Anti-bee colony system and method for quickly distributing air killing matrix in clustered manner

Abstract

The invention relates to the technical field of anti-unmanned aerial vehicles, in particular to an anti-bee colony system and method for quickly distributing an air killing matrix in a clustered mode. Comprising the following steps that the formation and spatial position of an interception killing matrix are regulated and controlled by continuously detecting the flight state and track change of a bee colony of an unmanned aerial vehicle, and when the unmanned aerial vehicle enters the matrix, a killing unmanned aerial vehicle at the corresponding position is remotely controlled to detonate, destroy or damage an enemy unmanned aerial vehicle. According to the method, the unmanned aerial vehicle thunder array is used for aiming at the unmanned aerial vehicle array, the difficulty of detecting and intercepting a single target in the existing anti-unmanned aerial vehicle technology is solved, an unmanned aerial vehicle thunder array intercepting system with lower cost is used, an enemy unmanned aerial vehicle bee colony is intercepted in a multi-layer and multi-time mode, a continuous intercepting and killing mode for the enemy unmanned aerial vehicle bee colony is formed, and the unmanned aerial vehicle thunder array intercepting system is used for intercepting the enemy unmanned aerial vehicle bee colony. The interception success rate is greatly improved, and the use cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of anti-UAV technology, and in particular to an anti-swarm system and method for rapidly clustering and deploying an aerial killing matrix. Background Art

[0002] With the continuous development of artificial intelligence technology and drone technology, the intelligence and clustering level of drones are constantly improving. The frequency of drone "swarms" in modern warfare is also increasing. Drone swarms are constantly changing the combat form of modern warfare with their unique advantages, and are gradually becoming an indispensable and even decisive force in modern warfare. Judging from several recent typical large-scale wars, drone reconnaissance and attack have low cost, low risk, difficulty in detection and defense, and have extremely high cost-effectiveness. They have become cheap and efficient combat means on future battlefields. Effective anti-drone and counter-drone "swarms" have become urgent and hot issues in the research of combat methods and equipment development of the world's military. With the continuous development of drone "swarm" technology, drone "swarm" combat is moving from the test field to the battlefield. In order to cope with the threat posed by drone swarms, countries are also stepping up research on key anti-drone "swarm" technologies and the development of anti-drone equipment while developing "swarm" technology.

[0003] At present, the systems or equipment that have been verified to have certain anti-small UAV capabilities are mainly divided into kinetic killing, kinetic arresting, directed energy, and interference and deception. Although the above-mentioned anti-UAV systems or equipment can play an anti-UAV role to a certain extent, they are not designed to counter UAV "swarms" and are limited by existing technologies. They still have the following defects:

[0004] First, kinetic kill equipment is basically designed to kill a single high-value target, and requires early warning detection and intelligence systems to provide real-time, accurate and continuous single target information data. When acting against a "swarm" of small drones, even if the location of the "swarm" is identified and wirelessly communicated to the kinetic kill equipment, the ability to deal with the situation where the "swarm" is dispersed is poor;

[0005] (2) Kinetic interception equipment has a short range and requires high operating accuracy. In addition, the launcher must be close to the target drone to achieve a good interception effect. Most importantly, its ability to counter drone "swarms" is limited, and it is not convenient to intercept with the help of communication control. Its intelligence is low.

[0006] (3) Due to its working characteristics and the physical properties of directed energy, the range of directed energy equipment is relatively short, and it is easily affected by the battlefield environment and weather, which reduces the effectiveness of its use and can easily cause accidental injuries. In addition, the use of laser weapons requires a certain amount of energy storage time, and the firing speed is limited, so it cannot deal with large quantities of drones;

[0007] (4) Jamming and deception equipment has a short range and is of limited use against autonomous mission drones, fiber-optic controlled drones, or self-organizing “swarms.” Summary of the invention

[0008] The purpose of the present invention is to provide an anti-swarming system and method for rapidly clustering and deploying an aerial killing matrix to solve the problems raised in the above-mentioned background technology.

[0009] In order to solve the above technical problems, one of the purposes of the present invention is to provide an anti-swarming method for rapidly clustering and deploying an aerial killing matrix, comprising the following steps:

[0010] S1. After receiving the task, each subsystem is deployed and on standby;

[0011] S2. Collect and analyze drone threats in the defense area. When a drone swarm is detected as threatening, calculate the flight data and interception airspace of the incoming drone swarm.

[0012] S3, issue a launch command and a take-off command, so that the control node drone controls the killing drone to complete the formation and form an interception killing matrix;

[0013] S4. The control node drone controls the interception killing matrix to adjust the flight to the interception airspace until the drone "swarm" enters the matrix, and if the drone is not destroyed by collision, the control node drone remotely controls the nearest killing drone to detonate;

[0014] S5. Continue to measure the flight data and interception airspace of the drone "swarm" and adjust the interception and killing matrix until the enemy drones fly out of the matrix and are destroyed.

[0015] The second object of the present invention is to provide an anti-swarm system for rapidly clustering and deploying an aerial kill matrix, including the anti-swarm method for rapidly clustering and deploying an aerial kill matrix as described in any one of the above, including a floating intelligence collection and analysis subsystem, a tethered floating navigation and communication subsystem, and an interception equipment group, wherein the floating intelligence collection and analysis subsystem, the tethered floating navigation and communication subsystem, and the interception equipment group represent the subsystems in S1, and it should be noted that the floating intelligence collection and analysis subsystem and the tethered floating navigation and communication subsystem can also be externally connected to other existing intelligence and navigation and communication subsystems, and the floating intelligence collection and analysis subsystem and the tethered floating navigation and communication subsystem can also be configured to multiple mobile launch devices, launchers, and drone recovery stations within the control range;

[0016] The floating intelligence collection and analysis subsystem collects battlefield image data through airborne detection equipment, issues launch instructions and take-off instructions in S3 when sensing the characteristics of the drone "swarm" in the image data, and calculates the flight data of the incoming drone "swarm" in real time;

[0017] The tethered floating navigation and communication subsystem is used to provide navigation positioning and communication support for the interception equipment group. The tethered floating navigation and communication subsystem locates the position of the dense area, locks the interception airspace and issues the launch command and take-off command in S3, so that the interception equipment group forms an interception killing matrix with the interception airspace as the center point.

[0018] Preferably, the floating intelligence collection and analysis subsystem includes airborne detection equipment, a feature perception module and a trajectory prediction module;

[0019] The airborne detection equipment uses a multi-rotor drone equipped with a phased array radar, an optical / infrared sensor, an acoustic sensor and a visual system to collect data, connect to the rear intelligence system, and transmit battlefield data in real time with the help of the tethered floating navigation and communication subsystem;

[0020] The feature perception module pre-processes the image data collected by the visual system through denoising and contrast enhancement, uses image segmentation technology to extract the area containing the drone "swarm", uses the shape feature extraction algorithm to extract the shape information in the image, and detects and identifies the boundaries and overall formation of the drone "swarm";

[0021] The trajectory prediction module is used to predict the flight data of the drone swarm using a Kalman filter after receiving the warning signal, including the following prediction steps:

[0022]

[0023] in, is the predicted state at time k, is the estimated state at time k-1, F is the state transfer matrix, B is the control matrix, u k-1 is the control input at time k-1.

[0024] Preferably, the tethered floating navigation and communication subsystem comprises a navigation and communication module, a tethered vehicle, a generator and a cable assembly;

[0025] The navigation and communication module is a drone equipped with navigation and communication equipment, which is used to provide positioning, navigation and communication support for the interception equipment group, and receives the dense area from the dense area calculation module, locates the coordinates of the dense area as the interception airspace, and calculates the interception killing matrix with the interception airspace as the center point;

[0026] The tethered vehicle is usually an electrically driven unmanned vehicle, which is used to carry a generator, a navigation and communication module and a cable assembly for movement; the generator is fixedly mounted on the tethered vehicle, and is used to supply power to the tethered vehicle and the navigation and communication module; the cable assembly is composed of a high-strength tethering cable and a power supply cable, which is coiled on a roller, with one end connected to the navigation and communication module and the other end connected to the tethered vehicle.

[0027] Preferably, the interception equipment group includes a mobile launch device, and is deployed in S1;

[0028] The mobile launch device is composed of a mobile carrier, a steering machine, an elevation machine, a launch box and a missile body. The mobile carrier is a load-bearing and transporting carrier of the mobile launch device. An integrated steering machine and an elevation machine are installed on the mobile carrier, and the mobile carrier has a two-axis motion capability. The launch box is fixed on the integrated steering machine and the elevation machine. The missile body is stored separately. Before use, the launch missile body is installed when the S1 deployment subsystem is used, and the missile body is installed in the launch tube in the launch box. When the interception kill matrix is ​​solved, a launch command is issued, and the launch box can launch the missile body into the interception airspace by means of rocket launch;

[0029] The rear section of the missile body is a rocket engine, and the front section is provided with an interception drone group, which is used to form an interception killing matrix with the interception airspace as the center point.

[0030] Preferably, the interception drone group includes one control node drone and six killing drones;

[0031] When the control node drone is started, it communicates with the control node drones of other interception drone groups in a self-organizing network, and at the same time establishes a positioning navigation and communication link with the navigation and communication module, so that each group of control node drones issues a formation instruction to the killing drones in its group according to the interception and killing matrix formation calculated by the navigation and communication module, and each killing drone completes the formation according to the positioning signal of the navigation and communication module to form an air interception and killing matrix.

[0032] Preferably, the control node drone is equipped with navigation communication and on-site reconnaissance equipment, and is responsible for on-site detection of enemy drones. When an enemy drone is found to have entered the interception and killing matrix, it can remotely control several killing drones that are close to the incoming drone to detonate and destroy the incoming drone, including the following postures:

[0033] Posture 1: When the killing drone is detonated, the interception killing matrix is ​​updated through the self-organizing network communication of multiple control node drones;

[0034] Posture 2: When a control node drone crashes or fails, the control node drones of other interception drone groups take over the killing drones of this group.

[0035] Preferably, the rocket engine is used to reduce the flight speed of the projectile after the projectile flies to the interception airspace, and the reverse thrust deceleration device on the projectile automatically releases the onboard drone, and the control node drone and the killing drone unfold the rotor and start the drone with the help of flight inertia and attitude, and the other parts of the projectile open the parachute to slow down and land.

[0036] Preferably, the subsystem deployed in S1 also includes a drone recovery station, which is used to find and fly to the recovery area and land through navigation beacons after the interception mission is completed, and to recover the unused control node drones and killing drones.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention designs an interception system and application method for drone "swarms", adopts the method of using "drone mine arrays" to counter "drone arrays", solves the difficulty of existing anti-drone technologies in detecting and intercepting only a single target, uses a lower-cost drone mine array interception system, intercepts enemy drone "swarms" in a "multi-layer and multiple-time" manner, forms a continuous interception and killing mode for enemy drone "swarms", greatly improves the interception success rate, and reduces the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the system composition and layout relationship of the present invention;

[0040] Figure 2 It is a schematic diagram of the mobile launching device of the present invention;

[0041] Figure 3 A schematic diagram of the launch of an interception drone group of the present invention;

[0042] Figure 4 This is a schematic diagram of the interception and killing matrix of the present invention;

[0043] Figure 5 This is a working schematic diagram of the drone recycling station of the present invention;

[0044] Figure 6 The figure is a flow chart of the method for using the present invention.

[0045] The meaning of each number in the figure is:

[0046] 1. Multi-rotor UAV; 2. Navigation and communication module; 3. Tethered vehicle; 4. Mobile launch device; 41. Mobile vehicle; 42. Steering machine; 43. Elevator; 44. Launch box; 45. Missile body; 5. Control node UAV; 6. Killer UAV; 7. UAV recycling station. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] At present, the systems or equipment that have been verified to have certain anti-small UAV capabilities are mainly divided into kinetic kill, kinetic interception, directed energy, and interference and deception types.

[0049] Kinetic kill equipment mainly includes improved air defense missiles, various types of cruise missiles, surface-to-air rockets modified with precision guidance kits, small and medium caliber anti-aircraft guns, high-rate close-in defense guns with dense barrage effects, etc. This type of equipment is mainly designed to intercept and destroy single high-value air targets and is very costly;

[0050] Kinetic arresting equipment mainly includes arresting entanglement nets that can be launched into the air or carried into the air by one's own drones, as well as methods of using drones to directly hit or destroy or shoot down enemy drones, and even "special" means of using trained raptors to capture threatening drones from the air. This type of equipment is mainly designed to intercept a single or a small number of drones, requiring high operating capabilities and precision;

[0051] Directed energy equipment mainly includes directed energy weapons represented by high-energy lasers and high-power microwave weapons. Due to their strong destructive power, fast response, low support requirements, and low attack costs, they are considered to be the preferred means of dealing with small drone targets. High-energy laser weapons are mainly designed to intercept single targets. They burn the target by continuously irradiating it with a high-energy laser beam. They require line-of-sight conditions and a high atmospheric environment. In order to accurately attack the target, an extremely sensitive target identification, tracking and aiming system is required. The overall structure is extremely complex and expensive. High-energy microwave weapons are mainly designed to use high-energy microwaves to destroy electronic equipment within a certain range to disable enemy weapons and equipment. Their killing range is greatly affected by the output power and the effective distance is short. If the launch direction is not well controlled, it is easy to cause accidental injuries to our equipment and personnel.

[0052] Interference and deception equipment mainly uses interference and blocking technology to block or deceive the control or navigation signals of the drone "swarm", or blind the drone's sensors, causing it to lose control. Commonly used are electronic interference, laser interference, and acoustic interference. Electronic interference mainly targets drone communication signals and navigation signals, emitting high-power electronic signals of the same frequency to cut off its communication link or make it unable to accurately locate, thereby causing the "swarm" to lose control or force it to land; laser interference mainly uses low-power lasers to emit laser beams to drones, disrupting the enemy drone's sighting, tracking, guidance and other systems, or blinding the drone's optoelectronic, infrared and other sensors to reduce its reconnaissance, tracking, and identification capabilities, so as to weaken or destroy the drone's performance and functions; acoustic interference is to emit ultrasonic waves to resonate the drone's gyroscope and interfere with its accelerometer, making it unable to obtain correct position and attitude information and disrupting its normal and stable flight, thereby causing the target drone to become disabled or fall.

[0053] Although the above-mentioned anti-UAV systems or equipment can play an anti-UAV role to a certain extent, they still have the following deficiencies and defects because their design goals are not aimed at anti-UAV "swarms" and the limitations of existing technologies:

[0054] (1) Kinetic kill equipment is basically designed to kill a single high-value target, requiring early warning detection and intelligence systems to provide real-time, accurate and continuous single target information data. The range of action against small drone "swarms" is short and the response capability is poor. Only small and medium-caliber anti-aircraft guns using AHEAD-type ammunition may have a certain interception effect. In addition, the cost of manufacturing and using this type of equipment is high, and the cost-effectiveness of dealing with drone "swarms" is very low;

[0055] (2) Kinetic energy interception equipment has a short range, so it not only requires high operating accuracy, but also requires the launcher to be close to the target drone to achieve a good interception effect. Most importantly, its ability to counter drone "swarms" is limited;

[0056] (3) Due to its working characteristics and the physical properties of directed energy, the range of directed energy equipment is relatively short, and it is easily affected by the battlefield environment and weather, which reduces the effectiveness of its use and can easily cause accidental injuries. In addition, the use of laser weapons requires a certain amount of energy storage time, and the firing speed is limited, so it cannot cope with large quantities of drones;

[0057] (4) Jamming and deception equipment has a short range and is of limited use against autonomous mission drones, fiber-optic controlled drones, or self-organizing “swarms”;

[0058] In summary, in the anti-I and II small drone "swarm" operations, according to the existing equipment capabilities, the 3-5km segment is a weak capability area, the 5-10km segment is a capability deficiency area, and the 10km segment is a capability blank area. All countries have an urgent need to improve their anti-drone "swarm" capabilities. Please refer to Figure 1-6 To solve the above problems:

[0059] like Figure 6 As shown, one of the purposes of the present invention is to propose an anti-swarming method for rapidly clustering and deploying an aerial killing matrix, comprising the following steps:

[0060] S1. After receiving the task, deploy each subsystem of the system according to the task requirements and stand by;

[0061] S2. Collect and analyze drone threats in the defense area. When a drone swarm threat is detected, calculate the overall flight data of the incoming drone swarm and plan an interception plan.

[0062] S3, issue a launch command and a take-off command, so that the control node drone controls the killing drone to reach the predetermined interception airspace and complete the formation, forming an interception killing matrix;

[0063] S4. By continuously detecting the flight status and track changes of the drone "swarm", the control node drone adjusts the interception and killing matrix formation and spatial position. When the drone "swarm" enters the matrix, the control node drone remotely controls the killing drone at the corresponding position to detonate and destroy or injure the enemy drone.

[0064] S5. After the enemy UAV "swarm" leaves the interception airspace, when one interception kill matrix fails to completely intercept the enemy UAV "swarm", the system instructs other interception kill matrices deployed in multiple layers to launch and intercept until the enemy UAV "swarm" is completely intercepted, and the unused killing drones in the interception kill matrix are recovered or detonated in a safe area.

[0065] The present invention designs an interception system and application method for drone "swarms", adopts the method of using "drone mine arrays" to counter "drone arrays", solves the difficulty of existing anti-drone technologies in detecting and intercepting only a single target, uses a lower-cost drone mine array interception system, intercepts enemy drone "swarms" in a "multi-layer and multiple-time" manner, forms a continuous interception and killing mode for enemy drone "swarms", greatly improves the interception success rate, and reduces the cost of use.

[0066] like Figure 1-5As shown, the second object of the present invention is to provide an anti-swarm system for rapidly clustering and deploying an aerial kill matrix, including a floating intelligence collection and analysis subsystem, a key point communication unit, a tethered floating navigation and communication subsystem, and an interception equipment group, wherein the floating intelligence collection and analysis subsystem, the key point communication unit, the tethered floating navigation and communication subsystem, and the interception equipment group represent the subsystems in S1;

[0067] The floating intelligence collection and analysis subsystem collects battlefield image data through airborne detection equipment. When it senses the characteristics of the drone "swarm" in the image data, it issues the launch command and take-off command in S3, and calculates the flight data of the incoming drone "swarm" in real time;

[0068] The tethered floating navigation and communication subsystem is used to provide navigation positioning and communication support for the interception equipment group. The tethered floating navigation and communication subsystem locates the position of the densely populated area, locks the interception airspace and issues launch and take-off commands, so that the interception equipment group forms an interception killing matrix in S3 with the interception airspace as the center point, which can effectively defend against the attack of drone "swarms" within a certain distance and range. By laying out an aerial lethal minefield matrix in a specific direction within a few minutes, it provides anti-drone "swarm" protection capabilities for important targets, greatly reducing the threat of important targets being attacked by drones and drone "swarms". At the same time, the killing matrix has a certain degree of intelligence and can change its formation in real time according to the enemy's "swarm" form, with strong flexibility.

[0069] The floating intelligence collection and analysis subsystem includes airborne detection equipment, feature perception module and trajectory prediction module;

[0070] The airborne detection equipment uses a multi-rotor drone 1 equipped with a phased array radar, optical / infrared sensors, acoustic sensors and a visual system to collect data, connect to the rear intelligence system, and transmit battlefield data in real time with the help of a tethered floating navigation and communication subsystem 200;

[0071] The feature perception module pre-processes the image data collected by the visual system through denoising and contrast enhancement to improve image quality and enhance the visibility of target features. It uses image segmentation techniques, such as threshold segmentation and edge detection, to extract the area containing the drone "swarm". It uses the shape feature extraction algorithm to extract shape information in the image, detect and identify the boundaries and overall formation of the drone "swarm";

[0072] The trajectory prediction module is used to predict the flight data of the drone swarm using the Kalman filter after receiving the warning signal, including the following prediction steps:

[0073]

[0074] in, is the predicted state at time k, is the estimated state at time k-1, F is the state transfer matrix, B is the control matrix, u k-1 is the control input at time k-1. The basic principle of the prediction step is to use the best estimated state at the previous moment, combined with the system model, i.e., the state transfer matrix and the control matrix, to predict the system state at the current moment. First, the estimated state at the previous moment is converted to Derived to the current moment, an initial predicted state is obtained, and then the control input u is k-1 The impact on the system state is taken into account and corrected through the control matrix B to obtain the final predicted state;

[0075] Specifically, the multi-rotor UAV 1 can use airships, long-flight UAVs, tethered airships, etc., with an altitude of 1000-1500m and a projection distance of about 3km from the ground of the protected target. In order to ensure detection and intelligence analysis capabilities in all directions, multiple multi-rotor UAVs 1 can be deployed. In addition to the necessary flight equipment to fly into the battlefield air, the multi-rotor UAV 1 is also equipped with phased array radars, optical / infrared sensors, acoustic wave sensors, and visual systems. Various detection equipment, the visual system is used to collect battlefield image data, and the position and status of the UAV "swarm" (including whether it has entered the matrix, whether it has left the matrix, and whether it has been destroyed) can be analyzed through the image data features, as well as communication equipment such as data link equipment that can connect to the rear intelligence system and airborne computers that perform battlefield intelligence calculations. Computing equipment, such as the rear intelligence system can provide the corresponding battlefield situation, the floating intelligence collection and analysis subsystem can receive and directly use the received intelligence, including the warning signal of the feature perception module and the flight data of the trajectory prediction module, and quickly obtain the relevant data of the incoming drone. If the rear intelligence system cannot be connected due to battlefield restrictions, the drone data in the battlefield can be collected through airborne detection equipment. Once a drone "swarm" is found to be attacking, the threat of enemy attack can be resolved in real time, flight data can be predicted, and launch and take-off instructions can be issued to the interception equipment group through the tethered floating navigation and communication subsystem. In order to ensure the effectiveness and accuracy of intelligence collection, multiple floating intelligence collection and analysis subsystems are usually deployed in a combat airspace, that is, multiple floating intelligence collection and analysis subsystems.

[0076] The floating intelligence collection and analysis subsystem also includes a target area update module and a dense area calculation module;

[0077] The target area update module is used to predict the time range point when the drone swarm launches the interceptor missiles in the interception equipment group, and transmits it to the trajectory prediction module to generate the flight data after the time range;

[0078] The dense area calculation module is designed to receive the flight data generated by the trajectory prediction module, and construct a virtual image based on it, and subdivide the virtual image into multiple grids, each of which represents a specific area. By traversing multiple grids one by one, the number of drones in each grid is counted, and the drone density is calculated based on the area of ​​the grid. The area with the highest drone density is output, which is defined as the dense area.

[0079] In a battlefield environment, due to enemy interference, bad weather and other reasons, satellite positioning and navigation are often unavailable. Therefore, it is necessary to set up navigation and communication facilities for positioning, navigation and formation formation in the area close to the battlefield. At the same time, since the size of the killing and explosive drone group is very small, it is impossible to carry large airborne computing equipment and communication equipment. Therefore, it is necessary to rely on the communication module on the tethered navigation and communication platform to receive enemy drone data and launch and take-off instructions. The tethered floating navigation and communication subsystem includes a navigation and communication module 2, a tethered vehicle 3, a generator and a cable assembly.

[0080] The navigation and communication module 2 is a drone equipped with navigation and communication equipment, which is used to provide positioning, navigation and communication support for the interception equipment group. It receives the dense area from the dense area calculation module, locates the coordinates of the dense area as the interception airspace, and calculates the interception kill matrix with the interception airspace as the center point;

[0081] The tethered vehicle 3 is usually an electric-driven unmanned vehicle, which is used to carry the generator, the navigation and communication module 2 and the cable assembly for movement; the generator is fixedly installed on the tethered vehicle 3, and is used to supply power to the tethered vehicle 3 and the navigation and communication module 2; the cable assembly is composed of a high-strength tethered cable and a power supply cable, which is coiled on a roller, one end of which is connected to the navigation and communication module 2, and the other end is connected to the tethered vehicle 3;

[0082] When not started, the navigation and communication module 2 is fixedly mounted on the take-off and landing bracket on the tethered vehicle 3. When the tethered vehicle 3 reaches the designated position, it receives the launch command and the take-off command, starts and lifts off. The floating height is usually 200m-500m. In order to ensure the accuracy of positioning and navigation, multiple navigation and communication modules 2 are usually required in an interception and killing airspace. One end of the cable assembly is fixed to the main load-bearing structure of the navigation and communication module 2, and the other end is fixedly connected to the main load-bearing structure of the tethered vehicle 3, which can form a soft connection between the navigation and communication module 2 and the tethered vehicle 3. One end of the power supply cable is connected to the power equipment of the navigation and communication module 2, and the other end is connected to the generator / battery on the tethered vehicle 3. The generator or battery on the tethered vehicle 3 is used to power the navigation and communication module 2 to ensure that the navigation and communication module 2 can continuously provide navigation and communication services.

[0083] Among them, the tethered floating navigation and communication subsystem 200 is 3-10km away from the ground projection of the protected target, close to the possible interception and killing matrix location. In order to ensure the positioning and navigation accuracy, multiple subsystems need to be deployed in various directions to provide more accurate positioning and navigation support.

[0084] The interception equipment group includes a mobile launcher 4 and is deployed in S1;

[0085] The mobile launch device 4 is composed of a mobile carrier 41, a steering machine 42, an elevation machine 43, a launch box 44 and a projectile 45. The mobile carrier 41 is a load-bearing and transporting carrier of the mobile launch device 4. The mobile carrier is equipped with an integrated steering machine 42 and an elevation machine 43, and has a two-axis motion capability. The launch box 44 is fixed on the integrated steering machine 42 and the elevation machine 43. The projectile 45 is stored separately. Before use, the launch projectile 45 is installed when the S1 deployment subsystem is deployed, and the projectile 45 is installed in the launch tube in the launch box 44. The mobile carrier 41 is usually a towed or automatically moving unmanned vehicle on the ground. When the interception kill matrix is ​​solved, a launch command is issued, and the launch box 44 can launch the missile body 45 into the interception airspace by means of rocket launch. A typical launch box 44 can launch 8 groups of interception drones, including a larger missile body and a smaller missile body.

[0086] The rear section of the missile body 45 is a rocket engine, and the front section is provided with an interception drone group. The interception drone group is used to form an interception killing matrix with the interception airspace as the center point. Since the interception airspace is the densest place of the drone "swarm", forming an interception killing matrix with the densest place as the center point can improve the effect of protective interception.

[0087] The interception drone group includes one control node drone 5 and six killing drones 6;

[0088] When the control node drone 5 is started, it communicates with the control node drones 5 of other interception drone groups in an ad hoc network, and at the same time establishes a positioning navigation and communication link with the navigation and communication module 2, so that each group of control node drones 5 sends a formation command to the killing drones 6 of this group according to the interception killing matrix formation calculated by the navigation and communication module 2, and each killing drone 6 completes the formation according to the positioning signal of the navigation and communication module 2, forming an air interception killing matrix;

[0089] The control node drone 5 and the killing drone 6 adopt the form of coaxial twin-propeller drones. The main body of the aircraft is cylindrical and can be modified and combined with existing 57mm, 82mm and other common rocket engines to form a rocket body. In addition to basic flight control and communication equipment, the killing drone 6 carries a killing warhead with a killing radius of ≥15m. The warhead is equipped with a remote control fuze and an air combat time of ≥3 minutes. The killing drone 6 can communicate with the navigation and communication module 2 to receive flight and detonation instructions.

[0090] The control node drone 5 is equipped with navigation communication and on-site reconnaissance equipment, and is responsible for on-site detection of enemy drones. When it finds that an enemy drone has entered the interception and killing matrix, it can remotely control several killing drones 6 that are close to the incoming drone to detonate and destroy the incoming drone, including the following postures:

[0091] Posture 1: When the killing drone 6 is detonated, the interception killing matrix is ​​updated through the self-organizing network communication of multiple control node drones 5;

[0092] Posture 2: When a control node drone 5 crashes or fails, the control node drones 5 of other interception drone groups take over the killing drones 6 of their own group;

[0093] Specifically, after the control node drone 5 is started, it immediately establishes a communication link with the killing drone 6 in each group to form a star-shaped communication network within the group, and forms a self-organizing communication network with the control node drones 5 of other groups, and at the same time establishes a positioning navigation and communication link with the navigation communication module 2 of the airspace, and completes the communication with the floating intelligence collection and analysis unit 100 through the navigation communication module 2;

[0094] like Figure 4 As shown, after completing the self-organizing network, each group of control node drones 5 sends a formation command to the group of killing drones 6 according to the interception killing matrix formation calculated by the floating intelligence collection and analysis subsystem. Each killing drone 6 completes the formation according to the positioning signal of the navigation and communication module 2 to form an air interception killing matrix. The control node drone 5 uses the airborne sensor to start the detection of the incoming drones; if the control node drone 5 finds that the incoming drone group has entered the interception killing matrix range, it sends a detonation command to the killing drone 6 near the incoming drone to attack the incoming drone;

[0095] A typical mobile launch device 4 can launch 8 interception drone groups, a total of 8 control node drones 5 and 48 killing drones 6, in one salvo. If calculated based on a killing radius of ≥15m, when the drones of each interception drone group are launched into the predetermined airspace, the killing drones 6 complete the interception killing matrix formation within seconds according to the instructions of the control node drone 5, and can form a rectangular interception killing matrix with a side length of about 110m×110m×70m. The shape and position of the interception killing matrix can also be dynamically adjusted according to the real-time calculation results of the floating intelligence collection and analysis subsystem to cope with different forms of formations and route changes of the enemy drone "swarm".

[0096] like Figure 3 As shown, the rocket engine is used to reduce the flight speed to below 40m / s by the reverse thrust deceleration device on the projectile 45 after the projectile 45 flies to the interception airspace, and the projectile 45 automatically releases the onboard drone, and the control node drone 5 and the killing drone 6 unfold the rotor and start the drone with the help of flight inertia and attitude, and the other parts of the projectile 45 open the parachute to slow down and land, so as to protect the safety of ground personnel, equipment and facilities.

[0097] Considering that not all control node drones 5 and killing drones 6 will be destroyed when participating in the mission, in order to improve the utilization rate of resources, the subsystem deployed in S1 also includes a drone recycling station 7. The drone recycling station 7 is used to find and fly to the recycling area and land after the interception mission is completed through the navigation beacon, and recycle the unused control node drones 5 and killing drones 6 to save the use cost. The drone recycling station 7 can be a fixed facility or an unmanned vehicle that is the same or similar to the tethered vehicle 3 to form a recycling area. The drone recycling station 7 is equipped with a navigation beacon. After the mission is completed, the unused drones can be recycled manually or remotely according to the navigation beacon.

[0098] The detailed steps include:

[0099] After receiving the task, multiple floating intelligence collection and analysis subsystems, multiple tethered floating navigation and communication subsystems and interception equipment groups are deployed in the deployment area; the deployment tasks of each subsystem are completed and on standby under the control of relevant operators. The deployment area is usually in our controlled area. The floating intelligence collection and analysis subsystem is kept at an altitude of 1000-1500m, and the ground projection distance from the protected target is about 3km. In order to ensure detection and intelligence analysis capabilities in all directions, multiple tethered floating navigation and communication subsystems can be deployed at an altitude of 200m-500m, and the ground projection distance from the protected target is 3-10km. It is close to the possible interception and killing matrix position, and multiple subsystems need to be deployed in all directions to provide more accurate positioning and navigation support; the interception equipment group is deployed near the protected target, and the deployment quantity is determined according to the size of the defense threat, and it can be launched in all defense directions; at the same time, the drone recovery station 7 can be deployed. The drone recovery station 7 is a ground device or vehicle-mounted, and is deployed in a hidden position on the ground near the interception and killing matrix;

[0100] Collect battlefield image data through airborne detection equipment, issue launch and take-off commands when sensing the characteristics of drone "swarm" in the image data, and solve the flight data of the incoming drone "swarm" in real time. Analyze the flight data provided by the floating intelligence collection and analysis subsystem through the key point communication unit to calculate the image data of the interception equipment group from the start time of launch to the moment of hitting the target. Identify the dense area of ​​the drone "swarm" by analyzing the image features in the image data and transmit it to the tethered floating navigation and communication subsystem;

[0101] The tethered floating navigation and communication subsystem provides navigation positioning and communication support for the interception equipment group. It locates the position of densely populated areas through the tethered floating navigation and communication subsystem, locks the interception airspace and issues launch and take-off commands, so that the interception equipment group forms an interception and killing matrix with the interception airspace as the center point.

[0102] By continuously detecting the flight status and track changes of the drone "swarm", the control node drone adjusts the interception and killing matrix formation and spatial position. When the drone "swarm" enters the matrix, the control node drone remotely controls the killing drone at the corresponding position to detonate and destroy or injure the enemy drone.

[0103] After the enemy drone "swarm" leaves the interception airspace, when one interception and kill matrix fails to completely intercept the enemy drone "swarm", the system instructs other interception and kill matrices deployed in multiple layers to launch and intercept until the enemy drone "swarm" is completely intercepted, and the unused kill drones in the interception and kill matrix are recovered or detonated in a safe area.

[0104] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An anti-swarming method for rapidly clustering and deploying an aerial killing matrix, characterized in that: The following steps are involved: S1. After receiving the task, deploy each subsystem of the system according to the task requirements and stand by; S2. Collect and analyze drone threats in the defense area. When a drone "swarm" threat is detected, calculate the overall flight data of the incoming drone "swarm" and plan an interception plan; S3, issue a launch command and a take-off command, so that the control node drone controls the killing drone to reach the predetermined interception airspace and complete the formation, forming an interception killing matrix; S4. By continuously detecting the flight status and track changes of the drone "swarm", the control node drone adjusts the interception and killing matrix formation and spatial position. When the drone "swarm" enters the matrix, the control node drone remotely controls the killing drone at the corresponding position to detonate and destroy or injure the enemy drone. S5. After the enemy UAV "swarm" leaves the interception airspace, when one interception kill matrix fails to completely intercept the enemy UAV "swarm", the system instructs other interception kill matrices deployed in multiple layers to launch and intercept until the enemy UAV "swarm" is completely intercepted, and the unused killing UAVs in the interception kill matrix are recovered or detonated in a safe area.

2. An anti-swarm system for rapidly clustering and deploying an aerial killing matrix, applied to the anti-swarm method for rapidly clustering and deploying an aerial killing matrix as described in claim 1, characterized in that: It includes a floating intelligence collection and analysis subsystem, a key point communication unit, a tethered floating navigation and communication subsystem and an interception equipment group, wherein the floating intelligence collection and analysis subsystem, the tethered floating navigation and communication subsystem and the interception equipment group represent the subsystems in S1; The floating intelligence collection and analysis subsystem collects battlefield image data through airborne detection equipment, and issues launch and take-off commands in S3 when it senses that the characteristics of the drone "swarm" are threatening in the image data, and calculates the flight data of the incoming drone "swarm" in real time; The tethered floating navigation and communication subsystem is used to provide navigation positioning and communication support for the interception equipment group. The tethered floating navigation and communication subsystem locates the position of the dense area, locks the interception airspace and issues launch instructions and take-off instructions, so that the interception equipment group forms the interception killing matrix in S3 with the interception airspace as the center point.

3. The anti-swarm system of the rapid clustered aerial killing matrix according to claim 2 is characterized by: The floating intelligence collection and analysis subsystem includes airborne detection equipment, feature perception modules and trajectory prediction modules; The airborne detection equipment uses a multi-rotor drone (1) equipped with a phased array radar, an optical / infrared sensor, an acoustic sensor and a visual system to collect data, connect to a rear intelligence system, and transmit battlefield data in real time with the aid of the tethered floating navigation and communication subsystem (200); The feature perception module pre-processes the image data collected by the visual system through denoising and contrast enhancement, uses image segmentation technology to extract the area containing the drone "swarm", uses the shape feature extraction algorithm to extract the shape information in the image, and detects and identifies the boundaries and overall formation of the drone "swarm"; The trajectory prediction module is used to predict the flight data of the drone swarm using a Kalman filter after receiving the warning signal, and includes the following prediction steps: in, is the predicted state at time k, is the estimated state at time k-1, F is the state transfer matrix, B is the control matrix, uk -1 is the control input at time k-1.

4. The anti-swarm system of the rapid clustered aerial killing matrix according to claim 3 is characterized by: The tethered floating navigation and communication subsystem comprises a navigation and communication module (2), a tethered vehicle (3), a generator and a cable assembly; The navigation and communication module (2) is a drone equipped with navigation and communication equipment, and is used to provide positioning, navigation and communication support for the interception equipment group, and receives the dense area from the dense area calculation module, locates the coordinates of the dense area as the interception airspace, and calculates the interception killing matrix with the interception airspace as the center point; The tethered vehicle (3) is usually an electrically driven unmanned vehicle, used to carry a generator, a navigation and communication module (2) and a cable assembly for movement; the generator is fixedly mounted on the tethered vehicle (3) and used to supply power to the tethered vehicle (3) and the navigation and communication module (2); the cable assembly is composed of a high-strength tethering cable and a power supply cable, which is coiled on a roller, one end of which is connected to the navigation and communication module (2) and the other end of which is connected to the tethered vehicle (3).

5. The anti-swarm system of the rapid clustered aerial killing matrix according to claim 4 is characterized by: The interception equipment group includes a mobile launch device (4) and is deployed in S1; The mobile launch device (4) is composed of a mobile carrier (41), a steering machine (42), an elevation machine (43), a launch box (44) and a projectile (45). The mobile carrier (41) is a load-bearing and transporting carrier of the mobile launch device (4). The mobile carrier is equipped with an integrated steering machine (42) and an elevation machine (43) and has a two-axis motion capability. The launch box (44) is fixed on the integrated steering machine (42) and the elevation machine (43). The projectile (45) is stored separately. When the S1 deployment subsystem is installed, the projectile (45) is installed in a launch tube in the launch box (44). When the interception killing matrix is ​​solved, a launch command is issued. The launch box (44) can launch the projectile (45) into the interception airspace by rocket launch. The rear section of the missile body (45) is a rocket engine, and the front section is provided with an interception drone group, wherein the interception drone group is used to form an interception killing matrix with the interception airspace as the center point.

6. The anti-swarm system of rapid clustered aerial killing matrix deployment according to claim 5 is characterized by: The interception drone group includes a control node drone (5) and six killing drones (6); When the control node drone (5) is started, it communicates with the control node drones (5) of other interception drone groups in a self-organizing network, and at the same time establishes a positioning navigation and communication link with the navigation communication module (2), so that each group of control node drones (5) issues a formation instruction to the killing drones (6) of its own group according to the interception killing matrix formation calculated by the navigation communication module (2), and each killing drone (6) completes the formation according to the positioning signal of the navigation communication module (2), thereby forming an aerial interception killing matrix.

7. The anti-swarm system of rapid clustered aerial killing matrix deployment according to claim 6 is characterized by: The control node drone (5) is equipped with navigation communication and on-site reconnaissance equipment and is responsible for on-site detection of enemy drones. When an enemy drone is found to have entered the interception killing matrix, it can remotely control several killing drones (6) that are relatively close to the attacking drone to detonate and destroy the attacking drone, including the following postures: Posture 1: When the killing drone (6) is detonated, the interception killing matrix is ​​updated through the self-organizing network communication of multiple control node drones (5); Posture 2: When a control node drone (5) crashes or fails, the control node drones (5) of other interception drone groups take over the killing drones (6) of their own group.

8. The anti-swarm system of the rapid clustered aerial killing matrix according to claim 7 is characterized by: The rocket engine is used to reduce the flight speed of the missile body (45) after the missile body (45) flies to the interception airspace, and the reverse thrust deceleration device on the missile body (45) automatically releases the missile-borne drone, and the control node drone (5) and the killing drone (6) use the flight inertia and posture to unfold the rotor and start the drone, and the other parts of the missile body (45) open the parachute to slow down and land.

9. The anti-swarm system of rapid clustered aerial killing matrix deployment according to claim 8 is characterized by: The subsystem deployed in S1 also includes a drone recovery station (7), which is used to find and fly to the recovery area and land through navigation beacons after the interception mission is completed, and to recover the unused control node drones (5) and killing drones (6).

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