A low-altitude control and anti-UAV integrated command vehicle system and control method

Abstract

The present invention provides an integrated low-altitude control and counter-drone command vehicle system and control method, belonging to the field of vehicle-mounted drone prevention and control. The method includes: preparing a prevention and control plan, setting up protected areas, denied areas, and early warning areas; demarcating the flight airspace of the vehicle-mounted drone, planning the flight route, preparing a flight plan, receiving flight plan approval, controlling the vehicle-mounted drone to take off and execute the mission, and adding it to a whitelist; detecting and identifying drones entering the early warning area, generating target early warning information, and adding them to a blacklist; when a drone on the blacklist enters the denied area, determining whether the drone model on the blacklist is in a spectrum feature library, determining whether the drone on the blacklist and the drone on the whitelist are in the same frequency band and within the same interference beam range, and performing interference treatment based on the determination result; and after the mission is completed, replaying and statistically analyzing the data transmission and reception instructions and the control scene. The present invention is comprehensive in function and practical in method.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle-mounted unmanned aerial vehicle (UAV) prevention and control, and more specifically, relates to a low-altitude control and anti-UAV integrated command vehicle system and a control method. Background Art

[0002] With the development and advancement of drone technology, civilian drone use has become increasingly widespread in recent years. They are widely used in a variety of fields, including aerial photography, geographic surveying and mapping, power inspections, and emergency response, demonstrating promising market prospects. However, the development and application of drone regulatory technology is still in its developmental stages, and unauthorized "illegal" drone operations are prone to occur, posing a potential threat to public safety. Numerous incidents have been reported involving illegal drone flights, photography, and the delivery of illegal items within key areas and surrounding areas, posing a serious threat to low-altitude safety in critical areas.

[0003] Low-altitude security protection for key areas or major events is not simply a defense against illegal drones. It also requires consideration of the control and command of our drones' reconnaissance, patrol, and aerial photography activities to ensure their smooth execution of tasks. This requires integrated command of the control of cooperative air targets and the defense of non-cooperative targets. Currently, most anti-drone systems are mainly for the defense of non-cooperative targets, and do not have the ability to control and command cooperative targets. Their functions are relatively simple, and they solve limited problems, making it difficult to fully adapt to various application scenarios. Summary of the Invention

[0004] In response to the defects of the existing technology, the purpose of the present invention is to provide a low-altitude control and anti-UAV integrated command vehicle system and control method, aiming to solve the problem that the vast majority of existing anti-UAV systems are mainly aimed at the defense of non-cooperative targets, and do not have the ability to control and command cooperative targets, resulting in relatively single functions, limited problems solved, and difficulty in fully adapting to various application scenarios.

[0005] To achieve the above objectives, on the one hand, the present invention provides an integrated command vehicle system for low-altitude control and counter-UAV, comprising: a detection subsystem, a countermeasure subsystem, a command and control subsystem, an auxiliary subsystem, and a vehicle-mounted UAV;

[0006] The detection subsystem, countermeasure subsystem, command and control subsystem and auxiliary subsystem are connected via wired connections; the vehicle-mounted UAV is connected to the auxiliary subsystem via wireless connections;

[0007] The detection subsystem is used to receive ADS-B information sent by the drone's onboard ADS-B equipment, as well as aerial target situation information. It is also used to scan the drone's signals across all frequency bands. After detecting the drone's remote control and image transmission information, it sends the target's frequency band, position, altitude, heading, and speed information to the command and control subsystem. It is also used to track and lock onto the drone target after the target enters the warning zone.

[0008] The command and control subsystem is used to make prevention and control plans, set up protection zones, denial zones and early warning zones, and set up corresponding prevention and control rules; demarcate the flight airspace for vehicle-mounted UAVs, plan flight routes, make flight plans, control vehicle-mounted UAVs to take off and execute missions, monitor the flight status of vehicle-mounted UAVs in real time, and add vehicle-mounted UAVs to the whitelist; it is used to guide the detection subsystem to focus on scanning in the target direction, identify the target UAV to generate target early warning information, and add the identified target to the blacklist; it is used to confirm whether the target UAV model in the blacklist is in the spectrum feature library of the vehicle-mounted UAV protocol cracking precision strike equipment when the target on the blacklist enters the denial zone, and issue interference commands to the UAVs in the blacklist based on the confirmation results; it is used to determine whether the UAVs in the blacklist and the UAVs in the whitelist are in the same frequency band and the same interference beam range, and issue interference commands to the UAVs in the blacklist based on the judgment results;

[0009] The auxiliary subsystem is used to provide the vehicle-mounted wireless communication equipment to send flight plan applications to the outside and receive flight plan approvals; and is used to send target situation information and video image information to the command and control subsystem; the countermeasure subsystem is used to receive target indication information, equipment control information and interference command information sent by the command and control subsystem, and to carry out targeted interference or attack on the UAV; the vehicle-mounted UAV serves as an aerial surveillance node to provide low-altitude video graphics information to the command and control subsystem.

[0010] Further preferably, the command and control subsystem includes a command and control module, an on-board display and control terminal, a data processing server, a database server, a record and replay server, and a switch;

[0011] The command and control module is used to make prevention and control plans, set up protection zones, denial zones and warning zones, and set up corresponding prevention and control rules; demarcate the flight airspace of vehicle-mounted drones, plan flight routes, make flight plans, control vehicle-mounted drones to take off and perform tasks, and add vehicle-mounted drones to the whitelist; automatically guide the detection subsystem to scan in the target direction; identify the target, generate target warning information, and add the identified target to the blacklist; after the target on the blacklist enters the denial zone, confirm whether the target drone model is in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment; determine whether the drones on the blacklist and the drones on the whitelist are in the same frequency band and the same interference beam range; drone protocol

[0012] The vehicle-mounted display and control terminal is used to command and display human-machine interaction information and display the situation information of the vehicle-mounted UAV in real time;

[0013] The data processing server is used to comprehensively process surveillance data, flight data and intelligence data;

[0014] The database is used to store and manage planning data, surveillance data, alarm data, command and control commands, and video image data;

[0015] The recording and replay server is used to replay and perform statistical analysis on the sending and receiving data instructions and control scenes during the entire detection and counter-measure command process after the drone prevention and control mission is completed.

[0016] Further preferably, the detection subsystem includes a vehicle-mounted low-altitude surveillance radar, a vehicle-mounted radio detection device, a vehicle-mounted optoelectronic tracking device, a vehicle-mounted ADS-B receiving device and a vehicle-mounted Beidou receiver;

[0017] Vehicle-mounted low-altitude surveillance radar, used to provide target frequency band, position, altitude, heading and speed information;

[0018] Vehicle-mounted radio detection equipment, used to detect and find the direction of vehicle-mounted drone remote control and image transmission signals by scanning the full frequency band of drone signals;

[0019] Vehicle-mounted optoelectronic tracking equipment, integrating visible light and infrared thermal imaging, serves as a tracking and evidence collection device, used to track and lock onto drone targets after they enter the warning zone;

[0020] The vehicle-mounted ADS-B receiving device is used to receive information sent by the airborne ADS-B device and automatically obtain the position, altitude, speed, heading and identification number information broadcast by the aircraft;

[0021] The vehicle-mounted Beidou receiver is used to receive position reports and short message information from Beidou communication terminals.

[0022] Further preferably, the countermeasure subsystem includes vehicle-mounted UAV directional jamming equipment and vehicle-mounted UAV protocol cracking precision strike equipment;

[0023] The vehicle-mounted UAV directional jamming device is used to receive target indication information, equipment control information, and jamming command information sent by the command and control subsystem, rotate the turntable through the servo control system, adjust the jamming position and direction, select the drive-off or forced landing working mode, and perform directional jamming on the UAV;

[0024] The vehicle-mounted UAV protocol cracking precision strike device is used to receive target indication information, equipment control information and interference command information sent by the command and control subsystem, and to carry out precise strikes on UAVs.

[0025] Further preferably, the vehicle-mounted drone also has data collection, video tracking, information dissemination and communication relay capabilities to provide support for aerial reconnaissance, fire rescue and disaster relief; it is also equipped with an onboard ADS-B device to broadcast ADS-B information externally.

[0026] On the other hand, the present invention provides a corresponding control method based on the low-altitude control and anti-UAV integrated command vehicle system, including the following steps:

[0027] S1: Move the low-altitude control and counter-UAV integrated command vehicle system to the designated support area, use the command and control subsystem to develop a prevention and control plan, establish protection zones, denial zones, and early warning zones, and set corresponding prevention and control rules;

[0028] S2: Use the command and control subsystem to demarcate the flight airspace of the vehicle-mounted UAV, plan the flight route, and create a flight plan. Use the vehicle-mounted wireless communication equipment of the auxiliary subsystem to send flight plan applications and receive flight plan approvals.

[0029] S3: Use the command and control subsystem to control the vehicle-mounted UAV to take off and execute the mission, use the vehicle-mounted ADS-B receiving device to receive the ADS-B information sent by the UAV in real time, use the command and control subsystem to display the situation information of the vehicle-mounted UAV in real time, and add the vehicle-mounted UAV to the whitelist;

[0030] S4: The detection subsystem's radio detection equipment scans the entire frequency band for drone signals. Upon detecting human-machine remote control and image transmission information, it sends the target frequency band, direction, and type to the command and control subsystem. The command and control subsystem then automatically guides the vehicle-mounted low-altitude surveillance radar to conduct a focused scan in the target direction.

[0031] S5: After the detection subsystem's vehicle-mounted low-altitude surveillance radar detects a target, it continues tracking the target and sends the target's position, altitude, heading, and speed to the command and control subsystem. Once the target enters the warning zone, the command and control subsystem automatically guides the optoelectronic tracking equipment to lock onto the drone target, identifies the target through optoelectronic video images, generates target warning information, and adds the identified target to the blacklist.

[0032] S6: When a blacklisted drone target enters the denied zone, the command and control subsystem will detect the drone's remote control and image transmission frequency bands. If it is confirmed that the target drone model is in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment, it will guide the vehicle-mounted drone protocol cracking precision strike equipment to carry out a precise strike on the target; otherwise, it will interfere with the target or fly the vehicle-mounted drone out of the interference beam range of the radio interference equipment;

[0033] S7: When the drone prevention and control mission is completed, the command and control subsystem is used to replay and statistically analyze the data and instructions sent and received during the entire detection and counter-measure command process, as well as the control scenes, to complete the drone prevention and control effect evaluation.

[0034] Further preferably, S6 is specifically as follows: when the target in the blacklist enters the denied zone, the command and control subsystem, based on the detected drone remote control and image transmission frequency bands, if it is confirmed that the drone model in the blacklist is in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment, then the vehicle-mounted drone protocol cracking precision strike equipment is guided to carry out a precision strike on the drone; if it is confirmed that the drone model in the blacklist is not in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment, then it is determined whether the drone in the blacklist and the drone in the whitelist are in the same frequency band. If they are not in the same frequency band, then the vehicle-mounted directional radio jamming equipment is guided to interfere with the drone in the blacklist; if they are in the same frequency band, then it is determined whether the drone in the whitelist is in the interference beam range of the vehicle-mounted directional radio jamming equipment. If it is not in the interference beam range, then interference is carried out; if it is in the interference beam range, a prompt message of accidentally injuring the whitelist target is generated, and the vehicle-mounted drone is flown away from the interference beam range. Interference can only be carried out after confirming that there is no whitelist drone in the interference beam range.

[0035] Further preferably, S2 is specifically: using the command and control subsystem to demarcate the flight airspace of the vehicle-mounted UAV, plan the flight route, make a flight plan, send the flight plan application to the outside through the vehicle-mounted wireless communication equipment, receive the flight plan approval, and if the flight plan application is approved, execute the flight plan; if the flight plan application is rejected, modify it and submit it again until it is approved.

[0036] In general, the above technical solutions conceived by the present invention have the following advantages compared with the prior art:

[0037] Beneficial effects:

[0038] The present invention provides an integrated command vehicle system and control method for low-altitude control and counter-drone drones. The system uses an on-board ADS-B receiver to detect and identify cooperative drones, including on-board drones, and adds them to a whitelist. It also uses radar, radio detection equipment, and optoelectronic tracking equipment to detect and identify illegal drones and add them to a blacklist. It also uses on-board drone protocol cracking precision strike equipment to strike drones on the blacklist without affecting drones on the whitelist. For drones that the on-board drone protocol cracking precision strike equipment cannot strike, on-board directional jamming equipment is used to jam them. Jamming is only carried out after confirming that there are no whitelisted drones within the jamming beam range. Currently, anti-drone command vehicle systems can only detect and counter illegal drones and are unable to distinguish between cooperative and illegal drones. This makes it difficult to simultaneously control and counter illegal drones. In most scenarios, cooperative and illegal drones often coexist, making it easy for cooperative drones to be accidentally injured. Compared with the existing technology, the present invention can effectively distinguish between cooperative drones and illegal drones, and perform blacklist and whitelist management. It can effectively control the drones on the whitelist at low altitudes, and deal with the drones on the blacklist by means of precise strikes, without affecting the drones on the whitelist.

[0039] The present invention provides a low-altitude control and anti-UAV integrated command vehicle system and control method. The command and control subsystem displays the situation information of the vehicle-mounted UAV in real time. At the same time, the vehicle-mounted ADS-B receiving equipment receives the situation information of other targets in the air, including but not limited to information of other cooperative UAVs equipped with ADS-B airborne equipment, general aviation aircraft information, etc., and the cooperative targets are added to the white list through manual operation; the radio detection equipment and low-altitude surveillance radar of the detection subsystem are used to detect the UAV target and monitor the UAV trajectory. After the UAV enters the early warning area, the command and control subsystem automatically guides the optoelectronic tracking equipment to lock the UAV target, identifies the target through the optoelectronic video image, generates target early warning information, and adds the identified target to the black list; when the target enters the denied area, the command and control subsystem confirms, based on the detected UAV remote control or image transmission frequency band, whether the UAV model in the black list is in the vehicle-mounted UAV cooperative area. If the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike device is included, the vehicle-mounted drone protocol cracking precision strike device is guided to carry out precision strikes on the drones in the blacklist; if the drone model in the blacklist is not in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike device, first determine whether the drone in the blacklist and the drone in the whitelist are in the same frequency band. If they are not in the same frequency band, guide the interference device to interfere with the drone in the blacklist; if they are in the same frequency band, determine whether the drone in the whitelist is within the interference beam range of the vehicle-mounted directional radio jamming device. If it is not within the interference beam range, interfere; if it is within the interference beam range, generate a prompt message of accidentally injuring the whitelist target, prompting the operator to fly the vehicle-mounted drone out of the interference beam range, and confirm that there is no whitelist drone within the interference beam range before interference can be implemented; the above-mentioned disposal of targets in the blacklist provided by the present invention has no impact on whitelist targets.

[0040] The low-altitude control and anti-drone integrated command vehicle system and control method provided by the present invention can be widely used in low-altitude security protection of venues for various major events and key security areas. While defending against illegal drones, it can also carry out low-altitude control of our drone reconnaissance, patrol, aerial photography and other activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a defense area division diagram provided by an embodiment of the present invention;

[0042] Figure 2 This is a diagram showing the composition of a low-altitude control and anti-UAV integrated command vehicle system provided by an embodiment of the present invention;

[0043] Figure 3 This is a flow chart of the control method provided in Example 1 of the present invention;

[0044] Figure 4 This is a flow chart of the control method provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] On the one hand, the present invention provides an integrated command vehicle system for low-altitude control and counter-UAV, comprising: a detection subsystem, a countermeasure subsystem, a command and control subsystem, an auxiliary subsystem, and a vehicle-mounted UAV;

[0047] (1) The detection subsystem includes vehicle-mounted low-altitude surveillance radar, vehicle-mounted radio detection equipment, vehicle-mounted optoelectronic tracking equipment, vehicle-mounted ADS-B receiving equipment, and vehicle-mounted BeiDou receiver;

[0048] Vehicle-mounted low-altitude surveillance radar is used to actively detect low, slow, and small targets, providing information such as the target's direction, distance, and altitude;

[0049] Vehicle-mounted radio detection equipment, used to detect and find the direction of vehicle-mounted drone remote control and image transmission signals;

[0050] Vehicle-mounted optoelectronic tracking equipment, which integrates visible light and infrared thermal imaging, is used as a tracking and evidence collection device and has the function of tracking and locking the target;

[0051] The vehicle-mounted ADS-B receiving device is used to receive information sent by the aircraft-mounted ADS-B device and automatically obtain information such as the position, altitude, speed, heading and identification number broadcast by the aircraft;

[0052] Vehicle-mounted Beidou receiver, used to receive position reports and short message information from Beidou communication terminals;

[0053] (2) The countermeasure subsystem includes vehicle-mounted UAV directional jamming equipment and vehicle-mounted UAV protocol cracking precision strike equipment;

[0054] The vehicle-mounted UAV directional jamming device is used to receive target indication information, equipment control information, and jamming command information sent by the command and control subsystem. It rotates the turntable through the servo control system to adjust the jamming position and direction, selects the drive-off or forced landing working mode, and conducts directional jamming on the UAV.

[0055] Vehicle-mounted drone protocol cracking precision strike equipment is used to receive target indication information, equipment control information, and jamming command information sent by the command and control subsystem to carry out precise strikes on drones;

[0056] (3) The command and control subsystem includes the command and control module, vehicle-mounted display and control terminal, data processing server, database server, record and replay server, and switch;

[0057] The command and control module is equipped with a set of command and control software, which has the functions of plan formulation, plan reporting, data fusion, target identification, surveillance and early warning, wireless communication, command and dispatch, and strike control; more specifically, the command and control module is used to make prevention and control plans, set up protection zones, denial zones and early warning zones, and set corresponding prevention and control rules; demarcate the flight airspace of vehicle-mounted UAVs, plan flight routes, make flight plans, control vehicle-mounted UAVs to take off and perform tasks, and add vehicle-mounted UAVs to the whitelist; automatically guide the detection subsystem to scan in the target direction; identify the detected targets, generate target early warning information, and add the identified targets to the blacklist; after the blacklisted targets enter the denial zone, confirm whether the target UAV model is in the spectrum feature library of the vehicle-mounted UAV protocol cracking precision strike equipment; determine whether the UAVs in the blacklist and the UAVs in the whitelist are in the same frequency band and the same interference beam range;

[0058] The vehicle-mounted display and control terminal has command and control software interface display and human-computer interaction functions;

[0059] The data processing server is used to comprehensively process surveillance data, flight data and intelligence data;

[0060] The database server is used to store and manage planning data, monitoring data, alarm data, command and control commands, video images and other data;

[0061] The recording and replay server is used to record all information obtained and generated by the system, and can replay scenes and data information;

[0062] The switch is used to connect various devices in the command vehicle system;

[0063] (4) Auxiliary subsystems include vehicle-mounted platforms, video surveillance equipment, image transmission equipment, vehicle-mounted wireless communication equipment, and power supply equipment;

[0064] The vehicle-mounted platform is used to modify a police command vehicle, which can ensure the installation, lifting, retraction and deployment of vehicle-mounted equipment, ensuring that the operators have a comfortable working environment;

[0065] Video surveillance equipment is used to realize on-site monitoring and playback functions. Through the on-board hard disk recorder, the on-site situation can be recorded in real time.

[0066] Image transmission equipment is used to realize image transmission between the command vehicle and the command center, so that the command center can understand the on-site situation in a timely manner;

[0067] The vehicle-mounted wireless communication equipment is used to realize communication between the command vehicle and other vehicles and the command center, which can achieve fast and flexible on-site command and dispatch. It also has the function of ultra-short wave radio to meet the voice communication between the ground and low-altitude general aviation aircraft.

[0068] Power supply equipment, used to provide power to in-vehicle equipment through dedicated large-capacity batteries, UPS power supplies, etc.

[0069] (5) The vehicle-mounted UAV can quickly maneuver to the air above the protected area as needed to search and discover suspicious personnel and vehicles in the air and on the ground, and serve as an aerial surveillance node to provide low-altitude video information in the area to the ground command vehicle. It has the capabilities of data collection, video tracking, information dissemination and communication relay, and provides support for aerial reconnaissance, fire rescue, emergency rescue, etc. The vehicle-mounted UAV is equipped with an onboard ADS-B device and can broadcast ADS-B information to the outside world.

[0070] Among them, the target is aerial vehicles, mainly drones, which can be cooperative drones or illegal drones.

[0071] On the other hand, the present invention provides a control method for a low-altitude control and anti-UAV integrated command vehicle system, comprising the following steps:

[0072] S1: Used for the low-altitude control and counter-UAV integrated command vehicle to maneuver to the designated support area, power on the command vehicle system, and complete operations such as starting, deploying, and raising and lowering the onboard equipment, while ensuring the normal operation of all equipment;

[0073] S2: The command and control subsystem prepares a prevention and control plan, sets up protection zones, denial zones, and warning zones based on key target prevention and control requirements, and establishes corresponding prevention and control rules;

[0074] S3: The command and control subsystem demarcates the flight airspace for vehicle-mounted UAVs, plans flight routes, creates flight plans, sends flight plan applications to the outside world through the vehicle-mounted wireless communication equipment, receives flight plan approvals, and executes the flight plan if approved. If the flight plan application is rejected, it is revised and resubmitted until it is approved.

[0075] S4: The command and control subsystem controls the vehicle-mounted UAV to take off and execute the mission. The vehicle-mounted ADS-B receiver receives the ADS-B information sent by the UAV in real time. The command and control subsystem displays the situation information of the vehicle-mounted UAV in real time. At the same time, the vehicle-mounted ADS-B receiver receives the situation information of other targets in the air, including but not limited to information on other cooperative UAVs equipped with ADS-B airborne equipment and general aviation aircraft. The cooperative targets are added to the whitelist through manual operation.

[0076] S5: The vehicle-mounted radio detection equipment scans the entire frequency band for drone signals. Upon detecting drone remote control and image transmission information, it sends information such as the target frequency band, direction, and type to the command and control subsystem. The command and control subsystem then automatically guides the vehicle-mounted low-altitude surveillance radar to conduct a focused scan near the target direction.

[0077] S6: After the vehicle-mounted low-altitude surveillance radar detects a target, it continuously tracks the target and sends information such as the target's position, altitude, heading, and speed to the command and control subsystem. After the target enters the warning zone, the command and control subsystem automatically guides the optoelectronic tracking equipment to lock onto the drone target, identifies the target through optoelectronic video images, generates target warning information, and adds the identified target to the blacklist. Target situation information and video image information are sent to the superior command system via wireless communication equipment and image transmission equipment.

[0078] S7: After the target enters the denial zone, the command and control subsystem will confirm based on the detected drone remote control or image transmission frequency band that if the drone model on the blacklist is in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment, then guide the vehicle-mounted drone protocol cracking precision strike equipment to carry out a precision strike on the drone on the blacklist; if the drone model on the blacklist is not in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment, first determine whether the drone on the blacklist and the drone on the whitelist are in the same frequency band. If not, guide the jamming equipment to jam the drone on the blacklist; if they are in the same frequency band, determine whether the drone on the whitelist is within the jamming beam range of the vehicle-mounted directional radio jamming equipment. If not, jamming will be carried out; if within the jamming beam range, a prompt message will be generated to warn the operator of accidentally hitting the whitelist target, prompting the operator to fly the vehicle-mounted drone out of the jamming beam range. Jamming can only be initiated after confirming that there are no whitelist drones within the jamming beam range.

[0079] S8: After the drone prevention and control mission is completed, the command and control subsystem will replay and conduct statistical analysis on the data and instructions sent and received during the entire detection and counter-measure command process, as well as the control scenes, to complete the drone prevention and control effect evaluation.

[0080] like Figure 1 As shown, both Example 1 and Example 2 take a large-scale event venue as the protection target, and set up a protection zone with a radius of 0.5 km, a rejection zone with a radius of 1 km, and an early warning zone with a radius of 2 km; Figure 2 As shown, the low-altitude control and anti-UAV integrated command vehicle system in Example 1 and Example 2 includes a detection subsystem, a countermeasure subsystem, a command and control subsystem, an auxiliary subsystem, and a vehicle-mounted UAV;

[0081] The detection subsystem in Example 1 and Example 2 includes a vehicle-mounted low-altitude surveillance radar, a vehicle-mounted radio detection device, a vehicle-mounted optoelectronic tracking device, a vehicle-mounted ADS-B receiving device, and a vehicle-mounted Beidou receiver; wherein the vehicle-mounted low-altitude surveillance radar adopts a three-coordinate phased array radar with a target detection range of 3km in radius, the vehicle-mounted radio detection device adopts a 300M~6G full-band detection mode, the radio signal detection device has a direction finding range of 3km, and the vehicle-mounted optoelectronic tracking device adopts a combination of visible light and infrared thermal imaging, with a target tracking and identification range of 2km;

[0082] The countermeasure subsystem in Example 1 and Example 2 includes a vehicle-mounted UAV directional jamming device and a vehicle-mounted UAV protocol cracking precision strike device; wherein, the vehicle-mounted UAV directional jamming device adopts 300M~6G full-band jamming mode, has an effective range of 2km, supports directional jamming, and has a jamming beam of 30°; the vehicle-mounted UAV protocol cracking precision strike device has an effective range of 2km;

[0083] The command and control subsystem in Example 1 and Example 2 includes a set of vehicle-mounted display and control terminals, a data processing server, a database server, a record and replay server, a switch, and a set of command and control software;

[0084] The vehicle-mounted drone in Examples 1 and 2 is a DJI Mavic 2 drone.

[0085] Example 1

[0086] like Figure 3 As shown, this embodiment is as follows:

[0087] S1: The low-altitude control and counter-UAV integrated command vehicle maneuvers to the designated support area. The command vehicle system is powered on, and all onboard equipment is started, deployed, and raised / lowered, ensuring normal operation of all equipment.

[0088] S2: The command and control subsystem prepares a prevention and control plan, setting up a protection zone with a radius of 0.5 km, a denial zone with a radius of 1 km, and an early warning zone with a radius of 2 km, and sets corresponding prevention and control rules;

[0089] S3: The command and control subsystem demarcates the flight airspace for vehicle-mounted UAVs, plans flight routes, creates flight plans, sends flight plan applications to the outside world through the vehicle-mounted wireless communication equipment, receives flight plan approvals, and executes the flight plan if the application is approved. If the application is rejected, it is revised and resubmitted until it is approved.

[0090] S4: The command and control subsystem controls the takeoff of the vehicle-mounted drone. After takeoff, the drone flies around the command parking space with a radius of 1 km to perform patrol missions. The vehicle-mounted ADS-B receiver receives the ADS-B information sent by the drone in real time. The command and control subsystem displays the situation information of the vehicle-mounted drone in real time. The vehicle-mounted drone can be added to the whitelist through manual operation. The command and control subsystem monitors the flight status of the vehicle-mounted drone in real time and issues conflict warnings in a timely manner.

[0091] S5: The vehicle-mounted radio detection equipment scans the entire frequency band for drone signals and detects a DJI Phantom 4 drone in the north direction. The vehicle sends the target frequency band, direction, and type information to the command and control subsystem, which automatically directs the radar detection equipment to conduct a focused scan near the target direction.

[0092] S6: After the vehicle-mounted low-altitude detection radar detects a target at 2.2km, it continuously tracks the target and sends information such as the target's position, altitude, heading, and speed to the command and control subsystem. After data fusion, the system track is formed. After the target enters the 2km warning zone, the command and control subsystem automatically guides the optoelectronic tracking equipment to lock onto the drone target, identifies the target through optoelectronic video images, generates target warning information, and adds the identified target to the blacklist. Target situation information and video image information are sent to the superior command system via wireless communication equipment and image transmission equipment.

[0093] S7: After the target enters the 1km denial zone, the command and control subsystem confirms that the target drone, the DJI Phantom 4, is in the spectrum signature library of the vehicle-mounted drone protocol cracking precision strike equipment, and guides the vehicle-mounted drone protocol cracking precision strike equipment to carry out a precision strike on the target. After being interfered with, the DJI Phantom 4 drone flies out of the warning zone, and the system warning disappears. At this time, the vehicle-mounted drone is not interfered with and continues to perform the flight mission until it completes the mission and lands;

[0094] S8: After the mission is completed, the command and control subsystem will replay and conduct statistical analysis on the data and instructions sent and received during the entire mission, as well as the control scenes, to complete the effect evaluation.

[0095] Example 2

[0096] like Figure 4 As shown, this embodiment is as follows:

[0097] S1: The low-altitude control and counter-UAV integrated command vehicle maneuvers to the designated support area. The command vehicle system is powered on, and the onboard equipment is started, deployed, and raised / lowered, ensuring normal operation of all equipment.

[0098] S2: The command and control subsystem prepares a prevention and control plan, setting up a protection zone with a radius of 0.5 km, a denial zone with a radius of 1 km, and an early warning zone with a radius of 2 km, and sets corresponding prevention and control rules;

[0099] S3: The command and control subsystem demarcates the flight airspace for vehicle-mounted UAVs, plans flight routes, creates flight plans, sends flight plan applications to the outside world through the vehicle-mounted wireless communication equipment, receives flight plan approvals, and executes the flight plan if the application is approved. If the application is rejected, it is revised and resubmitted until it is approved.

[0100] S4: The command and control subsystem controls the takeoff of the vehicle-mounted drone. After takeoff, the drone flies around the command parking space with a radius of 1 km to perform patrol missions. The vehicle-mounted ADS-B receiver receives the ADS-B information sent by the drone in real time. The command and control subsystem displays the situation information of the vehicle-mounted drone in real time. The vehicle-mounted drone can be added to the whitelist through manual operation. The command and control subsystem monitors the flight status of the vehicle-mounted drone in real time and issues conflict warnings in a timely manner.

[0101] S5: The vehicle-mounted radio detection equipment scans the entire frequency band for drone signals and detects an unknown model of drone operating at 2.4 GHz in the east direction. It sends the target frequency band and direction information to the command and control subsystem, which automatically directs the radar detection equipment to focus on scanning near the target direction.

[0102] S6: After the vehicle-mounted low-altitude detection radar detects a target at 2.5km, it continuously tracks the target and sends information such as the target's position, altitude, heading, and speed to the command and control subsystem. After data fusion, the system track is formed. After the target enters the 2km warning zone, the command and control subsystem automatically guides the optoelectronic tracking equipment to lock onto the drone target, identifies the target through optoelectronic video images, generates target warning information, and adds the identified target to the blacklist. Target situation information and video image information are sent to the superior command system via wireless communication equipment and image transmission equipment.

[0103] S7: After the target enters the 1km denial zone, the command and control subsystem confirms that the target drone model is not in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment. First, it determines whether the vehicle-mounted drone in the whitelist and the target drone are in the same operating frequency band. If they are the same frequency band, it then determines whether the drone in the whitelist is within the interference beam range of the vehicle-mounted directional radio jammer. If not, directional jamming is implemented. If within the interference beam range, a prompt message is generated to warn the operator of accidentally hitting the whitelist target, prompting the operator to fly the vehicle-mounted drone out of the interference beam range. Directional jamming can only be implemented after confirming that there are no whitelisted drones in the interference beam range.

[0104] S8: The unknown target drone flies out of the warning area after being interfered with, and the system warning disappears. At this time, the vehicle-mounted drone is not interfered with and continues to perform its flight mission until it completes the mission and lands;

[0105] S9: After the mission is completed, the command and control subsystem will replay and conduct statistical analysis on the data instructions sent and received during the entire mission and the control scenes to complete the effect evaluation.

[0106] In summary, the present invention has the following advantages compared with the prior art:

[0107] Currently, anti-drone command vehicle systems can only detect and counter illegal drones, but cannot distinguish between cooperative and illegal drones. This makes it difficult to simultaneously control and counter illegal drones. In most scenarios, cooperative and illegal drones often coexist, making it easy for cooperative drones to be accidentally injured. The present invention provides an integrated low-altitude control and anti-drone command vehicle system and control method. Compared to existing technologies, the present invention can effectively distinguish between cooperative and illegal drones and implement blacklist and whitelist management. UAVs on the whitelist can be effectively controlled at low altitude, while blacklisted drones can be dealt with through precision strikes without affecting drones on the whitelist.

[0108] The present invention provides a low-altitude control and anti-UAV integrated command vehicle system and control method. The command and control subsystem displays the situation information of the vehicle-mounted UAV in real time. At the same time, the vehicle-mounted ADS-B receiving equipment receives the situation information of other targets in the air, including but not limited to information of other cooperative UAVs equipped with ADS-B airborne equipment, general aviation aircraft information, etc., and the cooperative targets are added to the white list through manual operation; the radio detection equipment and low-altitude surveillance radar of the detection subsystem are used to detect the UAV target and monitor the UAV trajectory. After the UAV enters the early warning area, the command and control subsystem automatically guides the optoelectronic tracking equipment to lock the UAV target, identifies the target through the optoelectronic video image, generates target early warning information, and adds the identified target to the black list; when the target enters the denied area, the command and control subsystem confirms, based on the detected UAV remote control or image transmission frequency band, whether the UAV model in the black list is in the vehicle-mounted UAV cooperative area. If the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike device is included, the vehicle-mounted drone protocol cracking precision strike device is guided to carry out precision strikes on the drones in the blacklist; if the drone model in the blacklist is not in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike device, first determine whether the drone in the blacklist and the drone in the whitelist are in the same frequency band. If they are not in the same frequency band, guide the interference device to interfere with the drone in the blacklist; if they are in the same frequency band, determine whether the drone in the whitelist is within the interference beam range of the vehicle-mounted directional radio jamming device. If it is not within the interference beam range, interfere; if it is within the interference beam range, generate a prompt message of accidentally injuring the whitelist target, prompting the operator to fly the vehicle-mounted drone out of the interference beam range, and confirm that there is no whitelist drone within the interference beam range before interference can be implemented; the above-mentioned disposal of targets in the blacklist provided by the present invention has no impact on whitelist targets.

[0109] The low-altitude control and anti-drone integrated command vehicle system and control method provided by the present invention can be widely used in low-altitude security protection of venues for various major events and key security areas. While defending against illegal drones, it can also carry out low-altitude control of our drone reconnaissance, patrol, aerial photography and other activities.

[0110] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A low-altitude control and anti-UAV integrated command vehicle system, characterized by: include: Detection subsystem, countermeasure subsystem, command and control subsystem, auxiliary subsystem and vehicle-mounted UAV; The detection subsystem, the countermeasure subsystem, the command and control subsystem and the auxiliary subsystem are connected by wired connection; the vehicle-mounted UAV is connected to the auxiliary subsystem by wireless connection; The detection subsystem is used to receive ADS-B information sent by the UAV's onboard ADS-B equipment, and at the same time receive air target situation information; and is used to scan the full frequency band of the UAV signal, and after detecting the UAV remote control and image transmission information, send the target frequency band, position, altitude, heading and speed information to the command and control subsystem; Used to track and lock the drone target after the target enters the warning area; The command and control subsystem is used to prepare prevention and control plans, set up protection zones, denial zones, and warning zones, and set corresponding prevention and control rules; demarcate the flight airspace of vehicle-mounted drones, plan flight routes, create flight plans, control the takeoff and execution of vehicle-mounted drones, monitor the flight status of vehicle-mounted drones in real time, and add vehicle-mounted drones to the whitelist; and guide the detection subsystem to focus on scanning in the target direction, identify the target drone, generate target warning information, and add the identified target to the blacklist; When a target on the blacklist enters the denied zone, it is used to confirm whether the target drone model on the blacklist is in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment, and issue interference instructions to the drone on the blacklist based on the confirmation result; it is used to determine whether the drone on the blacklist and the drone on the whitelist are in the same frequency band and the same interference beam range, and issue interference instructions to the drone on the blacklist based on the judgment result; The auxiliary subsystem is used to provide vehicle-mounted wireless communication equipment to meet the communication needs between the command vehicle and other command vehicles and the command center, and send video image information to the command and control subsystem; the countermeasure subsystem is used to receive target indication information, equipment control information and interference command information sent by the command and control subsystem, and carry out targeted interference or attack on drones; the vehicle-mounted drone serves as an aerial surveillance node to provide low-altitude video graphics information for the command and control subsystem.

2. The low-altitude control and anti-UAV integrated command vehicle system according to claim 1 is characterized in that: The command and control subsystem includes a command and control module, an on-board display and control terminal, a data processing server, a database server, a record and replay server, and a switch; The command and control module is used to prepare prevention and control plans, set up protection zones, denial zones, and warning zones, and set corresponding prevention and control rules; demarcate the flight airspace of vehicle-mounted drones, plan flight routes, create flight plans, control vehicle-mounted drones to take off and execute missions, and add vehicle-mounted drones to the whitelist; and automatically guide the detection subsystem to focus on scanning in the target direction; Used to identify detected targets, generate target warning information, and add identified targets to the blacklist; When a blacklisted target enters a denied zone, it is used to confirm whether the target drone model is in the spectrum feature library of vehicle-mounted drone protocol cracking precision strike equipment; Used to determine whether the drones in the blacklist and the drones in the whitelist are in the same frequency band and the same interference beam range; The vehicle-mounted display and control terminal is used to command and display human-machine interaction information and display the situation information of the vehicle-mounted UAV in real time; The data processing server is used to perform comprehensive processing on surveillance data, flight data and intelligence data; The database is used to store and manage planning data, monitoring data, alarm data, command and control commands, and video image data; The recording and replay server is used to replay and perform statistical analysis on the sending and receiving data instructions and the control scenes during the entire detection and countermeasure command process after the drone prevention and control mission is completed.

3. The low-altitude control and anti-UAV integrated command vehicle system according to claim 1 or 2 is characterized in that: The detection subsystem includes a vehicle-mounted low-altitude surveillance radar, a vehicle-mounted radio detection device, a vehicle-mounted optoelectronic tracking device, a vehicle-mounted ADS-B receiving device, and a vehicle-mounted BeiDou receiver; Vehicle-mounted low-altitude surveillance radar, used to provide target frequency band, position, altitude, heading and speed information; Vehicle-mounted radio detection equipment, used to detect and find the direction of drone remote control and image transmission signals by scanning the entire frequency band of drone signals; Vehicle-mounted optoelectronic tracking equipment, integrating visible light and infrared thermal imaging, serves as a tracking and evidence collection device, used to track and lock onto drone targets after they enter the warning zone; The vehicle-mounted ADS-B receiving device is used to receive information sent by the airborne ADS-B device and automatically obtain the position, altitude, speed, heading and identification number information broadcast by the aircraft; The vehicle-mounted Beidou receiver is used to receive position reports and short message information from Beidou communication terminals.

4. The low-altitude control and anti-UAV integrated command vehicle system according to claim 2 is characterized in that: The countermeasure subsystem includes vehicle-mounted UAV directional jamming equipment and vehicle-mounted UAV protocol cracking precision strike equipment; The vehicle-mounted UAV directional jamming device is used to receive target indication information, equipment control information, and jamming command information sent by the command and control subsystem, rotate the turntable through the servo control system, adjust the jamming position and direction, select the drive-off or forced landing working mode, and perform directional jamming on the UAV; The vehicle-mounted UAV protocol cracking precision strike device is used to receive target indication information, equipment control information and interference command information sent by the command and control subsystem, and to carry out precise strikes on UAVs.

5. The low-altitude control and anti-UAV integrated command vehicle system according to claim 1 is characterized in that: The vehicle-mounted drone also has data collection, video tracking, information dissemination and communication relay capabilities, providing support for aerial reconnaissance, fire rescue and disaster relief; it is also equipped with an onboard ADS-B device to broadcast ADS-B information externally.

6. A control method based on the low-altitude control and anti-UAV integrated command vehicle system according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1: Move the low-altitude control and counter-UAV integrated command vehicle system to the designated support area, use the command and control subsystem to develop a prevention and control plan, establish protection zones, denial zones, and early warning zones, and set corresponding prevention and control rules; S2: Use the command and control subsystem to demarcate the flight airspace of the vehicle-mounted UAV, plan the flight route, and create a flight plan. Use the vehicle-mounted wireless communication equipment of the auxiliary subsystem to send flight plan applications and receive flight plan approvals. S3: Use the command and control subsystem to control the vehicle-mounted UAV to take off and execute the mission, use the vehicle-mounted ADS-B receiving device to receive the ADS-B information sent by the UAV in real time, use the command and control subsystem to display the situation information of the vehicle-mounted UAV in real time, and add the vehicle-mounted UAV to the whitelist; S4: Scans the entire frequency band of drone signals. After detecting drone remote control and image transmission information, it sends the target frequency band, direction, and type to the command and control subsystem. The command and control subsystem then automatically guides the vehicle-mounted low-altitude surveillance radar to scan in the target direction. S5: After the detection subsystem's vehicle-mounted low-altitude surveillance radar detects a target, it continues tracking the target and sends the target's position, altitude, heading, and speed to the command and control subsystem. Once the target enters the warning zone, the command and control subsystem automatically guides the optoelectronic tracking equipment to lock onto the drone target, identifies the target through optoelectronic video images, generates target warning information, and adds the identified target to the blacklist. S6: When a blacklisted drone target enters the denied zone, the command and control subsystem will detect the drone's remote control and image transmission frequency bands. If it is confirmed that the target drone model is in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment, it will guide the vehicle-mounted drone protocol cracking precision strike equipment to carry out a precise strike on the target; otherwise, it will interfere with the target or fly the vehicle-mounted drone out of the interference beam range of the radio interference equipment; S7: When the drone prevention and control mission is completed, the command and control subsystem is used to replay and statistically analyze the data and instructions sent and received during the entire detection and counter-measure command process, as well as the control scenes, to complete the drone prevention and control effect evaluation.

7. The control method according to claim 6, characterized in that: S6 is specifically as follows: when a target on the blacklist enters the denied zone, the command and control subsystem will, based on the detected drone remote control and image transmission frequency bands, guide the vehicle-mounted drone protocol cracking precision strike equipment to carry out a precision strike on the drone if it is confirmed that the drone model on the blacklist is in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment; if it is confirmed that the drone model on the blacklist is not in the spectrum feature library of the vehicle-mounted drone protocol cracking precision strike equipment, then determine whether the drone on the blacklist and the drone on the whitelist are in the same frequency band. If they are not in the same frequency band, then guide the vehicle-mounted directional radio jamming equipment to jam the drone on the blacklist; If they are in the same frequency band, the system will determine whether the drones in the whitelist are within the interference beam range of the vehicle-mounted directional radio jammer. If they are not within the interference beam range, the system will implement the jamming. If it is within the interference beam range, a prompt message will be generated that the whitelist target will be accidentally hit. The vehicle-mounted drone will be flown out of the interference beam range of the vehicle-mounted directional interference equipment. Interference can only be implemented after confirming that there are no whitelisted drones within the interference beam range.

8. The control method according to claim 6 or 7, characterized in that: S2 specifically includes: using the command and control subsystem to demarcate the flight airspace for vehicle-mounted UAVs, plan flight routes, make flight plans, send flight plan applications to the outside through vehicle-mounted wireless communication equipment, and receive flight plan approvals. If the flight plan application is approved, the flight plan will be executed; if the flight plan application is rejected, it will be modified and submitted again until it is approved.

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