy differences of the speed angles of the drone swarm at three consecutive moments satisfy the entropy difference conditions, where the entropy difference conditions include: the entropy difference increases, the entropy difference increment decreases, and the relative entropy difference increment is less than a preset threshold value.

4. The method according to claim 1, wherein The method further includes: Limiting the average power of the interference signal to be lower than a threshold value.

5. An anti-countermeasure device for the flight synchronization of an unmanned aerial vehicle cluster, characterized in that, The device includes: A monitoring unit, configured to monitor the speed angle and the target connectivity of the drone swarm when a drone swarm is detected; the speed angle includes the speed angles of the nodes in the drone swarm, and the target connectivity is the ratio of the number of nodes included in the largest connected component of the drone swarm at the monitoring moment to the total number of nodes; A synchronization judgment unit, configured to obtain the entropy difference of the speed angles of the drone swarm, and judge whether the drone swarm starts flight synchronization according to the entropy difference; A countermeasure execution unit, configured to send an interference signal to counter the drone swarm when the synchronization judgment unit determines that the drone swarm starts flight synchronization; The countermeasure execution unit is further configured to, when judging that the target connectivity of the drone swarm is less than a preset connectivity threshold, judge that the countermeasure is successful, and control the countermeasure execution unit to end the countermeasure against the drone swarm, or when the drone swarm reaches the flight synchronization state, judge that the countermeasure fails, and control the countermeasure execution unit to end the countermeasure against the drone swarm; The countermeasure execution unit is specifically configured to: obtain the path loss, determine the average power of the interference signal according to the countermeasure intention and the path loss, generate an interference pattern, determine the interference power according to the interference pattern, and send the interference signal, where the countermeasure intention includes a destruction intention or a delay intention.

6. The device according to claim 5, characterized in that, The synchronization judgment unit is specifically configured to: when the entropy difference of the speed angles of the UAV cluster is greater than zero, determine that the UAV cluster starts flight synchronization.

7. The device according to claim 5, characterized in that, The synchronization judgment unit includes: A synchronization judgment subunit, configured to determine that the UAV cluster reaches the flight synchronization state when it is judged that the UAV cluster meets the condition that the target connectivity is not less than the preset connectivity threshold, and the entropy difference of the speed angles of the UAV cluster at three consecutive moments meets the entropy difference condition, where the entropy difference condition includes: the entropy difference increases, the entropy difference increment decreases, and the relative entropy difference increment is less than the preset threshold.

8. An anti-jamming device for synchronous flight of an unmanned aerial vehicle cluster, characterized in that, The device includes a memory and a processor, and the processor is configured to execute the program stored in the memory to implement the method according to any one of claims 1-4.

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