Unmanned aerial vehicle navigation decoy trajectory planning method, system, device and storage medium

Abstract

The present application relates to the field of unmanned aerial vehicle application, disclose a unmanned aerial vehicle navigation decoy trajectory planning method, system, equipment and storage medium, the method comprises: obtaining the initial position coordinates of unmanned aerial vehicle and deception position, according to the initial position coordinates to establish a rectangular coordinate system, and calculate the azimuth information of deception position;According to the angle information and azimuth information corresponding to the initial position coordinates to calculate the deviation angle and decoy distance;According to the deviation angle and decoy distance to generate decoy track, according to the decoy track to determine the decoy buffer point and position information;When the target angle of decoy buffer point and the difference of angle information exceeds the deviation angle, the decoy buffer point and position information are eliminated, and the target decoy buffer point and target position information are obtained;The target position information is converted to obtain the conversion coordinates, and the target decoy track is generated according to the conversion coordinates, the initial position coordinates and the target decoy buffer point. The present application can improve the success rate of unmanned aerial vehicle decoy interference.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) applications, and in particular to a method, system, device, and storage medium for UAV navigation deception trajectory planning. Background Technology

[0002] This section is intended to provide background or context for the embodiments set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section.

[0003] Drones utilize satellite navigation systems for real-time positioning to determine their location and complete pre-programmed flight missions. However, with the widespread adoption of drone technology and the rapid expansion of its applications, unauthorized drone flights have led to a surge in safety incidents. Therefore, effectively interfering with and deceiving drone trajectories has become a crucial means of mitigating this problem. Generally, drone deception and interference methods are categorized into two main types: generative interference and relay interference. Generative interference involves the jammer generating GPS navigation signals through multiple channels, aligning the correlation peaks of the generated virtual signals with those of the real navigation signals, and controlling the power of the virtual signals to overwhelm and replace the drone's actual signal. Relay interference involves receiving real satellite signals, processing them through a relay transponder within the jammer with delay and power amplification, and then forwarding them to the drone's receiving equipment. The underlying principles of different drone deception modes vary, especially for fixed-point deception. Numerous methods exist for luring drones to predetermined locations using interference signals. During navigation deception, the goal is typically to achieve fixed-point deception as quickly as possible while preventing the drone from recognizing the interference and escaping the deception. Drone deception trajectory planning has become one of the key technologies in drone defense systems.

[0004] Currently, drone decoy devices, during the point-to-point deception process, generate or forward GPS satellite interference signals. Based on altered time delay information, they cause deviations in the pseudorange information received by the drone, thus deceiving its positioning. However, the interference device uses other auxiliary means (radar, photoelectric, etc.) to obtain the drone's true position information and continuously transmits interference signals to the target drone. To correct the deviation, the drone moves in the direction the system deems correct, minimizing the error. During this process, the drone's true flight destination becomes the preset deception position set by the point-to-point deception. However, even if the GPS signal is overwhelmed and cannot be received, the drone can maintain its flight attitude for a short time using its inertial navigation system. When the preset point-to-point deception position deviates significantly from the drone's current heading angle, the drone activates its self-protection mechanism, potentially hovering or decelerating. This poses a significant challenge to observation equipment. If the target drone's latest position cannot be locked by auxiliary equipment, continuous transmission of interference signals is impossible, greatly reducing the success rate of drone decoy interference. In summary, existing technologies suffer from a low success rate in drone decoy interference. Summary of the Invention

[0005] To address the aforementioned problems, embodiments of the present invention provide a method, system, device, and storage medium for planning the navigation deception trajectory of unmanned aerial vehicles (UAVs).

[0006] In a first aspect, embodiments of the present invention provide a method for planning the navigation deception trajectory of an unmanned aerial vehicle (UAV), comprising:

[0007] Obtain the initial position coordinates and the deception position of the UAV; establish a Cartesian coordinate system based on the initial position coordinates; and calculate the orientation information of the deception position in the Cartesian coordinate system.

[0008] The deviation angle and deception distance of the UAV are calculated based on the angle information corresponding to the initial position coordinates and the orientation information.

[0009] A deception trajectory is generated based on the deviation angle and the deception distance, and a deception buffer point and its corresponding location information are determined based on the deception trajectory.

[0010] When the difference between the target angle of the decoy buffer point and the angle information corresponding to the initial position coordinates exceeds the deviation angle, the decoy buffer point and its corresponding position information are decomposed and eliminated to obtain the target decoy buffer point and its corresponding target position information.

[0011] The target location information is transformed to obtain transformed coordinates, and a target deception trajectory is generated based on the transformed coordinates, the initial location coordinates, and the target deception buffer point.

[0012] According to an embodiment of the present invention, calculating the orientation information of the deception location in the Cartesian coordinate system includes:

[0013] Projecting the deception location onto the Cartesian coordinate system yields the coordinates of the deception point corresponding to the deception location;

[0014] The angle of the deception point is obtained by calculating the angle of the deception point coordinates;

[0015] Obtain the initial flight heading corresponding to the initial position coordinates, and calculate the difference between the deception point angle and the initial flight heading to obtain the azimuth information of the deception position.

[0016] According to an embodiment of the present invention, calculating the deviation angle and decoy distance of the UAV based on the angle information corresponding to the initial position coordinates and the azimuth information includes:

[0017] The difference between the angle information and the azimuth information is calculated to obtain the deviation angle, and the angular offset of the UAV is calculated based on the deviation angle.

[0018] The angular offset is calculated using the following formula:

[0019] n = 2π / Δ

[0020] Where n represents the angular offset, Δ represents the deviation angle, and π represents the preset calculation parameter;

[0021] The distance between the initial position coordinates and the deception position is calculated to obtain the distance difference;

[0022] The deception distance is obtained by calculating the angular offset and the distance difference.

[0023] According to an embodiment of the present invention, calculating the deception distance by measuring the angular offset and the distance difference includes:

[0024] Calculate the deception distance using the following formula:

[0025]

[0026] Where R represents the deception distance, d represents the distance difference, n represents the angle offset, and π represents the preset calculation parameter.

[0027] According to an embodiment of the present invention, generating a decoy trajectory based on the deviation angle and the decoy distance includes:

[0028] The current coordinates and flight angle of the drone are obtained, and the coordinates of the target decoy point are calculated based on the current coordinates, the flight angle, the deviation angle and the decoy distance.

[0029] Path planning is performed on the target decoy point coordinates and the current coordinates to obtain the decoy trajectory.

[0030] According to an embodiment of the present invention, the step of calculating the target decoy point coordinates based on the current coordinates, the flight angle, the deviation angle, and the decoy distance includes:

[0031] Calculate the coordinates of the target decoy point using the following formula:

[0032]

[0033] Solve the above equations simultaneously:

[0034]

[0035] Where (x2, y2) represents the coordinates of the target decoy point, (x1, y1) represents the current coordinates, θ represents the flight angle, Δ represents the deviation angle, R represents the decoy distance, and θ+Δ=θ0+Δ, where θ0 represents the initial flight heading.

[0036] According to an embodiment of the present invention, the step of decomposing and eliminating the decoy buffer points and their corresponding location information to obtain the target decoy buffer points and their corresponding target location information includes:

[0037] The time interval for the decoy device's response and the operating speed of the drone are obtained, and the buffer distance is calculated based on the time interval and the operating speed.

[0038] Determine whether the deception buffer point and its corresponding location information are greater than the buffer distance;

[0039] When the deception buffer point and its corresponding location information are greater than the buffer distance, the deception buffer point and its corresponding location information are retained as the target deception buffer point and its corresponding target location information.

[0040] Secondly, embodiments of the present invention provide a drone navigation deception trajectory planning system, characterized in that it includes:

[0041] The orientation information calculation module is used to obtain the initial position coordinates and the deception position of the UAV, establish a rectangular coordinate system based on the initial position coordinates, and calculate the orientation information of the deception position in the rectangular coordinate system.

[0042] The deviation angle and deception distance calculation module is used to calculate the deviation angle and deception distance of the UAV based on the angle information corresponding to the initial position coordinates and the orientation information.

[0043] The deception trajectory generation module is used to generate a deception trajectory based on the deviation angle and the deception distance, and to determine a deception buffer point and its corresponding location information based on the deception trajectory.

[0044] The decoy buffer point decomposition and elimination module is used to decompose and eliminate the decoy buffer point and its corresponding position information when the difference between the target angle of the decoy buffer point and the angle information corresponding to the initial position coordinates exceeds the deviation angle, so as to obtain the target decoy buffer point and its corresponding target position information.

[0045] The target deception trajectory generation module is used to convert the target position information to obtain converted coordinates, and generate a target deception trajectory based on the converted coordinates, the initial position coordinates, and the target deception buffer point.

[0046] Thirdly, embodiments of the present invention provide an electronic device, which includes:

[0047] processor;

[0048] Memory used to store the processor's executable instructions;

[0049] The processor is configured to execute the instructions to implement a drone navigation deception trajectory planning method as described in the first aspect above.

[0050] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a drone navigation deception trajectory planning method as described in the first aspect above.

[0051] Compared with the prior art, the above-mentioned technical solution of the present invention has the following beneficial effects:

[0052] The embodiments of this invention obtain the initial position coordinates and the deception position of the UAV, establish a Cartesian coordinate system based on the initial position coordinates, and calculate the azimuth information of the deception position in the Cartesian coordinate system, thus ensuring the accuracy of the azimuth information of the deception position. By calculating the deviation angle and deception distance of the UAV using the angle and azimuth information corresponding to the initial position coordinates, the mathematical relationship between the deviation angle and the deception distance can be reasonably calculated, avoiding phenomena such as UAV flying aimlessly or circling during trajectory planning, and making the deviation angle and deception distance more accurate, thereby accelerating calculation efficiency. A deception trajectory is generated using the deviation angle and deception distance, and a deception buffer is determined based on the deception trajectory. By analyzing the points and their corresponding location information, the optimal rotation and overlay direction for the drone to reach the decoy buffer point can be selected, reducing unnecessary flight paths during the drone decoy process and improving decoy efficiency. By decomposing and eliminating the decoy buffer points and their corresponding location information, the target decoy buffer points and their corresponding target location information can be obtained. This allows for the breakdown of the decoy process, enabling the planning of the drone's guidance path using a multi-step decoy approach, thus improving the drone's decoy success rate. By transforming the target location information to obtain transformed coordinates, and generating the target decoy trajectory based on the transformed coordinates, initial location coordinates, and target decoy buffer points, the success rate of drone decoy interference can be improved. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 The flowchart of the drone navigation deception trajectory planning method according to Embodiment 1 of the present invention is shown;

[0055] Figure 2 A schematic diagram showing the relationship between the initial flight heading of the UAV and the angle of the deception point corresponding to the deception position in Embodiment 1 of the present invention is provided.

[0056] Figure 3 A structural schematic diagram showing the relationship between the deception distance and the deviation angle in Embodiment 1 of the present invention is shown;

[0057] Figure 4 This shows a structural schematic diagram illustrating the target deception buffer point setting principle of the UAV according to Embodiment 1 of the present invention;

[0058] Figure 5 This shows a schematic diagram of the initial target deception trajectory generated when a drone is lured in a clockwise direction, according to Embodiment 1 of the present invention.

[0059] Figure 6 This shows a schematic diagram of the target deception trajectory according to Embodiment 1 of the present invention;

[0060] Figure 7 This shows a schematic diagram of the initial target deception trajectory generated when a drone is lured in a counterclockwise direction, according to Embodiment 1 of the present invention.

[0061] Figure 8 The diagram shows the functional modules of the UAV navigation deception trajectory planning system according to Embodiment 3 of the present invention.

[0062] Figure 9 The diagram shows the composition of an electronic device for implementing the UAV navigation deception trajectory planning method according to Embodiment 4 of the present invention. Detailed Implementation

[0063] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0064] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0065] This invention proposes a fixed-point navigation decoy trajectory planning method with multiple buffer decoy points. Combining the rotation trajectory problem and mathematical geometry principles, it addresses the issue of how to plan the motion state of a UAV when it is subjected to interference decoy signals with a large deviation angle from its current flight path during a set flight. The method proposes that for a given decoy point area, the UAV's current flight path usually has an angular deviation from this area. By analyzing the difference between the UAV's current position and the preset decoy point position, the optimal deflection direction for the UAV to reach the decoy point is determined under various spatial distribution conditions. Furthermore, when there is a large angle between the interference decoy direction and the UAV's current flight path, the algorithm divides the large angle multiple times and, considering the close relationship between decoy distance and angle, sets multiple decoy buffer points to plan the UAV's decoy path in a step-by-step manner. By calculating and analyzing the deception direction, calculating the location of the deception buffer point, and determining the straight-line deception conditions, the method plans the deception path for UAVs, realizing the trajectory planning design for step-by-step deception of UAVs. This avoids the possibility of UAVs detecting and recognizing interference signals due to excessive deception angle differences, greatly increases the success rate of UAV deception, and further improves the performance of UAV navigation deception system.

[0066] Example 1

[0067] like Figure 1As shown, this invention proposes a method for planning the trajectory of a drone navigation deception, comprising the following steps:

[0068] S1. Obtain the initial position coordinates and the deception position of the UAV, establish a rectangular coordinate system based on the initial position coordinates, and calculate the orientation information of the deception position in the rectangular coordinate system;

[0069] In this embodiment of the invention, the GPS position coordinates of the drone can be detected by radar and used as the initial position coordinates of the drone; and a directional deception position can be set according to a preset deception device.

[0070] In one optional embodiment of the present invention, a rectangular coordinate system can be established with due north as the reference and the initial position coordinates of the UAV as the origin, and the initial flight course of the UAV can be marked in the rectangular coordinate system.

[0071] In this embodiment of the invention, calculating the orientation information of the deception location in the Cartesian coordinate system includes:

[0072] Projecting the deception location onto the Cartesian coordinate system yields the coordinates of the deception point corresponding to the deception location;

[0073] The angle of the deception point is obtained by calculating the angle of the deception point coordinates;

[0074] Obtain the initial flight heading corresponding to the initial position coordinates, and calculate the difference between the deception point angle and the initial flight heading to obtain the azimuth information of the deception position.

[0075] In this embodiment of the invention, the decoy point angle (θ) is obtained by performing arithmetic operations on the coordinates of the decoy point and the origin of the rectangular coordinate system. end According to the initial flight heading (θ0) and the decoy point angle (θ), end ) Perform size comparison and difference calculation to determine whether the deception position is positive or negative superposition. For example, when θ end >θ0 and |θ end -θ0|≤180° or θ end <θ0 and |θ end When -θ0|≥180°, the orientation information of the deception position in the rectangular coordinate system is positively superimposed; when θ end >θ0 and |θ end -θ0|≥180° or θ end <θ0 and |θ end When -θ0|≤180°, the orientation information of the deception position in the rectangular coordinate system is superimposed in reverse, thereby obtaining the orientation information of the deception position.

[0076] In this embodiment of the invention, the relationship between the initial flight heading of the UAV and the angle of the deception point corresponding to the deception position is as follows: Figure 2 As shown, N represents true north, θ0 represents the initial flight heading, and θ end The angle of the deception point corresponding to the deception position is indicated, and the clockwise direction indicates the forward superposition when performing azimuth superposition.

[0077] S2. Calculate the deviation angle and deception distance of the UAV based on the angle information corresponding to the initial position coordinates and the orientation information;

[0078] In this embodiment of the invention, when the angle between the deception position and the current flight path of the UAV is too large, the UAV's self-protection mechanism may be triggered, resulting in deception failure. Therefore, a method of setting multiple deception buffer points can be used to deceive the UAV step by step. In addition, due to the non-coordination between the single deception angle and distance, the UAV may not reach the preset position after passing through multiple buffer deception points. Therefore, in the process of setting multiple deception buffer points, the relationship between the single deviation angle and the deception distance can be considered to ensure that the UAV can successfully fly to the vicinity of the deception point after multiple deceptions.

[0079] In this embodiment of the invention, calculating the deviation angle and deception distance of the UAV based on the angle information corresponding to the initial position coordinates and the azimuth information includes:

[0080] The difference between the angle information and the azimuth information is calculated to obtain the deviation angle, and the angular offset of the UAV is calculated based on the deviation angle.

[0081] The angular offset is calculated using the following formula:

[0082] n = 2π / Δ

[0083] Where n represents the angular offset, Δ represents the deviation angle, and π represents the preset calculation parameter;

[0084] The distance between the initial position coordinates and the deception position is calculated to obtain the distance difference;

[0085] The deception distance is obtained by calculating the angular offset and the distance difference.

[0086] In this embodiment of the invention, calculating the deception distance by measuring the angle offset and the distance difference includes:

[0087] Calculate the deception distance using the following formula:

[0088]

[0089] Where R represents the deception distance, d represents the distance difference, n represents the angle offset, and π represents the preset calculation parameter.

[0090] In this embodiment of the invention, a deception position is first set. After the radar detects the UAV information, the distance difference d between the initial position coordinates of the UAV and the deception position corresponding to the deception point is calculated. Based on the determined single angular offset, the achievable maximum single deception distance R is calculated. The relationship between the deception distance R and the deviation angle Δ is as follows: Figure 3 As shown.

[0091] S3. Generate a deception trajectory based on the deviation angle and the deception distance, and determine the deception buffer point and its corresponding location information based on the deception trajectory;

[0092] In this embodiment of the invention, generating the decoy trajectory based on the deviation angle and the decoy distance includes:

[0093] The current coordinates and flight angle of the drone are obtained, and the coordinates of the target decoy point are calculated based on the current coordinates, the flight angle, the deviation angle and the decoy distance.

[0094] Path planning is performed on the target decoy point coordinates and the current coordinates to obtain the decoy trajectory.

[0095] In this embodiment of the invention, the step of calculating the target decoy point coordinates based on the current coordinates, the flight angle, the deviation angle, and the decoy distance includes:

[0096] Calculate the coordinates of the target decoy point using the following formula:

[0097]

[0098] Solve the above equations simultaneously:

[0099]

[0100] Where (x2, y2) represents the coordinates of the target decoy point, (x1, y1) represents the current coordinates, θ represents the flight angle, Δ represents the deviation angle, R represents the decoy distance, and θ+Δ=θ0+Δ, where θ0 represents the initial flight heading.

[0101] In this embodiment of the invention, the principle of setting the target deception buffer point for the UAV is as follows: Figure 4 As shown, (x2, y2) represents the coordinates of the target decoy point, (x1, y1) represents the current coordinates, θ represents the flight angle, Δ represents the deviation angle, R represents the decoy distance, and the clockwise direction is the positive superposition direction.

[0102] In this embodiment of the invention, the deception direction of the drone includes forward superposition and reverse superposition. For example, the range of θ0+Δ during forward and reverse superposition includes 0°~90°, 90°~180°, 180°~270°, and 270°~360°, which can be expressed by the formula:

[0103] When superimposed in the forward direction:

[0104] 0° < θ0 + Δ < 90° Where θ+Δ=θ0+Δ;

[0105] 90° < θ0 + Δ < 180°: Among them, θ+Δ=θ0+Δ-90°;

[0106] 180° < θ0 + Δ < 270°: Among them, θ+Δ=θ0+Δ-180°;

[0107] 270° < θ0 + Δ < 360° Among them, θ+Δ=θ0+Δ-270°.

[0108] When superimposed in opposite directions:

[0109] 0° < θ0 + Δ < 90° Among them, θ+Δ=90°-(θ0+Δ);

[0110] 90° < θ0 + Δ < 180°: Among them, θ+Δ=180°-(θ0+Δ);

[0111] 180° < θ0 + Δ < 270°: Among them, θ+Δ=270°-(θ0+Δ);

[0112] 270° < θ0 + Δ < 360° Among them, θ+Δ=360°-(θ0+Δ).

[0113] S4. When the difference between the target angle of the decoy buffer point and the angle information corresponding to the initial position coordinates exceeds the deviation angle, the decoy buffer point and its corresponding position information are decomposed and eliminated to obtain the target decoy buffer point and its corresponding target position information.

[0114] In this embodiment of the invention, when there is an angle between the target angle of the decoy buffer point and the angle information corresponding to the initial position coordinates, the flight heading of the UAV will continuously change over time after the decoy begins. Once the flight heading meets certain conditions, the UAV will stop deviating from the angle and fly straight towards the preset target point. For example, when the difference between the target angle of the decoy buffer point and the angle information corresponding to the initial position coordinates is less than the deviation angle, i.e.: |θ0-θ end |<Δ, at this point it is determined that the drone has broken away from the change-of-direction flight and entered a straight-line flight state.

[0115] In this embodiment of the invention, during the process of interfering with and deceiving the drone, since the deception device has a time limit for responding to the preset deception buffer point, the frequency at which the device reports the coordinates of the deception buffer point to the drone should not be too high. When the distance difference d between the initial position coordinates and the deception position and the maximum angle offset Δ in a single operation are both too small, the calculated maximum deception distance R in a single operation will also be too small. Therefore, after the deception begins, an excessively small R will shorten the distance between each deception buffer point, and at the same time, the number and density of generated deception buffer points will increase. If all the generated deception buffer points are reported to the drone by the device in sequence, the excessively high reporting frequency may cause the device to be unable to respond in time, thereby causing the system to malfunction and ultimately the deception to fail.

[0116] In this embodiment of the invention, the step of decomposing and eliminating the decoy buffer points and their corresponding location information to obtain the target decoy buffer points and their corresponding target location information includes:

[0117] The time interval for the decoy device's response and the operating speed of the drone are obtained, and the buffer distance is calculated based on the time interval and the operating speed.

[0118] Determine whether the deception buffer point and its corresponding location information are greater than the buffer distance;

[0119] When the deception buffer point and its corresponding location information are greater than the buffer distance, the deception buffer point and its corresponding location information are retained as the target deception buffer point and its corresponding target location information.

[0120] In the embodiments of the present invention, since the heading information of the UAV is updated relatively fast during the maneuvering turning flight, multiple decoy buffer points need to be retained at this stage. By conducting multiple tests on the decoy device, the time interval T required for the device to respond normally can be found. As long as the running speed c of the UAV and the distance R1 between each buffer point obtained after decomposition and elimination satisfy T < R1 / v, it means that the decoy device can successfully transmit the coordinates of each buffer point to the target UAV during this decoy stage. For the decoy state where the UAV tends to fly in a straight line, since the flight heading of the UAV remains basically unchanged during this process, only the starting point and the ending point coordinates of this state need to be reported to the decoy device.

[0121] In the embodiments of the present invention, for the case of generated high-density (short single decoy distance, high decoy buffer point density) decoy buffer points, in order to prevent the device from failing to respond, the generated high-density decoy buffer points can be decomposed and eliminated according to the maneuvering state of the UAV decoy flight, so as to only retain the decoy buffer points with relatively special coordinates in the high-density decoy buffer points, avoiding the decoy device from reporting all the generated decoy buffer points to the UAV. Finally, only a few buffer points obtained after successful retention are reported, greatly reducing the number of decoy buffer points reported by the device, relieving the reporting pressure of the device, and further improving the success rate of decoying the target UAV.

[0122] S5. Convert the target position information to obtain conversion coordinates, and generate a target decoy trajectory according to the conversion coordinates, the initial position coordinates, and the target decoy buffer points.

[0123] In the embodiments of the present invention, converting the target position information to obtain conversion coordinates means that during the navigation decoy process of the target UAV, the format of the decoy point position reported by the decoy device is the WGS-84 coordinate, while the target position information in the embodiments of the present invention is based on the rectangular coordinate system with the UAV as the origin at the beginning of the decoy. Therefore, after obtaining the target position information, the decoy device cannot directly report the target position information to the target UAV, but needs to convert the rectangular coordinates to the geodetic height coordinates, that is, the conversion coordinates, for reporting.

[0124] For example, once the decoy device and auxiliary observation device are set up, the auxiliary observation device can obtain the polar coordinate information of the UAV when the decoy begins. Through trigonometric functions, the polar coordinate information of the UAV can be converted into ENU (northeast celestial coordinates). Since the target position information is all based on the UAV as the origin, the ENU coordinates of the target position information relative to the UAV position can be obtained, thus obtaining the ENU coordinates of the target position information relative to the decoy device. After obtaining the ENU coordinates of each point relative to the device, combined with the GPS position of the decoy device itself, the ECEF (geocentric-earth-fixed) coordinates of each point can be obtained through translation and rotation operations. Finally, through information such as the major and minor semi-axes and eccentricity of the Earth's ellipse, the ECEF three-dimensional coordinates can be converted into the WGS-84 coordinate system dedicated to navigation systems, thus obtaining the transformed coordinates.

[0125] In this embodiment of the invention, generating a target deception trajectory based on the transformed coordinates, the initial position coordinates, and the target deception buffer point refers to the following: when the initial position coordinates are (-1000, 1000) and the initial heading is 40°, deception is performed. Assuming a single deviation angle of 3° and a single deception distance of 20 meters, when the transformed coordinates are (-100, 200), the deception direction in the coordinate system with the UAV's current position as the origin is 132.5°. After determination, the UAV is deceiving in a clockwise direction. Furthermore, when the UAV's heading deviates from the preset deception direction by less than the single angle deception amount, the angle transformation stops, thus generating the initial target deception trajectory as follows: Figure 5 As shown in the diagram. Since the single decoy range of only 20 meters is too small, it will eventually generate densely spaced decoy buffer points. This will undoubtedly cause the decoy device to frequently report its location information to the drone, placing a huge workload on the device and potentially causing the entire system to fail. Therefore, it is necessary to consider decomposing the multiple decoy buffer points. The multiple decoy buffer points shown in the diagram above should be decomposed and eliminated, retaining only the more critical target decoy buffer points. The resulting target decoy trajectory is shown in the diagram. Figure 6 As shown.

[0126] In another optional embodiment of the present invention, when the initial heading of the UAV is -40°, the single deviation angle is 10°, and the single deception distance is 200 meters, when the target preset deception point coordinates are (-3000, 500), the deception direction in the coordinate system with the current position of the UAV as the origin is 255.96°. After determination, the UAV is deceived in a counterclockwise direction, and when the UAV heading is less than the preset deception direction, the angle transformation stops, thus obtaining the initial deception trajectory as shown below. Figure 7 As shown.

[0127] Example 2

[0128] To better understand the present invention, a second embodiment is provided below to further explain how the present invention converts the target location information to obtain converted coordinates, and generates a target deception trajectory based on the converted coordinates, the initial position coordinates, and the target deception buffer point.

[0129] In this embodiment of the invention, the transformation of the target location information to obtain transformed coordinates includes:

[0130] The target location information is calculated using a preset functional relationship to obtain the northeast celestial coordinates;

[0131] By performing translation and rotation operations on the aforementioned northeast celestial coordinates, the geocentric geofixed coordinates can be obtained.

[0132] Obtain Earth data information, and perform data transformation on the geocentric and geofixed coordinates based on the Earth data information to obtain transformed coordinates.

[0133] In this embodiment of the invention, the functional relationship includes, but is not limited to, trigonometric function relationships. After the decoy device and auxiliary observation device are set up, the auxiliary observation device can obtain the polar coordinate information of the UAV when the decoy begins. The target position information of the UAV can be converted into ENU (northeast celestial coordinates) through trigonometric function relationships. Since the target position information is all based on the UAV as the origin, the ENU coordinates of the target position information relative to the UAV position can be obtained, thereby obtaining the ENU coordinates of the target position information relative to the decoy device. After obtaining the ENU coordinates of each point relative to the device, combined with the GPS position of the decoy device itself, the ECEF (geocentric-earth-fixed) coordinates of each point can be obtained through translation and rotation operations. Finally, through information such as the major and minor semi-axes and eccentricity of the Earth's ellipse, the ECEF three-dimensional coordinates can be converted into the WGS-84 coordinate system dedicated to the navigation system, thereby obtaining the transformed coordinates.

[0134] In this embodiment of the invention, during the navigation deception of the target drone, the deception device reports the deception point location in WGS-84 coordinates. However, the target location information in this embodiment is based on the rectangular coordinate system with the drone as the origin at the beginning of the deception. Therefore, after obtaining the target location information, the deception device cannot directly report the target location information to the target drone. Instead, it needs to convert the rectangular coordinates to latitude, longitude, and altitude coordinates, i.e., convert the coordinates before reporting.

[0135] In this embodiment of the invention, the target deception trajectory is obtained by performing forward and reverse transformations based on the transformed coordinates, the initial position coordinates, and the target deception buffer point. For example, when the initial position coordinates are (-1000, 1000) and the initial heading is 40°, and the single deviation angle is 3° and the single deception distance is 20 meters, when the transformed coordinates are (-100, 200), the deception direction is 132.5° in the coordinate system with the current position of the UAV as the origin. After determination, the UAV is deceiving in a clockwise direction, i.e., a forward transformation, and when the UAV's heading is different from the expected direction... When the deception direction is less than the single angle deception amount, the angle transformation stops, thus generating the initial target deception trajectory. With the UAV's initial heading at -40°, a single deviation angle of 10°, and a single deception distance of 200 meters, when the target deception buffer point coordinates are (-3000, 500), the deception direction in the coordinate system with the UAV's current position as the origin is 255.96°. After determination, the UAV is deceiving in a counter-clockwise direction, i.e., a reverse transformation. Furthermore, when the UAV's heading is less than the preset deception direction, the angle transformation stops, thus obtaining the initial deception trajectory. Since the single deception distance of only 20 meters is too small, it will ultimately generate densely spaced deception buffer points. This will undoubtedly cause the deception device to frequently report position information to the UAV, placing a huge workload on the device and potentially causing the entire system to fail. Therefore, it is necessary to consider decomposing multiple deception buffer points, eliminating the multiple deception buffer points shown in the above figure, and retaining only the more critical target deception buffer points to obtain the target deception trajectory.

[0136] Example 3

[0137] like Figure 8 As shown in the figure, this embodiment also provides a functional module diagram of a drone navigation deception trajectory planning system.

[0138] The UAV navigation deception trajectory planning system 800 described in this embodiment can be installed in an electronic device. Depending on the functions implemented, the UAV navigation deception trajectory planning system 800 may include a azimuth information calculation module 801, a deviation angle and deception distance calculation module 802, a deception trajectory generation module 803, a deception buffer point decomposition and elimination module 804, and a target deception trajectory generation module 805. The modules described in this invention can also be called units, referring to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, stored in the memory of the electronic device.

[0139] In this embodiment, the functions of each module / unit are as follows:

[0140] The orientation information calculation module 801 is used to obtain the initial position coordinates and the deception position of the UAV, establish a rectangular coordinate system based on the initial position coordinates, and calculate the orientation information of the deception position in the rectangular coordinate system.

[0141] The deviation angle and deception distance calculation module 802 is used to calculate the deviation angle and deception distance of the UAV based on the angle information corresponding to the initial position coordinates and the orientation information.

[0142] The deception trajectory generation module 803 is used to generate a deception trajectory based on the deviation angle and the deception distance, and to determine a deception buffer point and its corresponding location information based on the deception trajectory.

[0143] The decoy buffer point decomposition and elimination module 804 is used to decompose and eliminate the decoy buffer point and its corresponding position information when the difference between the target angle of the decoy buffer point and the angle information corresponding to the initial position coordinates exceeds the deviation angle, so as to obtain the target decoy buffer point and its corresponding target position information.

[0144] The target deception trajectory generation module 805 is used to convert the target position information to obtain converted coordinates, and generate a target deception trajectory based on the converted coordinates, the initial position coordinates, and the target deception buffer point.

[0145] In detail, each module in the UAV navigation deception trajectory planning system 800 described in this embodiment of the invention uses the same technical means as the UAV navigation deception trajectory planning method described in Embodiment 1 and Embodiment 2, and can produce the same technical effect, which will not be repeated here.

[0146] Example 4

[0147] like Figure 9 As shown, this embodiment also provides a computer electronic device. The electronic device 900 may include a processor 901, a memory 902, a communication bus 903, and a communication interface 904. It may also include a computer program stored in the memory 902 and capable of running on the processor 901, such as a drone navigation deception trajectory planning program.

[0148] In some embodiments, the processor 901 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 901 is the control unit of the electronic device, connecting various components of the device via various interfaces and lines. It executes programs or modules stored in the memory 902 (e.g., executing a drone navigation and deception trajectory planning program) and calls data stored in the memory 902 to perform various functions and process data.

[0149] The memory 902 includes at least one type of readable storage medium, including flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 902 can be an internal storage unit of an electronic device, such as a portable hard drive. In other embodiments, the memory 902 can be an external storage device of the electronic device, such as a plug-in portable hard drive, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. Furthermore, the memory 902 can include both internal and external storage units of the electronic device. The memory 902 can be used not only to store application software and various types of data installed on the electronic device, such as the code of a drone navigation and deception trajectory planning program, but also to temporarily store data that has been output or will be output.

[0150] The communication bus 903 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. The bus is configured to enable communication between the memory 902 and at least one processor 901.

[0151] The communication interface 904 is used for communication between the aforementioned electronic device and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, Bluetooth interface, etc.), typically used to establish communication connections between the electronic device and other electronic devices. The user interface may be a display, an input unit (such as a keyboard), or, optionally, a standard wired or wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device and to display a visual user interface.

[0152] The figure only shows an electronic device 900 with components. Those skilled in the art will understand that the structure shown in the figure does not constitute a limitation on the electronic device and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0153] For example, although not shown, the electronic device may also include a power supply (such as a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 901 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0154] It should be understood that the embodiments described are for illustrative purposes only and are not limited to this structure in the scope of the patent application.

[0155] The drone navigation deception trajectory planning program stored in the memory 902 of the electronic device is a combination of multiple instructions. When run in the processor 901, it can achieve the following:

[0156] Obtain the initial position coordinates and the deception position of the UAV; establish a Cartesian coordinate system based on the initial position coordinates; and calculate the orientation information of the deception position in the Cartesian coordinate system.

[0157] The deviation angle and deception distance of the UAV are calculated based on the angle information corresponding to the initial position coordinates and the orientation information.

[0158] A deception trajectory is generated based on the deviation angle and the deception distance, and a deception buffer point and its corresponding location information are determined based on the deception trajectory.

[0159] When the difference between the target angle of the decoy buffer point and the angle information corresponding to the initial position coordinates exceeds the deviation angle, the decoy buffer point and its corresponding position information are decomposed and eliminated to obtain the target decoy buffer point and its corresponding target position information.

[0160] The target location information is transformed to obtain transformed coordinates, and a target deception trajectory is generated based on the transformed coordinates, the initial location coordinates, and the target deception buffer point.

[0161] Specifically, the specific implementation method of the processor 901 for the above instructions can be referred to the description of the relevant steps in the corresponding embodiment of the accompanying drawings, and will not be repeated here.

[0162] Furthermore, if the modules / units integrated into the electronic device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0163] Example 5

[0164] This embodiment provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the drone navigation deception trajectory planning method described above.

[0165] This program code can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 Steps of a specified function in one or more processes.

[0166] Storage media include permanent and non-permanent, removable and non-removable media, and can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by computing devices.

[0167] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this application. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0168] It should be understood that the terms used in this way can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in a sequence other than those illustrated or described herein.

[0169] In the several embodiments provided by this invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0170] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0171] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0172] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0173] Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within the invention. No appended diagram markings in the claims should be construed as limiting the scope of the claims.

[0174] Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in a system claim may also be implemented by a single unit or device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any specific order.

[0175] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for planning the trajectory of a drone navigation deception, characterized in that, The method includes: Obtain the initial position coordinates and the deception position of the UAV; establish a Cartesian coordinate system based on the initial position coordinates; and calculate the orientation information of the deception position in the Cartesian coordinate system. The deviation angle and deception distance of the UAV are calculated based on the angle information corresponding to the initial position coordinates and the orientation information. A deception trajectory is generated based on the deviation angle and the deception distance, and a deception buffer point and its corresponding location information are determined based on the deception trajectory. When the difference between the target angle of the decoy buffer point and the angle information corresponding to the initial position coordinates exceeds the deviation angle, the decoy buffer point and its corresponding position information are decomposed and eliminated to obtain the target decoy buffer point and its corresponding target position information. The target location information is transformed to obtain transformed coordinates, and a target deception trajectory is generated based on the transformed coordinates, the initial location coordinates, and the target deception buffer point. The step of calculating the deviation angle and deception distance of the UAV based on the angle information corresponding to the initial position coordinates and the azimuth information includes: The difference between the angle information and the azimuth information is calculated to obtain the deviation angle, and the angular offset of the UAV is calculated based on the deviation angle. The angular offset is calculated using the following formula: in, This represents the angular offset. Indicates the deviation angle, Indicates the preset calculation parameters; The distance between the initial position coordinates and the deception position is calculated to obtain the distance difference; The deception distance is obtained by calculating the angular offset and the distance difference.

2. The drone navigation deception trajectory planning method as described in claim 1, characterized in that, The calculation of the orientation information of the deception position in the Cartesian coordinate system includes: Projecting the deception location onto the Cartesian coordinate system yields the coordinates of the deception point corresponding to the deception location; The angle of the deception point is obtained by calculating the angle of the deception point coordinates; Obtain the initial flight heading corresponding to the initial position coordinates, and calculate the difference between the deception point angle and the initial flight heading to obtain the azimuth information of the deception position.

3. The drone navigation deception trajectory planning method as described in claim 1, characterized in that, The calculation of the angle offset and the distance difference to obtain the deception distance includes: Calculate the deception distance using the following formula: in, Indicates the deception distance, This represents the distance difference. This represents the angular offset. This indicates the preset calculation parameters.

4. The UAV navigation deception trajectory planning method as described in claim 1, characterized in that, The step of generating a deception trajectory based on the deviation angle and the deception distance includes: The current coordinates and flight angle of the drone are obtained, and the coordinates of the target decoy point are calculated based on the current coordinates, the flight angle, the deviation angle and the decoy distance. Path planning is performed on the target decoy point coordinates and the current coordinates to obtain the decoy trajectory.

5. The UAV navigation deception trajectory planning method as described in claim 4, characterized in that, The step of calculating the target decoy point coordinates based on the current coordinates, the flight angle, the deviation angle, and the decoy distance includes: Calculate the coordinates of the target decoy point using the following formula: Solve the above equations simultaneously: in, Indicates the coordinates of the target deception point. Indicates the current coordinates, Indicates the flight angle, Indicates the deviation angle, Indicates the deception distance, where ， = , This indicates the initial flight heading.

6. The UAV navigation deception trajectory planning method as described in claim 1, characterized in that, The step of decomposing and eliminating the decoy buffer points and their corresponding location information to obtain the target decoy buffer points and their corresponding target location information includes: The time interval for the decoy device's response and the operating speed of the drone are obtained, and the buffer distance is calculated based on the time interval and the operating speed. Determine whether the deception buffer point and its corresponding location information are greater than the buffer distance; When the deception buffer point and its corresponding location information are greater than the buffer distance, the deception buffer point and its corresponding location information are retained as the target deception buffer point and its corresponding target location information.

7. A drone navigation and deception trajectory planning system, characterized in that, The system includes: The orientation information calculation module is used to obtain the initial position coordinates and the deception position of the UAV, establish a rectangular coordinate system based on the initial position coordinates, and calculate the orientation information of the deception position in the rectangular coordinate system. The deviation angle and deception distance calculation module is used to calculate the deviation angle and deception distance of the UAV based on the angle information corresponding to the initial position coordinates and the orientation information. The deception trajectory generation module is used to generate a deception trajectory based on the deviation angle and the deception distance, and to determine a deception buffer point and its corresponding location information based on the deception trajectory. The decoy buffer point decomposition and elimination module is used to decompose and eliminate the decoy buffer point and its corresponding position information when the difference between the target angle of the decoy buffer point and the angle information corresponding to the initial position coordinates exceeds the deviation angle, so as to obtain the target decoy buffer point and its corresponding target position information. The step of calculating the deviation angle and deception distance of the UAV based on the angle information corresponding to the initial position coordinates and the azimuth information includes: The difference between the angle information and the azimuth information is calculated to obtain the deviation angle, and the angular offset of the UAV is calculated based on the deviation angle. The angular offset is calculated using the following formula: in, This represents the angular offset. Indicates the deviation angle, Indicates the preset calculation parameters; The distance between the initial position coordinates and the deception position is calculated to obtain the distance difference; The deception distance is obtained by calculating the angle offset and the distance difference. The target deception trajectory generation module is used to convert the target position information to obtain converted coordinates, and generate a target deception trajectory based on the converted coordinates, the initial position coordinates, and the target deception buffer point.

8. An electronic device comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the drone navigation deception trajectory planning method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the drone navigation deception trajectory planning method as described in any one of claims 1 to 6.

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