A laser anti-UAV decision-making method

Abstract

The present application relates to anti-UAV technical field, specifically relates to a kind of laser anti-UAV decision-making method.Laser countermeasure system around the image of unfamiliar UAV as target UAV image is obtained;The vulnerable parts of target UAV are obtained;Each vulnerable part of target UAV is selected as target vulnerable part in turn, when the relative position between target vulnerable part and laser countermeasure system satisfies preset condition, the time required for target vulnerable part to be damaged by laser irradiation is obtained;When the time required for target vulnerable part to be damaged is less than the single continuous light-emitting time of laser countermeasure system, target vulnerable part is selected as the laser irradiation part of target UAV;The laser irradiation part of target UAV is irradiated by laser countermeasure system.The present application selects irradiation part according to the vulnerability of different parts of UAV, is more practical and decision-making is more reasonable, so that countermeasure efficiency is higher.

Description

Technical Field

[0001] This invention relates to the field of anti-drone technology, and specifically to a laser-based anti-drone decision-making method. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft controlled by radio remote control equipment or their own program control devices. Due to their advantages such as high altitude, long range, and strong adaptability, UAVs can be equipped with different mission payloads. In recent years, with the rapid development of UAV technology, UAVs have been increasingly used in various industries. They are widely used in aerial photography, reconnaissance and surveillance, search and rescue, information reconnaissance, communication relay and other fields.

[0003] However, while bringing convenience to people's lives, the management of drones has not kept pace with technological development. Illegal flights pose a threat to public safety and flight safety. For example, drones are used for surreptitious photography and information theft, or to carry substances that endanger public safety. Near civilian airports, "black flights" of drones pose a serious threat to the normal take-off and landing safety of aircraft. To address this, people have researched a series of countermeasures to capture or eliminate illegal drone intrusions. These technologies can be divided into two categories: hard kill and soft kill. Hard kill mainly uses traditional shooting, directed energy, and capture methods, while soft kill mainly uses interference with and takeover of the drone's navigation, guidance, communication, and control systems.

[0004] Among directed energy counter-drone technologies, laser counter-drone technology has developed most rapidly. However, current research on laser counter-drone technology mainly focuses on the development of laser equipment. The countermeasure process often treats drones as point targets. Since the energy and duration of a single laser beam are limited, it is difficult to achieve the expected countermeasure effect if the vulnerable parts of the drone cannot be continuously irradiated. Therefore, treating drones as point targets for countermeasures is far from meeting the needs of actual applications. Furthermore, the decision-making process for laser counter-drone technology varies depending on the diversity of drones, the randomness of their operation, and the complexity of the application environment. The decision-making technology is quite complex, and there is currently no mature decision-making method that analyzes drones as volume targets. Summary of the Invention

[0005] To address the problem that existing methods cannot continuously irradiate vulnerable parts of drones, making it difficult to achieve the desired countermeasure effect, this invention provides a laser-based anti-drone decision-making method. The method involves acquiring images of unfamiliar drones surrounding the laser countermeasure system as target drone images; identifying vulnerable parts of the target drone; sequentially selecting each vulnerable part of the target drone as a target vulnerable part; when the relative position between the target vulnerable part and the laser countermeasure system meets preset conditions, obtaining the time required for the target vulnerable part to be damaged by laser irradiation; when the time required for the target vulnerable part to be damaged is less than the single continuous emission time of the laser countermeasure system, selecting the target vulnerable part as the laser-irradiable part of the target drone; and then using the laser countermeasure system to irradiate the laser-irradiable part of the target drone. This invention selects irradiation points based on the vulnerability of different parts of the drone, making it more practical and the decision-making more rational, resulting in higher countermeasure efficiency.

[0006] This invention adopts the following technical solution: a laser-based anti-drone decision-making method, comprising:

[0007] S1. When there is an unfamiliar drone around the laser countermeasure system, acquire an image of the unfamiliar drone as the target drone image;

[0008] S2. Determine the type of the target drone based on the target drone image, and obtain the vulnerable parts of the target drone based on the type of the target drone;

[0009] S3. Select each vulnerable part of the target UAV as the target vulnerable part in sequence. When the relative position between the target vulnerable part and the laser countermeasure system meets the preset conditions, obtain the time required for the target vulnerable part to be damaged by laser irradiation; if not, reselect the target vulnerable part until the preset conditions are met.

[0010] S4. When the time required to damage the vulnerable part of the target is less than the single continuous emission time of the laser countermeasure system, the vulnerable part of the target is selected as the laser irradiation part of the target UAV.

[0011] S5. When the time required for the vulnerable part of the target to be damaged is greater than the single continuous emission time of the laser countermeasure system, the vulnerable part of the target UAV is reselected, and steps S3-S4 are repeated until the time required for the vulnerable part of the target to be damaged is less than the single continuous emission time of the laser countermeasure system, and the laser-irradiable part of the target UAV is obtained.

[0012] S6. Use a laser countermeasure system to irradiate the laser-targetable parts of the UAV.

[0013] Furthermore, the method for obtaining the time required to laser damage the vulnerable parts of the target in step S3 specifically includes the following steps:

[0014] S31. Obtain the azimuth angle of the laser countermeasure system irradiating the vulnerable parts of the target with laser;

[0015] S32. Obtain the area of ​​the laser spot formed by the laser countermeasure system when irradiating the vulnerable part of the target with laser;

[0016] S33. Obtain the laser spot radiance when the laser countermeasure system irradiates the vulnerable part of the target with laser based on the spot area and the azimuth angle;

[0017] S34. Obtain the material damage threshold of the target vulnerable part;

[0018] S35. Obtain the time required for the target vulnerable part to be damaged by laser irradiation based on the laser spot radiance and the material damage threshold.

[0019] Furthermore, the specific method for obtaining the azimuth angle of the laser countermeasure system irradiating the vulnerable part in step S31 includes:

[0020] Convert the relative position information of the target UAV with respect to the laser countermeasure system from the polar coordinate system to the rectangular coordinate system;

[0021] The azimuth angle for laser irradiation of the vulnerable part by the laser countermeasure system is obtained based on the coordinates of the vulnerable part of the target in the rectangular coordinate system.

[0022] Furthermore, the specific method for obtaining the area of ​​the laser spot formed by the laser irradiation of the vulnerable part by the laser countermeasure system in step S32 is as follows:

[0023] The divergence angle of the laser transmission process is obtained by comparing the wavelength of the laser emitted by the laser countermeasure system with the diameter of the emitting mirror.

[0024] The spot radius deviation is obtained based on the deviation between the actual laser beam pointing angle and the theoretical laser beam pointing angle.

[0025] The area of ​​the laser spot formed by the laser countermeasure system when irradiating the vulnerable part of the target is obtained based on the divergence angle and the spot radius deviation.

[0026] Furthermore, the specific method for obtaining the laser spot radiance when the laser countermeasure system irradiates the vulnerable part of the target in step S33 includes:

[0027] Obtain the energy attenuation rate of the laser emitted by the laser countermeasure system as it travels through the atmosphere;

[0028] The laser spot radiance when the laser countermeasure system irradiates a vulnerable part of the target is obtained based on the energy attenuation rate, the azimuth angle, and the spot area.

[0029] Furthermore, the method for determining the time required for the vulnerable part of the target to be damaged by laser irradiation in step S35 is as follows:

[0030]

[0031] Among them, t f denoted by , where represents the time required for the f-th vulnerable part of the target to be damaged by laser irradiation, E represents the material damage threshold of the vulnerable part of the target, k is the divergence coefficient, ε is a constant parameter, R represents the distance between the vulnerable part of the target and the laser countermeasure system, P0 represents the power of the laser beam irradiated by the laser countermeasure system, D represents the diameter of the laser countermeasure system's emitting mirror, λ represents the laser wavelength, and γ represents the deviation between the actual laser beam pointing angle and the theoretical laser beam pointing angle.

[0032] Furthermore, the preset condition for the relative position between the vulnerable part of the target and the laser countermeasure system is as follows:

[0033] To obtain the far and near boundaries of the laser countermeasure system's illumination, the distance between the vulnerable part of the target and the laser countermeasure system must be between the far and near boundaries of the laser countermeasure system's illumination.

[0034] Obtain the azimuth and elevation operating ranges of the laser countermeasure system. The azimuth angle of the laser countermeasure system pointing towards the vulnerable part of the target must be within the azimuth operating range, and the elevation angle must be within the elevation operating range.

[0035] Furthermore, the method for obtaining the vulnerable parts of the target drone is as follows:

[0036] Based on the type of the target drone, a comparison search is performed in the drone vulnerability database to identify the vulnerable parts of the target drone.

[0037] The beneficial effects of this invention are as follows: This invention selects vulnerable parts of a target based on distance and the operating range of the laser countermeasure system, enabling rapid preliminary screening of irradiable areas, reducing decision-making risk, and thus improving the timeliness of decision-making. Furthermore, by matching the relationship between the time required for laser damage to the vulnerable parts of the target and the laser irradiation capability of the laser countermeasure system, it fully considers factors such as the continuous emission time of the laser countermeasure system, laser power, natural environment, and the material threshold of the vulnerable parts of the target. This comprehensive decision-making process not only conforms to the countermeasure capability of the laser countermeasure system but also makes the decision more rational, resulting in higher efficiency in countering UAVs. Simultaneously, this invention only considers the material factors of the UAV itself, without needing to consider the UAV's motion and structural characteristics, making it applicable to both fixed-wing and rotary-wing UAV countermeasures, thus having a wide range of applications. Attached Figure Description

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art in the field of laser countermeasure drone technology, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of a laser-based anti-drone decision-making method according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of an equivalent model of a vulnerable part of a drone according to an embodiment of the present invention; Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] like Figure 1 The diagram shows a flowchart of a laser-based anti-drone decision-making method according to an embodiment of the invention, including:

[0043] S1. When there is an unfamiliar drone around the laser countermeasure system, acquire an image of the unfamiliar drone as the target drone image;

[0044] In this invention, the anti-drone system detection equipment in the laser countermeasure system acquires images of unfamiliar drones in the surrounding area, thereby performing vulnerability analysis on the unfamiliar drones.

[0045] In one specific embodiment, the laser countermeasure system can be deployed near the airport to monitor the airspace above the airport in real time. When an unidentified fixed-wing drone is detected in the airspace, it is continuously identified. Once it is determined to be an unfamiliar drone, it needs to be countermeasured. At this time, the image of the unfamiliar drone is acquired as the target drone image.

[0046] S2. Determine the type of the target drone based on the target drone image, and obtain the vulnerable parts of the target drone based on the type of the target drone;

[0047] The method for obtaining the vulnerable parts of the target drone is as follows:

[0048] Based on the type of the target drone, a comparison search is performed in the drone vulnerability database to identify the vulnerable parts of the target drone.

[0049] By identifying the target UAV image, the type of the target UAV was determined. Based on the damage level judgment criteria defined in the Aircraft Survivability Guidelines (GJB1301-91), the required damage level of the target UAV was determined. Then, based on the damage level, a comparison search was performed in the UAV vulnerability database to obtain the vulnerable parts of the target UAV.

[0050] In one specific embodiment, the damage level of the unfamiliar UAV over the airport is determined to be KK or K level according to the countermeasure requirements. Based on the UAV identification results, the vulnerable parts of the unfamiliar UAV are retrieved from the vulnerability database and sorted as follows: fuel tank, engine, wings, detection equipment, tail and fuselage.

[0051] After identifying the vulnerable parts of the target UAV, this invention performs parallelepiped equivalent modeling on these parts. Based on the target material obtained from the photoelectric detection equipment, the center position and dimensions of each equivalent model are determined. A specific equivalent model is as follows: Figure 2 As shown, the equivalent model consists of an air tank 105, an engine 104, a left wing 102, a right wing 103, a detection device 106, a left tail 107, a right tail 108, and a fuselage 101.

[0052] S3. Select each vulnerable part of the target UAV as the target vulnerable part in sequence. When the relative position between the target vulnerable part and the laser countermeasure system meets the preset conditions, obtain the time required for the target vulnerable part to be damaged by laser irradiation; if not, reselect the target vulnerable part until the preset conditions are met.

[0053] The preset conditions for the relative position between the vulnerable part of the target and the laser countermeasure system are as follows:

[0054] To obtain the far and near boundaries of the laser countermeasure system's illumination, the distance between the vulnerable part of the target and the laser countermeasure system must be between the far and near boundaries of the laser countermeasure system's illumination.

[0055] Obtain the azimuth and elevation operating ranges of the laser countermeasure system. The azimuth angle of the laser countermeasure system pointing towards the vulnerable part of the target must be within the azimuth operating range, and the elevation angle must be within the elevation operating range.

[0056] This invention further establishes a spatial rectangular coordinate system with the location of the laser countermeasure system as the origin, and uses an optoelectronic or radar system to capture the real-time position of the target UAV relative to the laser countermeasure system. The system includes velocity v and situational information, where R represents the distance between the target UAV and the laser countermeasure system, φ represents the pitch angle of the target UAV relative to the laser countermeasure system, and θ represents the azimuth angle of the target UAV relative to the laser countermeasure system. This information is used to perform countermeasure reachability analysis and determine the vulnerable parts of the target. In one specific embodiment, the vulnerable parts can be selected sequentially according to their serial numbers as described in this invention. In other embodiments, the vulnerable parts can be selected sequentially from front to back or from back to front based on the UAV's structure.

[0057] In this embodiment of the invention, the illumination distance of the laser countermeasure system is R. max The irradiation boundary is R min Then the relative distance R between the target drone and the laser countermeasure system needs to satisfy R min ≤R≤R max ;

[0058] Given the required distance, it is necessary to determine whether the vulnerable parts of the target UAV meet the illumination angle requirements. The azimuth operating range of the laser countermeasure system is [θ]. min ,θ max The pitch angle operating range is... The target UAV's pitch and azimuth angles must respectively satisfy the following conditions. The vulnerable parts are initially screened by judging the distance and angle of the target drone. If the conditions are not met, the next vulnerable part of the target drone is replaced. This process continues until all vulnerable parts have been visited or vulnerable parts that meet the conditions are identified, at which point the next step of analysis is carried out.

[0059] The method for obtaining the time required to laser-damage a vulnerable part of a target includes the following steps:

[0060] S31. Obtain the azimuth angle of the laser countermeasure system irradiating the vulnerable parts of the target with laser;

[0061] Specific methods for obtaining the azimuth angle of laser irradiation of the vulnerable part by the laser countermeasure system include:

[0062] Convert the relative position information of the target UAV with respect to the laser countermeasure system from polar coordinates to Cartesian coordinates:

[0063]

[0064] Based on the coordinates of the vulnerable part of the target in a rectangular coordinate system, the azimuth angle of the laser irradiation of the vulnerable part by the laser countermeasure system is obtained. Since the laser emission speed is fast, the irradiation lead can be ignored, and it can be regarded as a straight line irradiation. Then the irradiation azimuth angle α and elevation angle β of the irradiated part are:

[0065]

[0066] S32. Obtain the area of ​​the laser spot formed by the laser countermeasure system when irradiating the vulnerable part of the target with laser;

[0067] The specific method for obtaining the area of ​​the laser spot formed by laser irradiation on the vulnerable part of the laser countermeasure system is as follows:

[0068] The divergence angle of the laser transmission process is obtained by using the wavelength of the laser emitted by the laser countermeasure system and the diameter of the emitting mirror. The expression is:

[0069]

[0070] Where σ represents the divergence angle during laser transmission, λ represents the wavelength of the emitted laser, and D represents the diameter of the emitting mirror. The spot radius deviation is then obtained based on the deviation between the actual laser beam pointing angle and the theoretical laser beam pointing angle.

[0071] Δr=R·γ

[0072] Where Δr represents the spot radius deviation, R represents the distance between the target UAV and the laser countermeasure system, and γ represents the deviation between the actual laser beam pointing angle (composed of the pitch angle and azimuth angle) and the theoretical laser beam pointing angle. This deviation is an inherent value of the laser countermeasure system, which can be considered a fixed parameter.

[0073] Based on the divergence angle and the spot radius deviation, the area of ​​the laser spot formed by the laser countermeasure system when irradiating the vulnerable part of the target is:

[0074]

[0075] Where S represents the spot area, R represents the distance between the target UAV and the laser countermeasure system, σ represents the divergence angle during laser transmission, Δr represents the spot radius deviation, γ represents the deviation between the actual laser beam pointing angle (composed of the elevation angle and azimuth angle) and the theoretical laser beam pointing angle, λ represents the wavelength of the emitted laser, and D represents the diameter of the emitting mirror.

[0076] S33. Obtain the laser spot radiance when the laser countermeasure system irradiates the vulnerable part of the target with laser based on the spot area and the azimuth angle;

[0077] Specific methods for obtaining the laser spot radiance when a laser countermeasure system irradiates a vulnerable part of a target include:

[0078] To obtain the energy attenuation rate of the laser emitted by the laser countermeasure system as it travels through the atmosphere, this invention takes into account the energy attenuation caused by atmospheric refraction and absorption, and thus obtains the energy attenuation rate as follows:

[0079] η=(1-ε)R

[0080] Where η represents the energy attenuation rate, ε is the attenuation parameter, and R represents the distance between the target UAV and the laser countermeasure system.

[0081] The attenuation parameter ε is obtained as follows: Where V represents atmospheric visibility, λ represents the wavelength of the emitted laser, and q is a constant whose value is related to atmospheric visibility V as follows:

[0082]

[0083] The laser spot radiance when the laser countermeasure system irradiates a vulnerable part of the target using laser irradiation is obtained based on the energy attenuation rate, the azimuth angle, and the spot area.

[0084]

[0085] Where I represents the radiance of the laser spot, P0 is the power of the laser beam, k is the divergence coefficient, which ranges from 84% to 98%, depending on the beam characteristics and the optical system of the laser, S represents the area of ​​the laser spot, η represents the energy attenuation rate, and β represents the elevation angle of the irradiated part of the laser countermeasure system.

[0086] S34. Obtain the material damage threshold of the target vulnerable part;

[0087] This invention, based on the identification results of the target drone, can obtain the structural materials of the target drone, thereby acquiring parameters such as material density, material heat capacity, material melting temperature, material vaporization temperature, and material thickness. This allows for the calculation of the material damage threshold for vulnerable parts of the target drone, expressed as:

[0088] E=ρd(C(T m -T0)+H m +C(T v -T m )+H v ) / 1000

[0089] Where E represents the material damage threshold, ρ is the material density, C is the material heat capacity, and T is the material heat capacity. m T is the melting temperature of the material. v H is the vaporization temperature of the material. m Where T is the potential heat of fusion, T0 is the ambient temperature, d is the material thickness, and H is the heat of fusion. v It is the potential heat of vaporization.

[0090] S35. Obtain the time required for the target vulnerable part to be damaged by laser irradiation based on the laser spot radiance and the material damage threshold.

[0091] The expression for the time required for a vulnerable part of the target to be damaged by laser irradiation is: For "low, slow, and small" drones, this invention considers the short illumination time and relatively slow drone speed, resulting in minimal change in distance over time during the sequential illumination period. Therefore, the above formula is simplified to: I·(t f =E; Combining all expressions, the method for obtaining the time required for a vulnerable part of the target to be damaged by laser irradiation is:

[0092]

[0093] Among them, t f denoted by , where represents the time required for the f-th vulnerable part of the target to be damaged by laser irradiation, E represents the material damage threshold of the vulnerable part of the target, k is the divergence coefficient, ε is a constant parameter, R represents the distance between the vulnerable part of the target and the laser countermeasure system, P0 represents the power of the laser beam irradiated by the laser countermeasure system, D represents the diameter of the laser countermeasure system's emitting mirror, λ represents the laser wavelength, and γ represents the deviation between the actual laser beam pointing angle and the theoretical laser beam pointing angle.

[0094] S4. When the time required to damage the vulnerable part of the target is less than the single continuous emission time of the laser countermeasure system, the vulnerable part of the target is selected as the laser irradiation part of the target UAV.

[0095] After obtaining the time it takes for the target vulnerable part to be damaged by laser irradiation, this invention determines the time t required for the target vulnerable part to be damaged by laser irradiation. f If the duration of continuous emission of light by a single laser beam exceeds that of the laser countermeasure system, then the vulnerable part of the target is designated as a laser-emittable part, and a decision is made to countermeasure it with laser.

[0096] S5. When the time required for the vulnerable part of the target to be damaged is greater than the single continuous emission time of the laser countermeasure system, the vulnerable part of the target UAV is reselected, and steps S3-S4 are repeated until the time required for the vulnerable part of the target to be damaged is less than the single continuous emission time of the laser countermeasure system, and the laser-irradiable part of the target UAV is obtained.

[0097] S6. Use a laser countermeasure system to irradiate the laser-targetable parts of the UAV.

[0098] It should be noted that, in one specific embodiment, if all parts of the target drone do not meet the illumination conditions after assessment, then it is impossible to counter the target drone. It is necessary to use a laser countermeasure system to continuously monitor it until the vulnerable parts of the target drone meet the illumination conditions after it moves, and then to carry out laser countermeasures or take other hard-kill measures to counter it in order to ensure the safety of the airport airspace.

[0099] This invention selects vulnerable parts of a target based on distance and the operating range of the laser countermeasure system, enabling rapid preliminary screening of irradiable areas, reducing decision-making risk, and thus improving decision-making timeliness. Furthermore, by matching the time required for laser damage to the vulnerable parts of the target with the laser irradiation capability of the laser countermeasure system, it fully considers factors such as the continuous emission time of the laser countermeasure system, laser power, natural environment, and the material threshold of the vulnerable parts of the target. This comprehensive decision-making approach not only aligns with the countermeasure capabilities of the laser countermeasure system but also makes the decision more rational, resulting in higher efficiency in countering UAVs. Moreover, this invention only considers the material factors of the UAV itself, without needing to consider its motion and structural characteristics, making it applicable to both fixed-wing and rotary-wing UAVs, thus having a wide range of applications.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A laser-based anti-drone decision-making method, characterized in that, include: S1. When there is an unfamiliar drone around the laser countermeasure system, acquire an image of the unfamiliar drone as the target drone image; S2. Determine the type of the target drone based on the target drone image, and obtain the vulnerable parts of the target drone based on the type of the target drone; S3. Sequentially select each vulnerable part of the target UAV as the target vulnerable part. When the relative position between the target vulnerable part and the laser countermeasure system meets the preset conditions, obtain the time required for the target vulnerable part to be damaged by laser irradiation; if not, reselect the target vulnerable part until the preset conditions are met; the method for obtaining the time required to damage the target vulnerable part with laser includes the following steps: S31. Obtain the azimuth angle of the laser countermeasure system irradiating the vulnerable parts of the target with laser; S32. Obtain the area of ​​the laser spot formed by the laser countermeasure system when irradiating the vulnerable part of the target with laser; S33. Obtain the laser spot radiance when the laser countermeasure system irradiates the vulnerable part of the target with laser based on the spot area and the azimuth angle; S34. Obtain the material damage threshold of the target vulnerable part; S35. The time required for the target vulnerable part to be damaged by laser irradiation is obtained based on the laser spot radiance and the material damage threshold, and is expressed as follows: ； in, This represents the time required for the f-th vulnerable part of the target to be damaged by laser irradiation, where E represents the material damage threshold of the vulnerable part of the target. The divergence coefficient is... R is a constant parameter, representing the distance between the vulnerable part of the target and the laser countermeasure system. This indicates the power of the laser beam irradiated by the laser countermeasure system. This indicates the diameter of the emitting mirror in the laser countermeasure system. Indicates the laser wavelength. This represents the deviation between the actual laser beam pointing angle and the theoretical laser beam pointing angle. S4. When the time required to damage the vulnerable part of the target is less than the single continuous emission time of the laser countermeasure system, the vulnerable part of the target is selected as the laser irradiation part of the target UAV. S5. When the time required for the vulnerable part of the target to be damaged is greater than the single continuous emission time of the laser countermeasure system, the vulnerable part of the target UAV is reselected, and steps S3-S4 are repeated until the time required for the vulnerable part of the target to be damaged is less than the single continuous emission time of the laser countermeasure system, and the laser-irradiable part of the target UAV is obtained. S6. Use a laser countermeasure system to irradiate the laser-targetable parts of the UAV.

2. The laser-based anti-drone decision-making method according to claim 1, characterized in that, The specific method for obtaining the azimuth angle of the laser countermeasure system irradiating the vulnerable part in step S31 includes: Convert the relative position information of the target UAV with respect to the laser countermeasure system from the polar coordinate system to the rectangular coordinate system; The azimuth angle for laser irradiation of the vulnerable part by the laser countermeasure system is obtained based on the coordinates of the vulnerable part of the target in the rectangular coordinate system.

3. The laser-based anti-drone decision-making method according to claim 1, characterized in that, The specific method for obtaining the area of ​​the laser spot formed by the laser countermeasure system irradiating the vulnerable part in step S32 is as follows: The divergence angle of the laser transmission process is obtained by comparing the wavelength of the laser emitted by the laser countermeasure system with the diameter of the emitting mirror. The spot radius deviation is obtained based on the deviation between the actual laser beam pointing angle and the theoretical laser beam pointing angle. The area of ​​the laser spot formed by the laser countermeasure system when irradiating the vulnerable part of the target is obtained based on the divergence angle and the spot radius deviation.

4. The laser-based anti-drone decision-making method according to claim 1, characterized in that, The specific method for obtaining the laser spot radiance when the laser countermeasure system irradiates the vulnerable part of the target in step S33 includes: Obtain the energy attenuation rate of the laser emitted by the laser countermeasure system as it travels through the atmosphere; The laser spot radiance when the laser countermeasure system irradiates a vulnerable part of the target is obtained based on the energy attenuation rate, the azimuth angle, and the spot area.

5. The laser-based anti-drone decision-making method according to claim 1, characterized in that, The preset conditions for the relative position between the vulnerable part of the target and the laser countermeasure system are as follows: To obtain the far and near boundaries of the laser countermeasure system's illumination, the distance between the vulnerable part of the target and the laser countermeasure system must be between the far and near boundaries of the laser countermeasure system's illumination. Obtain the azimuth and elevation operating ranges of the laser countermeasure system. The azimuth angle of the laser countermeasure system pointing towards the vulnerable part of the target must be within the azimuth operating range, and the elevation angle must be within the elevation operating range.

6. The laser-based anti-drone decision-making method according to claim 1, characterized in that, The method for obtaining the vulnerable parts of the target drone is as follows: Based on the type of the target drone, a comparison search is performed in the drone vulnerability database to identify the vulnerable parts of the target drone.

Images