A method for determining a strike sequence of a drone, an electronic device and a defense system

Abstract

The present application relates to the field of unmanned aerial vehicle defense, and discloses a method for determining attack sequence of unmanned aerial vehicles, an electronic device and a defense system. The method for determining attack sequence comprises: predicting a first predicted time length when an unmanned aerial vehicle reaches a preset protection boundary, predicting a second predicted time length when the unmanned aerial vehicle reaches a radar detection blind area, determining a target threat level according to the first predicted time length and the second predicted time length, and determining an attack sequence of each unmanned aerial vehicle according to the target threat level of each unmanned aerial vehicle. Therefore, the present embodiment can determine the threat degree of each unmanned aerial vehicle according to the time when each unmanned aerial vehicle will reach the preset protection boundary and the time when each unmanned aerial vehicle will reach the radar detection blind area, and automatically determine the attack sequence according to the threat degree, which is beneficial for a user to aim at each unmanned aerial vehicle according to the attack sequence, shorten the attack decision time, and reduce the attack difficulty, thereby being beneficial for implementing effective attack on each unmanned aerial vehicle in turn before the unmanned aerial vehicles intrude into the preset protection boundary or cross the radar detection blind area.

Description

Technical Field

[0001] This invention relates to the field of drone defense, specifically to a method for determining the attack sequence of drones, electronic equipment, and a defense system. Background Technology

[0002] Drone defense primarily utilizes technologies such as spectrum detection, radar detection, and wireless signal jamming to control and prevent threatening drones. When a drone is detected about to illegally intrude into a controlled area, the defense operator needs to take action to force the drone to land automatically or return to its origin, thus preventing the drone from entering the controlled area.

[0003] When faced with a scenario where multiple threatening drones are about to intrude into the controlled area, the defense operator needs to make a rapid decision to strike within a very short time and effectively strike each threatening drone. The strike is quite difficult for the defense operator and places high demands on the operator's reaction and decision-making abilities. Summary of the Invention

[0004] One objective of this invention is to provide a method for determining the attack sequence of unmanned aerial vehicles (UAVs), an electronic device, and a defense system, which can overcome the deficiencies of the prior art.

[0005] In a first aspect, embodiments of the present invention provide a method for determining the attack sequence of a drone, applied to an electronic device, the method comprising:

[0006] Predict the first prediction time when the drone arrives at the preset protection boundary;

[0007] The second prediction duration is predicted when the UAV arrives at the radar detection blind zone;

[0008] The target threat level is determined based on the first prediction duration and the second prediction duration, wherein the target threat level is used to characterize the degree of threat posed by the UAV to the defense center at present;

[0009] The order of attack for each of the aforementioned drones is determined based on the target threat level of each drone.

[0010] Optionally, determining the target threat level based on the first prediction duration and the second prediction duration includes:

[0011] The first candidate threat level is determined based on the first prediction duration;

[0012] The second candidate threat level is determined based on the second prediction duration;

[0013] The target threat level is determined based on the first candidate threat level and the second candidate threat level.

[0014] Optionally, determining the first candidate threat level based on the first prediction duration includes:

[0015] Based on the first predicted duration and the preset strike duration, a third predicted duration is obtained;

[0016] A first time interval corresponding to the third predicted time interval is determined from a plurality of preset time intervals, and each time interval is configured with a corresponding threat level;

[0017] The threat level corresponding to the first time interval is determined as the first candidate threat level.

[0018] Optionally, determining the second candidate threat level based on the second prediction duration includes:

[0019] Based on the second predicted duration and the preset strike duration, a fourth predicted duration is obtained;

[0020] A second time interval corresponding to the fourth predicted time interval is determined from a plurality of preset time intervals, and each time interval is configured with a corresponding threat level;

[0021] The threat level corresponding to the second time interval is determined as the second candidate threat level.

[0022] Optionally, determining the target threat level based on the first candidate threat level and the second candidate threat level includes:

[0023] The candidate threat level with the highest threat level between the first candidate threat level and the second candidate threat level is determined as the target threat level.

[0024] Optionally, determining the attack order of each UAV based on its target threat level includes:

[0025] The target threat levels of each UAV are sorted according to a preset order to obtain the first sorting result;

[0026] Based on the first sorting result, the order of attack for each of the drones is determined.

[0027] Optionally, if the first ranking result includes at least two drones with the same target threat level, determining the strike order of each drone based on the first ranking result includes:

[0028] Obtain the first and second prediction durations of a peer drone, wherein the peer drone is one of at least two drones with the same target threat level;

[0029] The target prediction duration of the peer drone is determined between the first prediction duration and the second prediction duration of the peer drone;

[0030] The target prediction time of each of the same-level UAVs is sorted according to a preset order to obtain a second sorting result;

[0031] The order in which each drone is attacked is determined based on the second sorting result and the first sorting result.

[0032] Optionally, the first prediction duration for predicting when the drone will reach the preset protection boundary includes:

[0033] Obtain the first horizontal distance between the drone and the electronic device;

[0034] Based on the first horizontal distance and the preset protection distance, determine the second horizontal distance of the UAV relative to the preset protection boundary;

[0035] Determine the horizontal speed of the drone relative to the electronic device;

[0036] Based on the second horizontal distance and the horizontal speed, a first predicted time is generated when the drone reaches the preset protection boundary.

[0037] Optionally, the second prediction duration for predicting when the UAV arrives at the radar detection blind zone includes:

[0038] Obtain the relative altitude of the UAV with respect to the electronic device and the maximum longitudinal detection angle of the radar to the ground;

[0039] Based on the relative altitude, the maximum longitudinal detection angle of the radar to the ground, and the first horizontal distance, the third horizontal distance of the UAV relative to the radar detection blind zone is determined;

[0040] Based on the third horizontal distance and the horizontal speed, a second prediction time is predicted when the UAV arrives at the radar detection blind zone.

[0041] Optionally, determining the third horizontal distance of the UAV relative to the radar detection blind zone based on the relative altitude, the maximum longitudinal detection angle of the radar to the ground, and the first horizontal distance includes:

[0042] Based on the relative altitude and the maximum longitudinal detection angle of the radar to the ground, a fourth horizontal distance is determined. The fourth horizontal distance is the distance of the UAV relative to the defense center when the UAV arrives at the radar detection blind zone.

[0043] Based on the first horizontal distance and the fourth horizontal distance, the third horizontal distance at which the UAV arrives at the radar detection blind zone is determined.

[0044] In a second aspect, embodiments of the present invention provide an electronic device, comprising:

[0045] At least one processor;

[0046] And, a memory communicatively connected to the at least one processor; wherein,

[0047] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method as described above.

[0048] In a third aspect, embodiments of the present invention provide a defense system, comprising:

[0049] Countermeasure guns, used to strike drones;

[0050] Electronic devices as described above; and

[0051] The radar is communicatively connected to the electronic device.

[0052] In the method for determining the strike order of drones provided in this embodiment of the invention, the strike order determination method includes: predicting a first prediction time when the drone will arrive at a preset protection boundary, predicting a second prediction time when the drone will arrive at a radar detection blind zone, determining the target threat level based on the first and second prediction times, and determining the strike order of each drone based on the target threat level of each drone. Therefore, this embodiment can determine the threat level of each drone based on the predicted time when each drone will arrive at the preset protection boundary and the predicted time when it will arrive at the radar detection blind zone, and automatically determine the strike order based on the threat level. This is beneficial for users to target each drone according to the strike order, shorten the strike decision time, reduce the strike difficulty, and thus facilitate the effective strike of each drone in sequence before each drone intrudes into the preset protection boundary or crosses the radar detection blind zone. Attached Figure Description

[0053] One or more embodiments are illustrated by way of example only, and these illustrative examples do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements, and unless otherwise stated, the figures in the drawings do not constitute a limitation on scale.

[0054] Figure 1 This is a schematic diagram illustrating an application scenario of a defense system provided in an embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram of a defense coverage area provided in an embodiment of the present invention;

[0056] Figure 3This is a schematic diagram of the structure of a radar provided in an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of a radar array coordinate system provided in an embodiment of the present invention;

[0058] Figure 5 A schematic diagram of radar deployment is provided in an embodiment of the present invention;

[0059] Figure 6 This is a flowchart illustrating a method for determining the attack sequence of a drone according to an embodiment of the present invention;

[0060] Figure 7 This is a schematic diagram illustrating the calculation principle of a second prediction duration provided in an embodiment of the present invention;

[0061] Figure 8 yes Figure 6 The flowchart of S63 is shown below;

[0062] Figure 9 yes Figure 8 The flowchart of S631 is shown below;

[0063] Figure 10 yes Figure 8 The flowchart of S632 is shown below;

[0064] Figure 11 yes Figure 6 The flowchart of S64 is shown below;

[0065] Figure 12 This is a schematic diagram of the structure of a device for determining the attack sequence of a drone provided in an embodiment of the present invention;

[0066] Figure 13 yes Figure 12 The diagram shows the structure of the first determining module;

[0067] Figure 14 yes Figure 12 The diagram shows the structure of the second determining module;

[0068] Figure 15 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0070] It should be noted that, unless otherwise specified, the various features in the embodiments of this invention can be combined with each other, all of which are within the protection scope of this invention. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this invention do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0071] Please see Figure 1 This invention provides an application scenario for a defense system. For example... Figure 1 As shown, the application scenario includes a defense system 100 and at least one drone 200.

[0072] The defense system 100 includes radar 101, electronic equipment 102, and countermeasure gun 103.

[0073] Radar 101 is an electronic device that uses electromagnetic waves to detect targets. Radar 101 can emit electromagnetic waves to scan one or more UAVs 200 and receive their echoes, thereby obtaining information such as the position (distance and altitude), speed, and azimuth of the UAVs 200 relative to the electromagnetic wave emission point.

[0074] In some embodiments, radar 101 is deployed at a defense center, which refers to the core location for drone defense. See also... Figure 2 The defense coverage area can be obtained by extending a preset coverage distance from the defense center. The preset coverage distance can be freely set according to actual needs, for example, the preset coverage distance is 0 to 1000 meters. The defense coverage area can be detected by radar 101. When one or more drones 200 enter the defense coverage area, the defense system 100 can defend against one or more drones 200 as defense targets.

[0075] In some embodiments, such as Figure 2 As shown, the defense coverage area includes, in sequence, the reaction zone, the warning zone, the countermeasure zone, and the fenced zone.

[0076] The reaction zone is an area extending from the defense center within a preset reaction distance. This preset reaction distance can be freely set according to actual needs; for example, it can be 900 to 1000 meters from the defense center. The reaction zone is used to provide the defense system 100 with sufficient lock-on time to lock onto the drones 200 entering the area.

[0077] The distance between the warning zone and the defense center is less than the distance between the reaction zone and the defense center. The warning zone is an area extending from the defense center within a preset warning distance. The preset warning distance can be freely set according to actual needs; for example, the preset warning distance can extend from the defense center for 450 to 900 meters. The warning zone is used to allow the defense system 100 sufficient decision-making time to make a decision on whether to engage the drones 200 that enter the area.

[0078] The distance between the countermeasure zone and the defense center is less than the distance between the warning zone and the defense center. The countermeasure zone is an area extending from the defense center within a preset countermeasure distance. The preset countermeasure distance can be freely set according to actual needs; for example, the preset countermeasure distance can extend from the defense center for 200 to 450 meters. The countermeasure zone is used to allow defense operators sufficient time to engage drones 200 that enter the area using countermeasure guns 103. The engagement time is generally around 15 seconds, thereby preventing drones 200 from intruding into the fenced area.

[0079] The distance between the fenced area and the defense center is less than the distance between the countermeasures area and the defense center. The boundary between the fenced area and the countermeasures area is a preset protection boundary, which is the boundary formed by extending a preset protection distance from the defense center. The preset protection distance can be freely set according to actual needs; for example, the preset protection distance can be 200 meters, serving as a virtual boundary that drones cannot approach. The fenced area is the region extending from the defense center within a preset protection distance. The preset protection distance can be freely set according to actual needs; for example, the preset protection distance can extend from 0 to 200 meters from the defense center. To protect the defense center, drones are prohibited from entering the fenced area.

[0080] In some embodiments, radar 101 can be any suitable type of radar detection device such as mechanically scanned radar or phased array radar. Mechanically scanned radar is a type of radar that achieves beam scanning by rotating the radar antenna. Phased array radar, also known as phased array radar, is a type of radar that changes the direction of the beam by changing the phase of the radar wave. Because the beam is controlled electronically rather than by the traditional mechanical rotation of the antenna surface, it is also called electronically scanned radar phased array technology.

[0081] In some embodiments, please refer to Figure 3 The radar 101 includes a phased array antenna 1011, a transmit / receive assembly 1012, a data converter 1013, and a controller 1014.

[0082] The phased array antenna 1011 is used for scanning UAV 200. It is an antenna that changes its radiation pattern shape by controlling the feed phase of the radiating elements in the array antenna. The phased array antenna 1011 can be a linear phased array antenna or a planar phased array antenna. Linear phased array antennas can be classified into vertical-fired arrays and end-fired arrays based on their basic array type. In a vertical-fired array, the maximum radiation direction is perpendicular to the array axis, and the antenna beam scans to the left and right sides of the linear array normal direction. In an end-fired array, the main lobe direction is along the array axis. A planar phased array antenna refers to an array antenna in which the antenna elements are distributed on a plane, and the antenna beam can be phased-scanned in both azimuth and elevation directions.

[0083] The phased array antenna 1011 can be composed of multiple radiating elements. A radiating element is a unit that constitutes the basic structure of the antenna and can effectively radiate or receive radio frequency signals.

[0084] The transmit / receive component 1012 is electrically connected to the phased array antenna 1011 and is responsible for transmitting and receiving radio frequency signals, controlling the amplitude and phase of the signals to complete beamforming and beam scanning.

[0085] The transmitting / receiving component 1012 may include multiple transmitting / receiving units, each of which may be paired with a radiating unit. Each transmitting / receiving component is capable of transmitting radio frequency signals to the corresponding radiating unit and receiving radio frequency signals transmitted by the corresponding radiating unit.

[0086] The data converter 1013 is electrically connected to the transmitter / receiver component 1012. The data converter 1013 is used to receive the radio frequency signals transmitted by the transmitter / receiver component 1012, convert the radio frequency signals into digital signals, or transmit radio frequency signals to the transmitter / receiver component 1012.

[0087] The controller 1014 is electrically connected to the data converter 1013 and is used to receive and process digital signals transmitted by the data converter 1013 to obtain information such as the position and speed of the UAV 200 relative to the radar 101, or to transmit digital signals to the data converter 1013 so that the data converter 1013 can convert the digital signals into radio frequency signals and transmit them to the transmitter / receiver component 1012.

[0088] In some embodiments, the location information can be represented using a ground coordinate system (x, y, z). The ground coordinate system refers to a coordinate system where the positive X-axis points north, the positive Y-axis points west, and the positive Z-axis points to the sky. The x-coordinate in the location information represents the distance of the UAV 200 relative to the radar 101 in the X-axis direction, the y-coordinate in the location information represents the distance of the UAV 200 relative to the radar 101 in the Y-axis direction, and the z-coordinate in the location information represents the altitude of the UAV 200 relative to the radar 101.

[0089] The z-coordinate in the location information can be positive or negative. When the z-coordinate is positive, it means that the UAV 200 is above the radar 101. When the z-coordinate is negative, it means that the UAV 200 is below the radar 101.

[0090] In some embodiments, the radar plane is defined as the plane parallel to the ground where radar 101 is located. The distance between the point on the radar plane projected by the UAV 200 and radar 101 is the first horizontal distance of the UAV 200 relative to the defense center (the location of radar 101). The controller 1014 determines the first horizontal distance of the UAV 200 relative to the defense center according to the following formula:

[0091]

[0092] Where d1 is the first horizontal distance between UAV 200 and the defense center, x is the x-coordinate in the position information, and y is the y-coordinate in the position information.

[0093] In some embodiments, velocity information may include the velocity v along the X-axis in a ground coordinate system. x and the velocity v in the Y-axis direction y .

[0094] Please see Figure 4 , Figure 4 This is a schematic diagram of the radar array coordinate system provided in an embodiment of the present invention. For example... Figure 4 As shown, the radar array coordinate system has its origin at the radar detection center. The X-axis of the radar array coordinate system points to the normal direction of the radar array, the Y-axis points to the left side of the radar array, and the Z-axis points to the top of the radar array. θ1 represents the elevation scanning angle range of radar 101 in the radar array coordinate system. θ1 can be set according to the user's actual needs, such as 0°, 10°, 20°, and 40°. In some embodiments, θ1 is set to 40° by default.

[0095] Radar 101 scans based on the center of the elevation scanning angle in the radar array coordinate system. For example, it scans upwards by 20° and downwards by 20° based on the center of the elevation scanning angle. The center of the elevation scanning angle is the angle between the detection center of Radar 101 in the vertical direction and the X-axis of the radar array coordinate system, and its value ranges from -20° to +20°. Figure 4 The center of the elevation scan angle is 0°.

[0096] After Radar 101 is deployed, please refer to Figure 5 θ2 is the elevation angle when the radar is deployed. θ2 is also called the pitch angle. The pitch angle is the tilt angle of the platform coordinate system relative to the geographic coordinate system in the vertical plane. The value of θ2 is generally between -30° and +30°.

[0097] When the UAV 200 is above the radar 101, i.e., when the z-coordinate of its position information is positive, the controller 1014 determines the maximum longitudinal detection angle of the radar to the ground according to the following formula:

[0098]

[0099] Wherein, θ4 is the maximum longitudinal detection angle of the radar to the ground, θ1 is the range of the elevation scanning angle of radar 101 under the radar array coordinates, θ2 is the elevation angle when the radar is deployed, and θ3 is the center of the elevation scanning angle of radar 101 under the radar array coordinates.

[0100] In this case, such as Figure 5 As shown, the maximum longitudinal detection angle of the radar over the ground is the angle between the ground and the upper boundary of the radar detection.

[0101] When the UAV 200 is located below the radar 101, i.e., when the z-coordinate of its position information is negative, the controller 1014 determines the maximum longitudinal detection angle of the radar to the ground according to the following formula:

[0102]

[0103] In this case, the maximum longitudinal detection angle of the radar over the ground is the angle between the ground and the lower boundary of the radar detection.

[0104] The area not covered by radar 101 during the scanning process is the radar detection blind zone. Since the information of drone 200 cannot be obtained when drone 200 enters the radar detection blind zone, there is a risk that drone 200 will intrude into the fenced area without being detected. Therefore, the defense system 100 needs to strike drone 200 in time before drone 200 arrives at the radar detection blind zone.

[0105] Understandably, as multiple drones 200 approach the fenced area or radar blind spot, the threat level of each drone 200 relative to the defense center is not the same. Therefore, the defense system 100 needs to assess the threat level of each drone 200 relative to the defense center and formulate a reasonable attack sequence to effectively strike each drone 200.

[0106] Electronic device 102 is communicatively connected to radar 101. After the electronic device 102 and radar 101 are communicatively connected, data can be transmitted between the electronic device 102 and radar 101. For example, electronic device 102 can obtain data such as the location information and speed information of the UAV from radar 101.

[0107] Electronic device 102 may include any suitable electronic device such as a tablet computer, laptop computer, ultra-mobile personal computer (UMPC), or handheld computer. Electronic device 102 serves as the control core of defense system 100, and is used to execute the method for determining the attack sequence of drones as described below.

[0108] The countermeasure gun 103 is an electromagnetic interference device used to counter drones. When the countermeasure gun 103 targets a drone within its effective range and continuously strikes it for a certain period of time, the drone will be forced to land or automatically return to its home base due to electromagnetic interference, thus achieving the purpose of countering the drone. When multiple drones 200 enter the countermeasure zone, the defense operator can use the countermeasure gun 103 to target each drone 200 sequentially according to the drone strike order determined by the electronic equipment 102, thereby preventing any drone 200 from intruding into the fenced area.

[0109] Drone 200 refers to unmanned aerial vehicles that can fly in any airspace, such as low altitude, medium altitude, and high altitude, including fixed-wing drones, rotary-wing drones, unmanned airships, paragliding drones, flapping-wing drones, and so on.

[0110] Please see Figure 6 , Figure 6 This is a flowchart illustrating a method for determining the attack sequence of a drone according to an embodiment of the present invention. Figure 6 As shown, the methods for determining the order of attacks include:

[0111] S61, Predict the first prediction time when the drone arrives at the preset protection boundary;

[0112] In this step, the first prediction duration is the predicted time required for the UAV to fly from its current position toward the preset protection boundary until it reaches the preset protection boundary. In some embodiments, when the UAV enters the reaction zone, the electronic device can obtain the UAV's position information, speed information, and a first horizontal distance d1 relative to the defense center from the radar. When the UAV enters the warning zone from the reaction zone, the electronic device can predict the first prediction duration for the UAV to reach the preset protection boundary based on the UAV's position information, speed information, and first horizontal distance d1 obtained from the radar.

[0113] In some embodiments, the electronic device first determines a second horizontal distance of the UAV relative to a preset protection boundary based on a first horizontal distance d1 and a preset distance. Here, the direction from which the point projected onto the radar plane of the UAV points to the defense center is defined as radial, and the second horizontal distance is the distance between the point corresponding to the UAV and the preset protection boundary in the radial direction. The electronic device calculates the second horizontal distance of the UAV relative to the preset protection boundary according to the following formula:

[0114] d2 = d1 - d0

[0115] Wherein, d2 is the second horizontal distance of the UAV relative to the preset protection boundary, d1 is the first horizontal distance, and d0 is the distance extending from the defense center to the preset protection boundary.

[0116] Next, the electronic equipment determines the drone's horizontal velocity relative to the defense center based on the drone's position and velocity information relative to the defense center. The drone's horizontal velocity relative to the defense center is the drone's radial velocity.

[0117] In some embodiments, the electronic device, based on location information, will measure the velocity v along the X-axis in the ground coordinate system. x Projecting it radially, we obtain the first horizontal velocity component, which is the velocity v along the Y-axis in the ground coordinate system. y Projecting the data radially, we obtain the second horizontal velocity component. Then, based on the first and second horizontal velocity components, we determine the horizontal velocity of the UAV relative to the defense center.

[0118] The electronic device calculates the first horizontal velocity component according to the following formula:

[0119]

[0120] Where v1 is the first horizontal velocity component, v x The velocity is along the X-axis, x is the x-coordinate in the position information, and y is the y-coordinate in the position information.

[0121] The electronic device calculates the second horizontal velocity component according to the following formula:

[0122]

[0123] Where v2 is the second horizontal velocity component, v y The velocity is along the Y-axis, x is the x-coordinate in the position information, and y is the y-coordinate in the position information.

[0124] The electronic equipment calculates the drone's horizontal velocity relative to the defense center using the following formula:

[0125] v3 = v1 + v2

[0126] Where v3 is the horizontal velocity of the drone relative to the defense center, v1 is the first horizontal velocity component, and v2 is the second horizontal velocity component.

[0127] Finally, the electronic equipment determines the first predicted time when the drone will arrive at the preset protection boundary based on the drone's horizontal speed relative to the defense center and the second horizontal distance.

[0128] The electronic device calculates the first prediction duration using the following formula:

[0129]

[0130] Where T1 is the first prediction duration, d2 is the second horizontal distance of the UAV relative to the preset protection boundary, and v3 is the horizontal speed of the UAV relative to the defense center.

[0131] S62, Predicting the second prediction duration when the UAV arrives in the radar detection blind zone;

[0132] In this step, the second prediction duration is the predicted time required for the UAV to fly from its current position toward the radar detection blind zone until it reaches the radar detection blind zone. In some embodiments, when the UAV enters the reaction zone, the electronic equipment can obtain a first horizontal distance d1, the maximum longitudinal detection angle of the radar to the ground θ4, and the relative altitude of the UAV relative to the defense center from the radar. When the UAV enters the warning zone, the electronic equipment can predict the second prediction duration for the UAV to reach the radar detection blind zone based on the first horizontal distance d1, the maximum longitudinal detection angle of the radar to the ground θ4, and the relative altitude of the UAV relative to the defense center.

[0133] In some embodiments, the electronic device first determines the third horizontal distance of the UAV relative to the radar detection blind zone based on the UAV's relative altitude to the defense center, the radar's maximum longitudinal ground detection angle θ4, and the first horizontal distance d1. (See also...) Figure 7 The third horizontal distance d3 is the predicted distance that the UAV will travel radially to reach the radar detection blind zone when it flies towards the radar detection blind zone from its current position.

[0134] In this embodiment, the electronic device determines the fourth horizontal distance based on the relative altitude and the radar's maximum longitudinal detection angle θ4 above the ground, such as... Figure 7 As shown, the fourth horizontal distance d4 is the predicted distance of the UAV relative to the defense center when it arrives in the radar detection blind zone radially.

[0135] The electronic device calculates the fourth horizontal distance d4 according to the following formula:

[0136]

[0137] Where d4 is the fourth horizontal distance, h is the relative height, and θ4 is the maximum longitudinal detection angle of the radar over the ground.

[0138] The electronic device then calculates the third horizontal distance d3 based on the fourth horizontal distance d4 and the first horizontal distance d1.

[0139] The electronic device calculates the third horizontal distance d3 according to the following formula:

[0140] d3 = d1 - d4

[0141] Where d3 is the third horizontal distance, d1 is the first horizontal distance, and d4 is the fourth horizontal distance.

[0142] Next, the electronic equipment predicts the second prediction time when the UAV will arrive at the radar detection blind zone based on the third horizontal distance d3 and the horizontal velocity v3.

[0143] The electronic device calculates the second prediction duration using the following formula:

[0144]

[0145] Where T2 is the second prediction duration, d3 is the third horizontal distance, and v3 is the horizontal velocity.

[0146] S63. Determine the target threat level based on the first prediction duration and the second prediction duration;

[0147] In this step, the target threat level is the current threat level of the drone. The threat level is used to indicate the degree of threat the drone poses relative to the defense center. Therefore, the target threat level is used to characterize the current degree of threat the drone poses relative to the defense center.

[0148] The threat levels of different drones can be the same or different. For example, the threat levels can be divided into high threat level, medium threat level and low threat level according to the degree of threat of the drones relative to the defense center from high to low. For the five defense targets that have entered the warning zone, drones A and B are classified as high threat level, drones C and D are classified as medium threat level, and drone E is classified as low threat level.

[0149] The target threat level of the same drone at different times can be the same or different. For example, the target threat level of the drone at time one is low threat level, the target threat level at time two is low threat level, the target threat level at time three is medium threat level, and the target threat level at time four is high threat level.

[0150] As mentioned earlier, whether a drone reaches the preset protection boundary or the radar detection blind zone, it will pose a threat to the defense center. If only one of the situations is considered, there is a risk that the drone will seriously threaten the defense center. Therefore, electronic equipment determines the target threat level based on the first prediction time when the drone reaches the preset protection boundary and the second prediction time when it reaches the radar detection blind zone. This allows both situations to be included in the threat considerations at the same time, avoiding misjudgment.

[0151] S64. Determine the order of attack for each drone based on its target threat level.

[0152] In this step, the electronic equipment can determine the attack order of each drone based on the threat level indicated by the target threat level of each drone. So that when each drone enters the countermeasure zone, the defense operator only needs to use the countermeasure gun to attack each drone one by one in the attack order, without the defense operator spending extra time making attack decisions, and can eliminate the threat of drones that pose a threat to the defense center one by one.

[0153] Therefore, this embodiment can determine the threat level of each UAV based on the predicted time when each UAV will reach the preset protection boundary and the time when it will reach the radar detection blind zone, and automatically determine the attack order based on the threat level. This is beneficial for users to target each UAV according to the attack order, shorten the attack decision time, reduce the attack difficulty, and thus facilitate the effective attack on each UAV in sequence before each UAV intrudes into the preset protection boundary or crosses the radar detection blind zone.

[0154] In some embodiments, please refer to Figure 8 S63 includes:

[0155] S631. Determine the first candidate threat level based on the first prediction duration;

[0156] In this step, the first candidate threat level is the threat level corresponding to the first prediction duration of the drone. The first candidate threat level corresponding to different first prediction durations can be the same or different. For example, when the first prediction duration is 21 seconds, the first candidate threat level is high threat level; when the first prediction duration is 25 seconds, the first candidate threat level is medium threat level; and when the first prediction duration is 31 seconds, the first candidate threat level is medium threat level.

[0157] In some embodiments, for a first candidate threat level, each threat level corresponds to a duration interval, and different threat levels have different duration intervals. The electronic device can determine the corresponding threat level as the first candidate threat level based on the duration interval into which the first preset duration falls. Please refer to [link to relevant documentation]. Figure 9 S631 includes:

[0158] S6311. Based on the first prediction duration and the preset strike duration, the third prediction duration is obtained;

[0159] S6312. Determine the first time interval corresponding to the third predicted time interval from a set of multiple time intervals, and configure a corresponding threat level for each time interval;

[0160] S6313. Determine the threat level corresponding to the first time interval as the first candidate threat level.

[0161] In this embodiment, the preset strike duration is the time reserved for successfully striking the drone. The preset strike duration can be freely set according to actual needs; for example, the preset strike duration can be 15 seconds. The third prediction duration is the decision-making time reserved for the defense operator before the drone reaches the preset protection boundary. The third prediction duration is the difference between the first prediction duration and the preset strike duration. For example, if the first prediction duration is 21 seconds and the preset strike duration is 15 seconds, then the third prediction duration = 21 - 15 = 6 seconds. The electronic device can determine the first candidate threat level based on the threat level configured within the time interval into which the third prediction duration falls.

[0162] For example, please refer to Table 1 below. The preset duration ranges include three duration ranges: less than 10 seconds, 10 to 20 seconds, and more than 20 seconds. The duration range of less than 10 seconds is configured as a high threat level, the duration range of 10 to 20 seconds is configured as a medium threat level, and the duration range of more than 20 seconds is configured as a low threat level. The preset strike duration is set to 15 seconds.

[0163] Table 1

[0164]

[0165]

[0166] As shown in Table 1 above, the first predicted duration for drone A is 21 seconds, and the third predicted duration is 21-15=6 seconds. Since 6 seconds falls into the duration range of less than 10 seconds, the electronic device determines that the duration range of less than 10 seconds is the first duration range corresponding to 6 seconds, and determines that the high threat level corresponding to the first duration range is the first candidate threat level for drone A.

[0167] The first predicted duration for drone B is 25 seconds, and the third predicted duration is 25-15=10 seconds. The 10-second duration falls within the duration range of less than 10 seconds to 20 seconds. Therefore, the electronic device determines the duration range of 10 seconds to 20 seconds as the first duration range corresponding to 10 seconds, and determines the medium threat level corresponding to this first duration range as the first candidate threat level for drone B.

[0168] The first predicted duration for drone C is 31 seconds, and the third predicted duration is 31-15=16 seconds. 16 seconds falls into the duration range of less than 10 seconds to 20 seconds. Therefore, the electronic device determines that the duration range of 10 seconds to 20 seconds is the first duration range corresponding to 16 seconds, and determines that the medium threat level corresponding to the first duration range is the first candidate threat level for drone C.

[0169] The first predicted duration for drone D is 29 seconds, and the third predicted duration is 29-15=14 seconds. 14 seconds falls into the duration range of less than 10 seconds to 20 seconds. Therefore, the electronic device determines that the duration range of 10 seconds to 20 seconds is the first duration range corresponding to 14 seconds, and determines that the medium threat level corresponding to the first duration range is the first candidate threat level for drone C.

[0170] The first predicted duration for drone E is 37 seconds, and the third predicted duration is 37-15=22 seconds. Since 22 seconds falls into the duration range greater than 20 seconds, the electronic device determines that the duration range greater than 20 seconds is the first duration range corresponding to 22 seconds, and determines that the low threat level corresponding to this first duration range is the first candidate threat level for drone E.

[0171] S632. Determine the second candidate threat level based on the second prediction duration;

[0172] In this step, the second candidate threat level is the threat level corresponding to the second prediction duration of the drone. The second candidate threat levels corresponding to different second prediction durations can be the same or different. For example, when the second prediction duration is 27 seconds, the second candidate threat level is a medium threat level; when the second prediction duration is 35 seconds, the second candidate threat level is a medium threat level; and when the second prediction duration is 39 seconds, the second candidate threat level is a low threat level.

[0173] In some embodiments, for the second candidate threat level, each threat level corresponds to a duration interval, and different threat levels have different duration intervals. The electronic device can determine the corresponding threat level as the second candidate threat level based on the duration interval into which the second preset duration falls. Please refer to [link to relevant documentation]. Figure 10 S632 includes:

[0174] S6321. Based on the second prediction duration and the preset strike duration, the fourth prediction duration is obtained;

[0175] S6322. Determine the second time interval corresponding to the fourth predicted time interval from a set of multiple time intervals, and configure a corresponding threat level for each time interval;

[0176] S6323. Determine the threat level corresponding to the second time interval as the second candidate threat level.

[0177] In this embodiment, the fourth prediction duration is the decision-making time reserved for the defense operator before the UAV arrives at the radar detection blind zone. The fourth prediction duration is the difference between the second prediction duration and the preset strike duration. For example, if the second prediction duration is 27 seconds and the preset strike duration is 15 seconds, then the fourth prediction duration = 27 - 15 = 12 seconds. The electronic device can determine the second candidate threat level based on the threat level configured within the duration interval into which the fourth prediction duration falls.

[0178] For example, please refer to Table 2 below. As mentioned earlier, the second predicted duration for drone A is 27 seconds, and the fourth predicted duration is 27-15=12 seconds. 12 seconds falls into the duration range of less than 10 seconds to 20 seconds. Therefore, the electronic device determines that the duration range of less than 10 seconds to 20 seconds is the second duration range corresponding to 12 seconds, and determines that the medium threat level corresponding to this second duration range is the second candidate threat level for drone A.

[0179] The second predicted duration for drone B is 23 seconds, and the third predicted duration is 23-15=8 seconds. Since 8 seconds falls into the duration range of less than 10 seconds, the electronic device determines that the duration range of less than 10 seconds is the second duration range corresponding to 8 seconds, and determines that the high threat level corresponding to this second duration range is the second candidate threat level for drone A.

[0180] The second predicted duration for drone C is 35 seconds, and the fourth predicted duration is 35-15=20 seconds. Since 20 seconds falls within the duration range of less than 10 seconds to 20 seconds, the electronic device determines that the duration range of less than 10 seconds to 20 seconds is the second duration range corresponding to 20 seconds, and determines that the medium threat level corresponding to this second duration range is the second candidate threat level for drone C.

[0181] The second predicted duration for drone D is 33 seconds, and the fourth predicted duration is 33-15=18 seconds. 18 seconds falls into the duration range of less than 10 seconds to 20 seconds. Therefore, the electronic device determines that the duration range of less than 10 seconds to 20 seconds is the second duration range corresponding to 18 seconds, and determines that the medium threat level corresponding to this second duration range is the second candidate threat level for drone D.

[0182] The second predicted duration for drone E is 39 seconds, and the fourth predicted duration is 39-15=24 seconds. Since 24 seconds falls into the duration range greater than 20 seconds, the electronic device determines that the duration range greater than 20 seconds is the second duration range corresponding to 24 seconds, and determines that the low threat level corresponding to this second duration range is the second candidate threat level for drone E.

[0183] Table 2

[0184]

[0185] S633. Determine the target threat level based on the first candidate threat level and the second candidate threat level.

[0186] In this step, since the threat level indicated by the first candidate threat level and the threat level indicated by the second candidate threat level can be the same or different, for example, the first candidate threat level corresponding to drone A is a high threat level and the second candidate threat level corresponding to drone A is a medium threat level, the electronic device needs to determine a candidate threat level between the first candidate threat level and the second candidate threat level as the target threat level.

[0187] Therefore, this embodiment can determine the first candidate threat level for each UAV based on the first prediction duration and the second candidate threat level based on the second prediction duration. Then, it can determine the target threat level based on the first candidate threat level and the second candidate threat level. By using a more representative target threat level, it can distinguish the degree of threat of each UAV relative to the defense center when it approaches the preset defense boundary or radar detection blind zone, making the strike sequence simpler and more reliable.

[0188] In some embodiments, the electronic device determines the candidate threat level with the highest threat level between the first candidate threat level and the second candidate threat level as the target threat level.

[0189] For example, please refer to Table 3 below. For drone A, the electronic device determines the first candidate threat level (high threat level) as the target threat level, which has the highest threat level between the first candidate threat level (high threat level) and the second candidate threat level (medium threat level).

[0190] Table 3

[0191] Defense Target First candidate threat level Second candidate threat level Target Threat Level Drone A High threat level Medium threat level High threat level Drone B Medium threat level High threat level High threat level Drone C Medium threat level Medium threat level Medium threat level Drone D Medium threat level Medium threat level Medium threat level Drone E Low threat level Low threat level Low threat level

[0192] Therefore, in this embodiment, the candidate threat level with the highest threat level is determined as the target threat level from the first candidate threat level and the second candidate threat level corresponding to each drone. This is beneficial for responding to the threat of each drone in a timely manner and avoiding missing the best time to strike.

[0193] In some embodiments, please refer to Figure 11 S64 includes:

[0194] S641. Sort the target threat levels of each UAV according to a preset order to obtain the first sorting result;

[0195] S642. Based on the first ranking result, determine the order of attack for each drone.

[0196] In this embodiment, the preset order is a preset threat level arrangement order. For example, the preset order is an arrangement order based on high threat level, medium threat level, and low threat level; or, for another example, an arrangement order based on low threat level, medium threat level, and high threat level. The first sorting result is the result of sorting the target threat levels of each drone according to the preset order. For example, the first sorting result is (Drone A, Drone B), (Drone C, Drone D), and Drone E, where the target threat level corresponding to Drone A and Drone B is high threat level, the target threat level corresponding to Drone C and Drone D is medium threat level, and the target threat level corresponding to Drone E is low threat level.

[0197] Since the first sorting result includes at least two drones with the same target threat level, it is impossible to distinguish the order of the drones with the same target threat level. Therefore, in some embodiments, when the first sorting result includes at least two drones with the same target threat level, the electronic equipment needs to further determine the order of the drones with the same target threat level in order to determine the order of attack for each drone.

[0198] In some embodiments, the electronic device acquires a first prediction duration and a second prediction duration of a peer drone, wherein the peer drone is one of at least two drones with the same target threat level. The target prediction duration of the peer drone is determined between the first prediction duration and the second prediction duration of the peer drone. The target prediction durations of each peer drone are sorted according to a preset order to obtain a second sorting result. The attack order of each drone is determined based on the second sorting result and the first sorting result.

[0199] For example, for drones A and B of the same class, the electronic device obtains the first prediction duration of 21 seconds and the second prediction duration of 27 seconds for drone A, and determines the shortest duration of 21 seconds between 21 seconds and 27 seconds as the target prediction duration for drone A. It also obtains the first prediction duration of 25 seconds and the second prediction duration of 23 seconds for drone B, and determines the shortest duration of 23 seconds between 25 seconds and 23 seconds as the target prediction duration for drone B. The electronic device sorts drones A and drone B in order of shortest to longest duration, that is, when sorting drones A and drone B, drone A comes first and drone B comes last.

[0200] For drones C and D of the same class, the electronic device obtains the first prediction duration of 31 seconds and the second prediction duration of 35 seconds for drone C, and determines the shortest duration of 31 seconds between 31 seconds and 35 seconds as the target prediction duration for drone C. It also obtains the first prediction duration of 29 seconds and the second prediction duration of 33 seconds for drone D, and determines the shortest duration of 29 seconds between 29 seconds and 33 seconds as the target prediction duration for drone D. The electronic device sorts drones C and D in order of shortest duration to longest duration, that is, when sorting drones C and D, drone D comes first and drone C comes last.

[0201] Therefore, the electronic equipment, combining the first and second sorting results, determined the attack order of each drone as drone A, drone B, drone D, drone C, and drone E.

[0202] In some embodiments, as described above, if at least two drones with the same target threat level have the same target prediction duration, the electronic device can determine the attack order of drones with the same target prediction duration based on the second shortest prediction duration corresponding to each drone.

[0203] For example, the first prediction duration for drone F is 20 seconds, and the second prediction duration is 24 seconds. The first prediction duration for drone G is 22 seconds, and the second prediction duration is 20 seconds. Since drones F and G are high-threat drones of the same level, and the target prediction duration for drone F is the same as that for drone G, the electronic equipment determines the attack order of drones F and G based on the second shortest prediction duration (24 seconds) for drone F and the second shortest prediction duration (22 seconds) for drone G. This attack order can be drone G first, followed by drone F.

[0204] Therefore, this embodiment can sort at least two drones with the same target threat level, avoiding the problem of not being able to distinguish the order of at least two drones with the same target threat level. This is beneficial for determining the attack order more accurately and reliably in scenarios where multiple drones are being defended, thereby facilitating more reliable and effective subsequent attacks on each drone in sequence.

[0205] Please see Figure 12 , Figure 12 This is a schematic diagram of a device for determining the attack sequence of a drone, provided in an embodiment of the present invention. Figure 12 As shown, the attack sequence determination device 1200 includes a first prediction module 1201, a second prediction module 1202, a first determination module 1203, and a second determination module 1204.

[0206] The first prediction module 1201 is used to predict the first prediction time when the UAV arrives at the preset protection boundary, the second prediction module 1202 is used to predict the second prediction time when the UAV arrives at the radar detection blind zone, the first determination module 1203 is used to determine the target threat level based on the first prediction time and the second prediction time, and the second determination module 1204 is used to determine the attack order of each UAV based on the target threat level of each UAV.

[0207] Therefore, this embodiment can determine the threat level of each UAV based on the predicted time when each UAV will reach the preset protection boundary and the time when it will reach the radar detection blind zone, and automatically determine the attack order based on the threat level. This is beneficial for users to target each UAV according to the attack order, shorten the attack decision time, reduce the attack difficulty, and thus facilitate the effective attack on each UAV in sequence before each UAV intrudes into the preset protection boundary or crosses the radar detection blind zone.

[0208] In some embodiments, please refer to Figure 13 The first determining module 1203 includes a first determining unit 12031, a second determining unit 12032 and a third determining unit 12033.

[0209] The first determining unit 12031 is used to determine the first candidate threat level based on the first prediction duration, the second determining unit 12032 is used to determine the second candidate threat level based on the second prediction duration, and the third determining unit 12033 is used to determine the target threat level based on the first candidate threat level and the second candidate threat level.

[0210] In some embodiments, please refer to Figure 14 The second determining module 1204 includes a sorting unit 12041 and a fourth determining unit 12042.

[0211] The sorting unit 12041 is used to sort the target threat levels of each UAV according to a preset order to obtain a first sorting result. The fourth determining unit 12042 is used to determine the attack order of each UAV based on the first sorting result.

[0212] It should be noted that the above-mentioned drone strike order determination device can execute the drone strike order determination method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in the embodiments of the drone strike order determination device can be found in the drone strike order determination method provided in the embodiments of the present invention.

[0213] Please see Figure 15 , Figure 15 This is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention. Figure 15As shown, the electronic device 102 includes one or more processors 1021 and a memory 1022. Figure 15 Take a processor 1021 as an example.

[0214] Processor 1021 and memory 1022 can be connected via a bus or other means. Figure 15 Taking the example of a connection between China and Israel via a bus.

[0215] The memory 1022, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the UAV attack order determination method in the embodiments of the present invention. The processor 1021 executes various functional applications and data processing of the UAV attack order determination device by running the non-volatile software programs, instructions, and modules stored in the memory 1022, thereby realizing the functions of the UAV attack order determination method provided in the above method embodiments and the various modules or units in the above device embodiments.

[0216] Memory 1022 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 1022 may optionally include memory remotely located relative to processor 1021, and these remote memories may be connected to processor 1021 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0217] The program instructions / modules are stored in the memory 1022. When executed by one or more processors 1021, they execute the method for determining the attack order of the UAV in any of the above method embodiments.

[0218] This invention also provides a non-volatile computer storage medium storing computer-executable instructions that are executed by one or more processors, for example... Figure 15 One of the processors 1021 can enable the above one or more processors to execute the drone strike order determination method in any of the above method embodiments.

[0219] This invention also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions that, when executed by an electronic device, cause the electronic device to perform any of the UAV attack sequence determination methods described above.

[0220] The device or equipment embodiments described above are merely illustrative. The unit modules described as separate components may or may not be physically separate. The components shown as module units may or may not be physical units; that is, they may be located in one place or distributed across multiple network module units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0221] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0222] Finally, it should be noted that the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments are not intended to impose additional limitations on the content of the present invention; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of the present invention. Furthermore, within the framework of the present invention, the above-mentioned technical features can be combined with each other, and many other variations of different aspects of the present invention as described above exist, all of which are considered to be within the scope of the present invention specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for determining the attack sequence of a drone, characterized in that, The method includes: Predict the first prediction time when the drone arrives at the preset protection boundary; The second prediction duration is predicted when the UAV arrives at the radar detection blind zone; The target threat level is determined based on the first prediction duration and the second prediction duration, wherein the target threat level is used to characterize the degree of threat posed by the UAV to the defense center at present; The order of attack for each of the aforementioned drones is determined based on the target threat level of each drone. The first prediction time for predicting when the drone will arrive at the preset protection boundary includes: Obtain the first horizontal distance of the UAV relative to the defense center; Based on the first horizontal distance and the preset protection distance, determine the second horizontal distance of the UAV relative to the preset protection boundary; Determine the horizontal speed of the drone relative to the defense center; Based on the second horizontal distance and the horizontal speed, predict the first predicted time when the drone will reach the preset protection boundary; The second prediction duration for predicting when the UAV arrives at the radar detection blind zone includes: Obtain the relative altitude of the UAV with respect to the defense center and the maximum longitudinal ground detection angle of the radar; Based on the relative altitude, the maximum longitudinal detection angle of the radar to the ground, and the first horizontal distance, the third horizontal distance of the UAV relative to the radar detection blind zone is determined; Based on the third horizontal distance and the horizontal speed, a second prediction time is predicted when the UAV arrives at the radar detection blind zone.

2. The method according to claim 1, characterized in that, The step of determining the target threat level based on the first prediction duration and the second prediction duration includes: The first candidate threat level is determined based on the first prediction duration; The second candidate threat level is determined based on the second prediction duration; The target threat level is determined based on the first candidate threat level and the second candidate threat level.

3. The method according to claim 2, characterized in that, The step of determining the first candidate threat level based on the first prediction duration includes: Based on the first predicted duration and the preset strike duration, a third predicted duration is obtained; A first time interval corresponding to the third predicted time interval is determined from a plurality of preset time intervals, and each time interval is configured with a corresponding threat level; The threat level corresponding to the first time interval is determined as the first candidate threat level.

4. The method according to claim 2, characterized in that, The step of determining the second candidate threat level based on the second prediction duration includes: Based on the second predicted duration and the preset strike duration, a fourth predicted duration is obtained; A second time interval corresponding to the fourth predicted time interval is determined from a plurality of preset time intervals, and each time interval is configured with a corresponding threat level; The threat level corresponding to the second time interval is determined as the second candidate threat level.

5. The method according to claim 2, characterized in that, Determining the target threat level based on the first candidate threat level and the second candidate threat level includes: The candidate threat level with the highest threat level between the first candidate threat level and the second candidate threat level is determined as the target threat level.

6. The method according to claim 1, characterized in that, The step of determining the attack order of each drone based on its target threat level includes: The target threat levels of each UAV are sorted according to a preset order to obtain the first sorting result; Based on the first sorting result, the order of attack for each of the drones is determined.

7. The method according to claim 6, characterized in that, If the first ranking result includes at least two drones with the same target threat level, determining the strike order of each drone based on the first ranking result includes: Obtain the first and second prediction durations of a peer drone, wherein the peer drone is one of at least two drones with the same target threat level; The target prediction duration of the peer drone is determined between the first prediction duration and the second prediction duration of the peer drone; The target prediction time of each of the same-level UAVs is sorted according to a preset order to obtain a second sorting result; The order in which each drone is attacked is determined based on the second sorting result and the first sorting result.

8. The method according to claim 1, characterized in that, The step of determining the third horizontal distance of the UAV relative to the radar detection blind zone based on the relative altitude, the maximum longitudinal detection angle of the radar to the ground, and the first horizontal distance includes: Based on the relative altitude and the maximum longitudinal detection angle of the radar to the ground, a fourth horizontal distance is determined. The fourth horizontal distance is the distance of the UAV relative to the defense center when the UAV arrives at the radar detection blind zone. Based on the first horizontal distance and the fourth horizontal distance, the third horizontal distance at which the UAV arrives at the radar detection blind zone is determined.

9. An electronic device, characterized in that, include: At least one processor; And, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method as described in any one of claims 1 to 8.

10. A defense system, characterized in that, include: Countermeasure guns, used to strike drones; The electronic device as claimed in claim 9; and The radar is communicatively connected to the electronic device.

Images