A method and system for preventing and controlling flying targets

Abstract

The application relates to a flying target prevention and control method and system, and relates to the technical field of safety. The method comprises the following steps: a target flying object in a monitoring area is positioned and detected by a detection device to obtain first position information corresponding to the target flying object; a monitoring device is triggered to monitor and position the target flying object according to the first position information, so as to obtain position attribute information of the target flying object, wherein the position attribute information comprises second position information and flying object attribute information; defense interference information is generated based on the flying object attribute information; and the target flying object is subjected to a prevention and control operation according to the defense interference information and in combination with the second position information, so as to obtain a prevention and control operation result corresponding to the target flying object. The application solves the problems of low positioning accuracy and low target recognition accuracy of existing flying object prevention and control technology for low, slow and small flying targets, and can give an adaptive prevention and control strategy, and can be compatible with prevention and control of artificial flying objects and biological flying objects.

Description

TECHNICAL FIELD

[0001] The present application relates to the security field, in particular to a flying target prevention and control method and system. BACKGROUND

[0002] Low, slow and small flying target refers to a flying object with slow flight speed, small size, low flight altitude, and difficult to be detected by military and civilian radars. With the rapid rise of low, slow and small flying targets such as low, slow and small aircraft in the civilian market, there are many applications of low, slow and small aircraft in civilian fields such as agriculture, forestry, logistics, meteorology, aerial photography, and entertainment. However, the airspace safety threat caused by the illegal flying of more and more low, slow and small aircraft also comes with it. For example, low, slow and small flying objects operated improperly cause high-altitude falling injuries, intrusion of military and civilian airports, and other incidents occur from time to time. They can also be used by illegal persons to steal personal privacy, take pictures of sensitive areas, harass government offices, carry out smuggling activities, deliver illegal goods or explosives, and invade user Wi-Fi networks, etc., which brings major safety hazards to society.

[0003] However, the existing low, slow and small flying object prevention and control technology and equipment level are not advanced enough to meet the requirements of market-oriented products. Specifically, most of the existing low, slow and small flying object prevention and control technology and the detection equipment used are relatively single, which is difficult to effectively solve the detection and identification of low, slow and small flying objects in complex environments such as cities, and lacks effective means to attack low, slow and small flying objects. SUMMARY

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a flying target prevention and control method and system.

[0005] In a first aspect, the present application provides a flying target prevention and control method, characterized in that it comprises:

[0006] locating and detecting the target flying object in the monitoring area by the detection device to obtain the first position information corresponding to the target flying object;

[0007] triggering the monitoring device to monitor and locate the target flying object according to the first position information to obtain the position attribute information of the target flying object, the position attribute information including second position information and flying object attribute information;

[0008] generating defense interference information based on the flying object attribute information;

[0009] According to the defense interference information, combined with the second position information, the target flying object is subjected to a prevention and control operation to obtain the prevention and control operation result corresponding to the target flying object.

[0010] Optionally, the detection equipment includes radar detection equipment and radio detection equipment. The step of using the detection equipment to locate and detect target flying objects in the monitored area, and obtaining the first location information corresponding to the target flying object, includes:

[0011] By performing intersection and positioning detection on the target flying object using the radar detection equipment, the radar positioning information corresponding to the target flying object is obtained;

[0012] The target flying object is located and detected by the radio detection equipment, and the radio positioning information corresponding to the target flying object is obtained.

[0013] The radar positioning information and radio positioning information are fused and verified to obtain a verification result, and the first location information is determined based on the verification result.

[0014] Optionally, the monitoring device includes an optical camera and a lidar device. The step of triggering the monitoring device to monitor and locate the target flying object based on the first location information, and obtaining the target flying object's location attribute information, includes:

[0015] Based on the first location information, the optical camera device is triggered to track and capture images of the target flying object, thereby obtaining the captured image information corresponding to the target flying object;

[0016] The gimbal corresponding to the optical camera device is adjusted based on the captured image information to obtain gimbal adjustment information;

[0017] Based on the gimbal adjustment information, the lidar device is triggered to measure the target flying object, thereby obtaining the second position information and the flying object attribute information.

[0018] Optionally, triggering the lidar device to measure the target flying object to obtain the second position information and the flying object attribute information includes:

[0019] The target flying object is measured by the lidar device to obtain lidar measurement information;

[0020] Polar coordinate calculations are performed based on the lidar measurement information to obtain the second position information and the three-dimensional information of the target flying object;

[0021] The property information of the flying object is determined based on the three-dimensional information.

[0022] Optionally, generating defense jamming information based on the aircraft attribute information includes:

[0023] Based on the object's attribute information, determine the corresponding prevention and control type information for the target object;

[0024] Based on the aforementioned prevention and control type information, defense and interference information corresponding to the target flying object is generated.

[0025] Optionally, generating defense interference information corresponding to the target flying object based on the prevention and control type information includes:

[0026] If the prevention and control type information meets the preset first defense interference type triggering condition, then target interference information is generated based on the preset prevention and control interference command corresponding to the first defense interference type triggering condition, and the target interference information is used as the defense interference information corresponding to the target flying object.

[0027] If the prevention and control type information meets the preset second defense interference type triggering condition, then target defense information is generated based on the preset prevention and control command corresponding to the second defense interference type triggering condition, and the target defense information is used as the defense interference information corresponding to the target flying object.

[0028] Optionally, the step of performing control operations on the target aircraft based on the defense interference information and in combination with the second location information, and obtaining the control operation result corresponding to the target aircraft, includes:

[0029] Based on the target interference information, detect the interference operation instructions submitted by the user;

[0030] According to the interference operation instruction, the interference device is triggered to perform interference operation on the target flying object according to the second location information, the interference operation result is obtained, and the interference operation result is determined as the prevention and control operation result corresponding to the target flying object.

[0031] Optionally, the step of performing control operations on the target aircraft based on the defense interference information and in combination with the second location information, and obtaining the control operation result corresponding to the target aircraft, includes:

[0032] Based on the target defense information, detect the defense operation instructions submitted by the user;

[0033] According to the defense operation command, the defense equipment is triggered to perform a defense operation on the target flying object according to the second location information, the defense operation result is obtained, and the defense operation result is determined as the control operation result corresponding to the target flying object, wherein the defense operation includes a shot-down operation and / or a destruction operation.

[0034] Secondly, this application provides a flight target prevention and control system, characterized in that the flight target prevention and control system includes: a detection equipment subsystem, a monitoring equipment subsystem, and a defense jamming equipment subsystem;

[0035] The detection equipment subsystem uses the detection equipment to locate and detect target flying objects in the monitored area, and obtains the first location information corresponding to the target flying objects.

[0036] The monitoring equipment subsystem is used to trigger the monitoring equipment to monitor and locate the target flying object based on the first location information, and to obtain the location attribute information of the target flying object, wherein the location attribute information includes second location information and flying object attribute information.

[0037] The defense jamming equipment subsystem is used to generate defense jamming information based on the flight object attribute information, and to perform control operations on the target flight object based on the defense jamming information and the second location information, so as to obtain the control operation result corresponding to the target flight object.

[0038] Optionally, the detection equipment includes radar detection equipment and radio detection equipment, and the detection equipment subsystem includes:

[0039] An active radar detection module is used to perform intersection and positioning detection on the target flying object through the radar detection equipment, and obtain the radar positioning information corresponding to the target flying object;

[0040] A radio detection module is used to locate and detect the target flying object through the radio detection equipment, and obtain the radio positioning information corresponding to the target flying object;

[0041] The fusion verification module is used to perform fusion verification based on the radar positioning information and radio positioning information, obtain the verification result, and determine the first location information based on the verification result.

[0042] In summary, the embodiments of this application use detection equipment to locate and detect target flying objects in the monitoring area, obtain the first location information corresponding to the target flying object, and then trigger the monitoring equipment to monitor and locate the target flying object based on the first location information, obtain the location attribute information of the target flying object. This location attribute information includes second location information and flying object attribute information, so as to generate defense interference information based on the flying object attribute information. Based on the defense interference information and combined with the second location information, control operations are performed on the target flying object, and the control operation result corresponding to the target flying object is obtained. It can effectively detect and control target flying objects, solve the problems of low positioning accuracy and low target recognition accuracy of existing flying object control technologies for low, slow and small flying targets, and can provide an adaptive control strategy that is compatible with the control of man-made flying objects and biological flying objects. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a flowchart illustrating the steps of a flight target control method provided in an embodiment of this application.

[0046] Figure 2 A flowchart illustrating the steps of a flight target control method provided in an optional embodiment of this application;

[0047] Figure 3 A deployment diagram of a flight target control system provided in this application embodiment;

[0048] Figure 4 This is a structural block diagram of a flight target control system provided in an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] In practical implementation, anti-low, slow, and small flying object (UFO) technologies mainly include acoustic jamming, signal jamming, hacking techniques, laser cannons, anti-low, slow, and small drones, and seizure of radio control, each with its own characteristics and effects. Specifically, existing UFO control systems that utilize these technologies are mostly direct detection jamming systems, but their detection methods are limited to single electromagnetic spectrum detection. This cannot meet the requirements for detection range and accuracy of low, slow, and small targets in complex environments such as urban areas. Furthermore, the targets detected are mainly drones, and they cannot effectively locate and detect balloons and birds that do not emit electromagnetic waves.

[0051] One of the concepts in this application is to propose a flight target prevention and control method. By monitoring and locating the flight target's attribute information, defense interference information is generated, and prevention and control operations are performed on the target flight object based on the defense interference information and the second location information. This method can effectively detect and control the target flight object, solving the problem that existing flight object prevention and control technologies are difficult to detect, identify, and defend against low, slow, and small flight objects in complex environments such as cities.

[0052] To facilitate understanding of the embodiments of this application, further explanations and descriptions will be provided below in conjunction with the accompanying drawings and specific embodiments. These embodiments do not constitute a limitation on the embodiments of this application.

[0053] Figure 1 This is a flowchart illustrating a flight target control method provided in an embodiment of this application. Figure 1 As shown, the flight target control method provided in this application embodiment may specifically include the following steps:

[0054] Step 110: Locate and detect the target flying object in the monitored area using a detection device to obtain the first location information corresponding to the target flying object.

[0055] The monitoring area can be a pre-defined area where target flying objects need to be controlled. Specifically, in this embodiment, a detection device can be used to locate and detect target flying objects in the monitoring area to determine whether there are flying objects in the monitoring area. If a flying object is detected, it can be identified as a target flying object, and its location can be determined. For example, if the detection device includes an active radar detection device and a radio signal detection device, the active radar detection device and / or the radio signal detection device can search for target flying objects in the monitoring area in real time while powered on. Both the active radar detection device and / or the radio signal detection device locate the target flying object, obtaining the initial location result for each. A fusion verification can be performed based on the location result to obtain a fusion verification result, which can be used as the first location information corresponding to the target flying object. It should be noted that the target flying object can be various drones, living intruders, unpowered balloons, sky lanterns, etc. Living intruders can refer to artificially trained birds, etc., and this embodiment does not impose specific limitations on this.

[0056] Step 120: Based on the first location information, trigger the monitoring device to monitor and locate the target flying object, and obtain the location attribute information of the target flying object. The location attribute information includes the second location information and the flying object attribute information.

[0057] Specifically, the second location information can be the precise positioning information corresponding to the target flying object, and the flying object attribute information can be the three-dimensional information of the target flying object and / or the category information of the target flying object, etc. The three-dimensional information of the target flying object can be the size of the target flying object, and the category information of the target flying object can refer to the type of the target flying object. This application embodiment does not limit this. After the detection device obtains the first location information of the target flying object, the monitoring device can determine the location of the target flying object based on the first location information, so as to accurately locate and identify the target flying object. For example, when the monitoring equipment includes an optical camera and a lidar device, the optical camera can adjust the monitoring angle based on the first position information to capture the target flying object. When the target flying object is captured, the monitoring angle can be adjusted in real time according to the flight trajectory of the target flying object so that the target flying object is always in the center of the view. The camera can also collect image data of the target flying object in real time, identify the type of target flying object, etc., as the identification result of the target flying object. In subsequent processing, the identification result of the target flying object can be displayed to the user, so that the user can determine whether the target flying object needs to be defended and determine the defense method based on the identification result of the target flying object. This application embodiment does not impose specific limitations on this. The lidar device can accurately locate the target flying object based on the first position information. For example, it can determine the angle and distance information between itself and the target flying object through real-time measurement, and combine it with polar coordinate calculation to obtain the accurate positioning result of the target flying object. The accurate positioning result is used as the second position information. It can also cooperate with the optical camera device to measure the size information of the target flying object and use the size information of the target flying object as the flying object attribute information. In subsequent processing, defense jamming information can be generated based on the flight attribute information, i.e., step 130 is executed.

[0058] Step 130: Generate defense jamming information based on the flight object attribute information.

[0059] Specifically, defensive interference information can include both interference and defensive information. Based on the target object's attribute information, the corresponding control type information can be determined, and then corresponding interference or defensive information can be generated based on the control type information. Specifically, interference information can be generated based on the target object's attribute information when the target object is a drone; defensive information can be generated based on the target object's attribute information when the target object is a living intruder; and defensive information can be generated based on the target object's attribute information when the target object is an unpowered balloon.

[0060] Step 140: Based on the defense interference information and combined with the second location information, perform control operations on the target flying object to obtain the control operation results corresponding to the target flying object.

[0061] The control and prevention operations can include interference operations and defensive operations. Specifically, after generating defensive interference information, this embodiment of the application can perform control and prevention operations on the target flying object based on the defensive interference information and the second location information, thereby obtaining the control and prevention operation result corresponding to the target flying object. For example, if the defensive interference information is interference information, the second location information can be used to perform interference operations on the target flying object to obtain the interference operation result corresponding to the target flying object, and this interference operation result can be used as the control and prevention operation result; if the defensive interference information is defensive information, the second location information can be used to perform defensive operations on the target flying object to obtain the defensive operation result corresponding to the target flying object, and this defensive operation result can be used as the control and prevention operation result, achieving the purpose of performing corresponding control and prevention operations based on the target flying object, realizing adaptive interference defense against different intruders, and improving security.

[0062] As can be seen, the embodiments of this application use detection equipment to locate and detect target flying objects in the monitoring area, obtain the first location information corresponding to the target flying object, and then trigger the monitoring equipment to search, monitor and locate the target flying object based on the first location information, obtain the precise location attribute information of the target flying object. This location attribute information includes second location information and flying object attribute information, so as to generate defense interference information based on the flying object attribute information. Based on the defense interference information and combined with the second location information, the target flying object is controlled. This can effectively detect the target flying object and control it, and obtain the control operation result corresponding to the target flying object. It realizes adaptive interference defense against different intruders, and solves the problems that existing flying object control technologies are difficult to detect and identify low, slow and small flying objects in complex environments such as cities, as well as the problems of low positioning accuracy and low target identification accuracy for low, slow and small flying targets. It can provide an adaptive control strategy, which can be compatible with the control of man-made flying objects and biological flying objects, making the control and strike methods of low, slow and small flying objects more effective.

[0063] Reference Figure 2 This document illustrates a flowchart of a flight target control method provided in an optional embodiment of this application. Specifically, the flight target control method provided in the optional embodiment of this application may include the following steps:

[0064] Step 210: Locate and detect the target flying object in the monitored area using a detection device to obtain the first location information corresponding to the target flying object.

[0065] In a specific implementation, where the detection device in this application embodiment includes a radar detection device and a radio detection device, the above-mentioned location detection of a target flying object in the monitoring area by the detection device to obtain the first location information corresponding to the target flying object may specifically include: performing intersection location detection on the target flying object through the radar detection device to obtain radar location information corresponding to the target flying object; performing location detection on the target flying object through the radio detection device to obtain radio location information corresponding to the target flying object; performing fusion verification based on the radar location information and the radio location information to obtain a verification result, and determining the first location information based on the verification result.

[0066] In practice, radar and radio detection equipment can be installed around the monitored area according to actual usage requirements.

[0067] For example, refer to Figure 3 Radar and radio detection equipment can be installed in four directions within the monitored area. When detecting and locating target objects within the monitored area, multiple radar detection devices can be activated to search for target objects in real time, perform intersection and positioning, and thus obtain more accurate radar positioning information for the target objects.

[0068] Furthermore, radio signal detection equipment can employ multi-station positioning technology within electromagnetic spectrum transmitter localization techniques to locate and detect target flying objects. For example, methods such as Angle-of-Arrival (AOA), Time of Arrival (TOA), Time Difference of Arrival (TDOA), and Frequency-Delay of Arrival (FDOA) within multi-station positioning technology can be used to obtain the positioning result through the intersection of information from multiple measurement points and geometric algorithms. For instance, when using the TDOA positioning method, the target flying object can be used as the target electrical signal source. By detecting the time difference between the arrival times of the target electrical signal transmitted by the flying object at various radio detection devices, a hyperbola can be plotted with the radio detection devices as the focal points and the distance difference as the major axis. The intersection of this hyperbola can be determined as the location of the target flying object, thus obtaining the radio positioning information corresponding to the target flying object, thereby achieving the positioning of the target flying object. Subsequently, the radar positioning information and radio positioning information can be fused and verified to obtain a fusion verification result, which can be used as the first position information.

[0069] Step 220: Based on the first location information, trigger the monitoring device to monitor and locate the target flying object, and obtain the location attribute information of the target flying object. The location attribute information of the target flying object includes the second location information and the flying object attribute information.

[0070] Specifically, refer to Figure 3 Monitoring equipment can be installed above the center of the monitoring area to monitor and locate the target flying object, thereby obtaining the target flying object's location attribute information.

[0071] Optionally, when the monitoring device in this embodiment includes an optical camera and a lidar device, the above-mentioned triggering of the monitoring device to monitor and locate the target flying object based on the first location information to obtain the location attribute information of the target flying object may specifically include the following sub-steps:

[0072] Sub-step 2201: Based on the first location information, the optical camera device is triggered to track and photograph the target flying object to obtain the captured image information corresponding to the target flying object.

[0073] Sub-step 2202: Adjust the gimbal corresponding to the optical camera device based on the captured image information to obtain gimbal adjustment information.

[0074] Specifically, the gimbal adjustment information can include the gimbal adjustment angle and direction. In this embodiment, after determining the first position information, the optical camera device can be triggered to track and photograph the target flying object based on the first position information. Then, the gimbal corresponding to the optical camera device can be adjusted based on the captured image to obtain gimbal adjustment information. Specifically, the central processing module can adjust the gimbal where the optical camera device is located based on the first position information, so that the target flying object is located in the center of the optical camera device's view. The optical camera device can then track and photograph the target flying object to obtain corresponding image information. For example, the optical camera device can continuously capture multiple images, allowing the central processing module to analyze the target flying object's flight trajectory based on this image information. This allows the central processing module to adjust the gimbal where the optical camera device is located based on the flight trajectory, ensuring the target flying object remains in the center of the optical camera device's view. Furthermore, gimbal adjustment information can be generated in real-time during the adjustment process. In subsequent processing, the gimbal adjustment information can be used to trigger the lidar device to measure the target flying object, i.e., execute sub-step 2203.

[0075] In practical applications, the monitoring equipment may also include infrared laser illumination devices. At night, these devices can be used as a lighting source, working in conjunction with optical camera equipment to achieve continuous long-distance monitoring day and night. It should be noted that the optical camera equipment may include visible light imaging modules, thermal infrared imaging modules, etc., and this application does not impose any limitations on this.

[0076] Sub-step 2203: Based on the gimbal adjustment information, the lidar device is triggered to measure the target flying object to obtain the second position information and the flying object attribute information.

[0077] Specifically, the lidar device and the optical camera device can be mounted on opposite sides of the same axis, with the lidar device's pointing axis parallel to the optical camera's pointing axis. The gimbal can be a two-axis gimbal. When the gimbal is adjusted, the lidar device can follow the optical camera's adjustment, thereby measuring the target flying object and obtaining its precise position as secondary position information. During the measurement process, the three-dimensional information of the target flying object can be measured simultaneously, such as determining its size. Subsequently, the target flying object's image information captured by the optical camera can be combined with the image information and the target flying object's three-dimensional information. By matching and recognizing the image with an image library, the category and / or size information of the target flying object can be determined as its attribute information.

[0078] Furthermore, in this embodiment of the application, triggering the lidar device to measure the target flying object to obtain the second position information and the flying object attribute information can specifically include: measuring the target flying object with the lidar device to obtain lidar measurement information; performing polar coordinate calculation based on the lidar measurement information to obtain the second position information and the three-dimensional information of the target flying object; and determining the flying object attribute information based on the three-dimensional information. Specifically, the lidar measurement information can include distance information and angle information. The distance information can be the distance between the lidar and the target flying object, and the angle information can be the pointing angle of the line connecting the lidar and the target flying object in the gimbal coordinate system. The distance information and angle information can be calculated using polar coordinates to obtain the precise position information and size information of the target flying object. The precise position information of the target flying object can be used as the second position information, and the size information of the target flying object can be used as the three-dimensional information of the target flying object.

[0079] For example, if the distance between the lidar and the target flying object is L, the precise position information of the target flying object can be obtained by combining polar coordinate calculations. If the precise position information of the target flying object is in three-dimensional coordinates (X, Y, Z), it can be obtained using the formula: X = X s +L*cos(θ)*cos(α) determines the X coordinate of the target flying object, and the X coordinate is determined by the formula: Y=Y s +L*cos(θ)*sin(α), determine the Y coordinate of the target flying object, and use the formula: Z=Z s +L*tan(θ), determine the Z coordinate of the target flying object, where (X s Y s Z s The position coordinates of the gimbal can be θ, which can be the angle of the gimbal's pitch when it is installed precisely and evenly. The angle between the gimbal's pointing axis and the X-axis of the coordinate system can be α.

[0080] Furthermore, based on the distance L between the lidar and the target flying object, the image resolution of the optical camera can be calculated using the formula G = L / f * p, where f can be the current imaging focal length of the optical camera, and p can be the physical size of the pixels of the charge-coupled device (CCD) of the optical camera. Subsequently, the captured image information of the target flying object can be binarized to obtain the number of imaging pixels in the captured image. By multiplying the number of imaging pixels by the area corresponding to the image resolution, the cross-sectional area of ​​the target flying object can be obtained, thus determining the size information of the target flying object.

[0081] Step 230: Based on the object attribute information, determine the prevention and control type information corresponding to the target object.

[0082] The prevention and control type information can include interference type information and defense type information. For example, if the target flying object corresponding to the flying object attribute information is a drone, the prevention and control type information corresponding to the target flying object can be determined to be interference type information. If the target flying object corresponding to the flying object attribute information is a living intruder, an unpowered balloon, or a Kongming lantern, the prevention and control type information corresponding to the target flying object can be determined to be defense type information. This example does not impose specific restrictions on this.

[0083] Step 240: If the prevention and control type information meets the preset first defense interference type triggering condition, then target interference information is generated based on the preset prevention and control interference command corresponding to the first defense interference type triggering condition, and the target interference information is used as the defense interference information corresponding to the target flying object.

[0084] Step 250: If the prevention and control type information meets the preset second defense interference type triggering condition, then target defense information is generated based on the preset prevention and control command corresponding to the second defense interference type triggering condition, and the target defense information is used as the defense interference information corresponding to the target flying object.

[0085] Specifically, if the control type information is interference type information, it can be determined that the control type information meets a preset first defense interference type trigger condition. Therefore, target interference information can be generated based on the preset control interference command corresponding to the first defense interference type trigger condition. If the control type information is defense type information, it can be determined that the control type information meets a preset second defense interference type trigger condition. Therefore, target defense information can be generated based on the preset control interference command corresponding to the second defense interference type trigger condition. In subsequent processing, the target interference information or the target defense information can be used as defense interference information, and control operations can be performed on the target aircraft based on the defense interference information, i.e., step 260 is executed.

[0086] Step 260: Based on the defense interference information and combined with the second location information, perform control operations on the target flying object to obtain the control operation results corresponding to the target flying object.

[0087] In a specific implementation, when the defensive jamming information is target jamming information, in this embodiment of the application, based on the defensive jamming information and combined with the second location information, a control operation is performed on the target flying object to obtain the control operation result corresponding to the target flying object. Specifically, this may include: detecting the jamming operation command submitted by the user based on the target jamming information; triggering the jamming device to perform jamming operation on the target flying object according to the second location information based on the jamming operation command, obtaining the jamming operation result, and determining the jamming operation result as the control operation result corresponding to the target flying object. Specifically, when the target flying object is detected to be a drone, jamming can be achieved through drone jamming countermeasures and / or suppression jamming.

[0088] For example, the central control processing and display equipment can display the drone's location and trajectory to the user in real time based on the second location information. Subsequently, upon detecting interference commands submitted by the user, it can counteract the interference by initiating electromagnetic interference to disrupt the drone's communication and navigation systems. The drone interference countermeasures can include deceptive interference and suppression interference. Specifically, deceptive and suppression interference can be achieved using Global Navigation Satellite System (GNSS) jamming equipment and directional electromagnetic interference equipment. Deceptive interference can involve transmitting false satellite positioning information or virtual navigation control commands to the drone to counteract its interference. Suppression interference can involve using radio technology to interfere with the drone after it has been detected and successfully located. For example, a high-power signal can be emitted to the drone, cutting off the communication link between the remote controller and the drone, blocking the drone's flight, and forcing it into a fail-safe mode, thus autonomously returning to the takeoff point or landing on the spot. Typically, software-defined radio technology can be used to generate target signals that match the drone's control signals, based on the signal characteristics of the drone's control signals themselves, thus achieving a low-power, precise, and environmentally friendly approach. For transmitting drone control signals at fixed frequencies, traditional methods can be used to technically block the signal by releasing interference signals at the same frequency.

[0089] Furthermore, when the defense interference information is target defense information, in this embodiment of the application, based on the defense interference information and combined with the second location information, a control operation is performed on the target flying object to obtain the control operation result corresponding to the target flying object. Specifically, this may include: detecting a defense operation command submitted by the user based on the target defense information; triggering the defense equipment to perform a defense operation on the target flying object according to the second location information based on the defense operation command, obtaining the defense operation result, and determining the defense operation result as the control operation result corresponding to the target flying object, wherein the defense operation includes a destroy operation and / or a blast operation. Specifically, when the detected target flying object is a living intruder, a non-powered balloon, or a Kongming lantern, the location and trajectory of the target flying object can be displayed to the user in real time through a central control processing and display device. Subsequently, a defense operation can be performed on the target flying object upon detecting a user-submitted interference operation command. For example, when the target flying object is a living intruder, it can be defended with sonic weapons; when the target flying object is an intruder such as a non-powered balloon or sky lantern, it can be destroyed with laser weapons; when the target flying object is a medium or large-sized drone, it can be destroyed with artillery weapons, thus effectively preventing and attacking various types of flying objects.

[0090] In summary, the embodiments of this application can perform rendezvous and positioning using radar detection equipment and TDOA positioning using radio detection equipment to obtain the first position information corresponding to the target flying object. Subsequently, based on the first position information, the monitoring equipment is triggered to monitor and locate the target flying object. The optical camera and lidar equipment in the monitoring equipment are guided to monitor and locate the target flying object based on the first position information to obtain the second position information and attribute information of the target flying object. Then, defense jamming information is generated based on the attribute information of the flying object. Based on the defense jamming information and the second position information, the target flying object is controlled. This can effectively detect and control the target flying object, and obtain the control operation result corresponding to the target flying object. It solves the problems of low positioning accuracy and low target recognition accuracy of existing flying object control technologies for low, small and slow-flying targets, and can provide an adaptive control strategy that is compatible with the control of man-made flying objects and biological flying objects.

[0091] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should know that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps may be performed in other orders or simultaneously.

[0092] In practical implementation, the flight target prevention and control method provided in the embodiments of this application can be used to implement a flight target prevention and control system. This system can achieve prevention and control of low, slow and small targets based on multi-source information fusion, thereby monitoring and defending against various types of low, slow and small targets, such as drones, hot air balloons, drifting balloons, Kongming lanterns, kites, and birds. It can also perform adaptive interference defense against different low, slow and small targets, thus realizing an integrated low, slow and small target prevention and control system with multi-source information fusion, improving the reliability of the defense system.

[0093] Furthermore, such as Figure 4 As shown in the figure, this application embodiment also provides a flight target control system 400, including:

[0094] The detection equipment subsystem 410, the monitoring equipment subsystem 420, and the defense and jamming equipment subsystem 430;

[0095] The detection equipment subsystem 410 uses the detection equipment to locate and detect target flying objects in the monitored area, and obtains the first location information corresponding to the target flying objects.

[0096] The monitoring equipment subsystem 420 is used to trigger the monitoring equipment to monitor and locate the target flying object based on the first location information, and obtain the location attribute information of the target flying object, wherein the location attribute information includes second location information and flying object attribute information.

[0097] The defense jamming equipment subsystem 430 is used to generate defense jamming information based on the flight object attribute information, and to perform control operations on the target flight object based on the defense jamming information and the second location information, so as to obtain the control operation result corresponding to the target flight object.

[0098] Optionally, the detection equipment includes radar detection equipment and radio detection equipment, and the detection equipment subsystem includes:

[0099] An active radar detection module is used to perform intersection and positioning detection on the target flying object through the radar detection equipment, and obtain the radar positioning information corresponding to the target flying object;

[0100] A radio detection module is used to perform radio positioning detection on the target flying object through the radio detection equipment, and obtain the radio positioning information corresponding to the target flying object;

[0101] The fusion verification module is used to perform fusion verification based on the radar positioning information and radio positioning information, obtain the verification result, and determine the first location information based on the verification result.

[0102] Optionally, the monitoring equipment includes an optical camera and a lidar device, and the monitoring equipment subsystem includes:

[0103] An optical camera module is used to track and photograph the target flying object based on the first position information to obtain the captured image information corresponding to the target flying object;

[0104] The gimbal adjustment module is used to adjust the gimbal corresponding to the optical camera device based on the captured image information to obtain gimbal adjustment information;

[0105] The lidar module is used to measure the target flying object based on the gimbal adjustment information to obtain the second position information and the flying object attribute information.

[0106] Optionally, the lidar module includes:

[0107] The measurement submodule is used to measure the target flying object through the lidar device and obtain lidar measurement information;

[0108] The calculation submodule is used to perform polar coordinate calculation based on the lidar measurement information to obtain the second position information, and to perform collaborative calculation by interacting with the optical camera module and combining the image information of the optical camera module to determine the three-dimensional information of the target flying object.

[0109] The determination submodule is used to determine the attribute information of the flying object based on the three-dimensional information.

[0110] Optionally, the defense jamming equipment subsystem includes:

[0111] The prevention and control type information determination module is used to determine the prevention and control type information corresponding to the target flying object based on the flying object attribute information;

[0112] The defense jamming information generation module is used to generate defense jamming information corresponding to the target flying object based on the control type information.

[0113] Optionally, the defense interference information generation module includes:

[0114] The target interference information generation submodule is used to generate target interference information based on the preset prevention and control interference command corresponding to the first defense interference type triggering condition when the prevention and control type information meets the preset first defense interference type triggering condition, and use the target interference information as the defense interference information corresponding to the target flying object.

[0115] The target defense information generation submodule is used to generate target defense information based on the preset prevention and control command corresponding to the second defense interference type triggering condition when the prevention and control type information meets the preset second defense interference type triggering condition, and use the target defense information as the defense interference information corresponding to the target flying object.

[0116] Optionally, the defense jamming equipment subsystem further includes:

[0117] The first detection module is used to detect the interference operation instructions submitted by the user based on the target interference information;

[0118] The interference operation module is used to trigger the interference device to perform interference operation on the target flying object according to the second location information based on the interference operation instruction, obtain the interference operation result, and determine the interference operation result as the prevention and control operation result corresponding to the target flying object.

[0119] Optionally, the defense jamming equipment subsystem further includes:

[0120] The second detection module is used to detect the defense operation instructions submitted by the user based on the target defense information;

[0121] The defense operation module is used to trigger the defense equipment to perform defense operations on the target flying object according to the second location information based on the defense operation command, obtain the defense operation result, and determine the defense operation result as the control operation result corresponding to the target flying object, wherein the defense operation includes a shot-down operation and / or a destruction operation.

[0122] It should be noted that the flight target control system provided in this application embodiment can execute the flight target control system method provided in any embodiment of this application, and has the corresponding functions and beneficial effects of the execution method.

[0123] In this document, relational terms such as “first” and “second” are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0124] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for controlling flight targets, characterized in that, include: The first location information of the target flying object is obtained by locating and detecting the target flying object in the monitoring area using detection equipment. Based on the first location information, the monitoring device is triggered to monitor and locate the target flying object, and the location attribute information of the target flying object is obtained. The location attribute information includes the second location information and the flying object attribute information. Defense and jamming information is generated based on the aforementioned object attribute information; Based on the defense interference information and combined with the second location information, control operations are performed on the target flying object to obtain the control operation results corresponding to the target flying object; The monitoring equipment includes an optical camera and a lidar device. The step of triggering the monitoring equipment to monitor and locate the target flying object based on the first location information, and obtaining the target flying object's location attribute information, includes: triggering the optical camera to track and capture images of the target flying object based on the first location information, obtaining corresponding captured image information; adjusting the gimbal corresponding to the optical camera based on the captured image information, obtaining gimbal adjustment information; and triggering the lidar device to measure the target flying object based on the gimbal adjustment information, obtaining the second location information and the flying object's attribute information. The step of triggering the lidar device to measure the target flying object to obtain the second position information and the flying object attribute information includes: measuring the target flying object with the lidar device to obtain lidar measurement information; performing polar coordinate calculation based on the lidar measurement information to obtain the second position information and the three-dimensional information of the target flying object; and determining the flying object attribute information based on the three-dimensional information, wherein the three-dimensional information is the size information of the target flying object.

2. The method according to claim 1, characterized in that, The detection equipment includes radar detection equipment and radio detection equipment. The step of using the detection equipment to locate and detect target flying objects in the monitored area, and obtaining the first location information corresponding to the target flying object, includes: By performing intersection and positioning detection on the target flying object using the radar detection equipment, the radar positioning information corresponding to the target flying object is obtained; The target flying object is located and detected by the radio detection equipment, and the radio positioning information corresponding to the target flying object is obtained. The radar positioning information and radio positioning information are fused and verified to obtain a verification result, and the first location information is determined based on the verification result.

3. The method according to claim 1, characterized in that, The generation of defense jamming information based on the flight object attribute information includes: Based on the object's attribute information, determine the corresponding prevention and control type information for the target object; Based on the aforementioned prevention and control type information, defense and interference information corresponding to the target flying object is generated.

4. The method according to claim 3, characterized in that, The step of generating defense interference information corresponding to the target flying object based on the prevention and control type information includes: If the prevention and control type information meets the preset first defense interference type triggering condition, then target interference information is generated based on the preset prevention and control interference command corresponding to the first defense interference type triggering condition, and the target interference information is used as the defense interference information corresponding to the target flying object. If the prevention and control type information meets the preset second defense interference type triggering condition, then target defense information is generated based on the preset prevention and control command corresponding to the second defense interference type triggering condition, and the target defense information is used as the defense interference information corresponding to the target flying object.

5. The method according to claim 4, characterized in that, The step of performing control operations on the target aircraft based on the defense interference information and in conjunction with the second location information, and obtaining the control operation result corresponding to the target aircraft, includes: Based on the target interference information, detect the interference operation instructions submitted by the user; According to the interference operation instruction, the interference device is triggered to perform interference operation on the target flying object according to the second location information, the interference operation result is obtained, and the interference operation result is determined as the prevention and control operation result corresponding to the target flying object.

6. The method according to claim 4, characterized in that, The step of performing control operations on the target aircraft based on the defense interference information and in conjunction with the second location information, and obtaining the control operation result corresponding to the target aircraft, includes: Based on the target defense information, detect the defense operation instructions submitted by the user; According to the defense operation command, the defense equipment is triggered to perform a defense operation on the target flying object according to the second location information, the defense operation result is obtained, and the defense operation result is determined as the control operation result corresponding to the target flying object, wherein the defense operation includes a shot-down operation and / or a destruction operation.

7. A flight target control system, characterized in that, The flight target control system includes: a detection equipment subsystem, a monitoring equipment subsystem, and a defense jamming equipment subsystem; The detection equipment subsystem uses the detection equipment to locate and detect target flying objects in the monitored area, and obtains the first location information corresponding to the target flying objects. The monitoring equipment subsystem is used to trigger the monitoring equipment to monitor and locate the target flying object based on the first location information, and to obtain the location attribute information of the target flying object, wherein the location attribute information includes second location information and flying object attribute information. The defense jamming equipment subsystem is used to generate defense jamming information based on the flight object attribute information, and to perform control operations on the target flight object based on the defense jamming information and the second location information, so as to obtain the control operation result corresponding to the target flight object. The monitoring equipment includes an optical camera and a lidar device. The step of triggering the monitoring equipment to monitor and locate the target flying object based on the first location information, and obtaining the target flying object's location attribute information, includes: triggering the optical camera to track and capture images of the target flying object based on the first location information, obtaining corresponding captured image information; adjusting the gimbal corresponding to the optical camera based on the captured image information, obtaining gimbal adjustment information; and triggering the lidar device to measure the target flying object based on the gimbal adjustment information, obtaining the second location information and the flying object's attribute information. The step of triggering the lidar device to measure the target flying object to obtain the second position information and the flying object attribute information includes: measuring the target flying object with the lidar device to obtain lidar measurement information; performing polar coordinate calculation based on the lidar measurement information to obtain the second position information and the three-dimensional information of the target flying object; and determining the flying object attribute information based on the three-dimensional information, wherein the three-dimensional information is the size information of the target flying object.

8. The system according to claim 7, characterized in that, The detection equipment includes radar detection equipment and radio detection equipment, and the detection equipment subsystem includes: An active radar detection module is used to perform intersection and positioning detection on the target flying object through the radar detection equipment, and obtain the radar positioning information corresponding to the target flying object; A radio detection module is used to locate and detect the target flying object through the radio detection equipment, and obtain the radio positioning information corresponding to the target flying object; The fusion verification module is used to perform fusion verification based on the radar positioning information and radio positioning information, obtain the verification result, and determine the first location information based on the verification result.

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