An anti-swarm system and method for quickly clustering and deploying an aerial kill matrix

Abstract

The present invention relates to the field of anti-drone technology. Specifically, it relates to an anti-swarm system and method for quickly and clusteredly deploying an aerial kill matrix. The method includes the following steps: continuously detecting the flight state and track changes of the drone "swarm" to regulate the formation and spatial position of the interception kill matrix. When the drone enters the matrix, remotely control the kill drones at the corresponding positions to detonate, destroying or injuring the enemy drones. The present invention adopts the method of using a "drone minefield" against a "drone formation", solving the difficulty of only detecting and intercepting single targets in the existing anti-drone technology. Using a drone minefield interception system with lower cost, intercepting the enemy drone "swarm" in a "multi-layer and multi-time" manner, forming a continuous interception and killing mode against the enemy drone "swarm", greatly improving the interception success rate and reducing the usage cost.

Description

Technical Field

[0001] The present invention relates to the technical field of anti - UAV technology, and specifically, to an anti - swarm system and method for quickly and cluster - deploying an aerial killing matrix. Background Art

[0002] With the continuous development of artificial intelligence technology and UAV technology, the intelligence and clustering level of UAVs have been continuously improved. In modern warfare, the frequency of the appearance of UAV "swarms" is also increasing. UAV swarms are constantly changing the combat form of modern warfare with their unique advantages and are gradually becoming an important and even decisive force in modern warfare. From several recent typical large - scale wars, UAV reconnaissance and attacks have a very high cost - effectiveness ratio due to their low cost, low risk, difficulty in detection and defense, and have become a cheap and efficient combat means in future battlefields. Effectively countering UAVs and UAV "swarms" has become an urgent and hot issue in the research of combat methods and equipment R & D of the military forces of various countries in the world. With the continuous development of UAV "swarm" technology, UAV "swarm" combat is moving from the test field to the battlefield. To cope with the threats brought by UAV swarms, while developing "swarm" technology, countries are also accelerating the research on key anti - UAV "swarm" technologies and the development of anti - UAV equipment.

[0003] Currently, systems or equipment that have been practically verified to have a certain ability to counter small UAVs are mainly divided into kinetic energy killing types, kinetic energy interception types, directed energy types, and interference deception types, etc. Although the above - mentioned types of anti - UAV systems or equipment can play a role in countering UAVs to a certain extent, due to their design goals not being aimed at countering UAV "swarms" and the limitations of existing technologies, they still have the following defects:

[0004] First, kinetic energy killing - type equipment is basically designed to kill a single high - value target and requires a warning detection and intelligence system to provide real - time, accurate, and continuous single - target information data. When acting on a small UAV "swarm" attacking in a cluster, even if the position of the "swarm" is identified and wirelessly communicated to the kinetic energy killing - type equipment, its ability to respond to the scattered situation of the "swarm" is poor;

[0005] (2) Kinetic energy interception - type equipment has a short action distance. Not only does it require high operation accuracy, but also the launcher needs to be close to the target UAV to obtain a better interception effect. Most importantly, its ability to counter UAV "swarms" is limited, and it is not convenient to intercept through communication control, with low intelligence;

[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 image data of the battlefield through airborne detection equipment. When perceiving the characteristics of the drone "swarm" in the image data, it issues the launch command and takeoff command in S3, 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. It locates the position of the dense area through the tethered floating navigation and communication subsystem, locks the interception airspace and issues the launch command and takeoff command in S3, so that the interception equipment group forms an interception and killing matrix with the interception airspace as the center point.

[0018] Preferably, the floating intelligence collection and analysis subsystem includes an 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 vision system to collect data, connects to the rear intelligence system, and transmits battlefield data in real time by means of the tethered floating navigation and communication subsystem;

[0020] The feature perception module preprocesses the image data collected by the vision system through denoising and contrast enhancement, uses image segmentation technology to extract the area containing the drone "swarm", uses a shape feature extraction algorithm to extract the shape information in the image, and detects and identifies the boundary and overall formation shape 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 a warning signal, including the following prediction steps:

[0022]

[0023] Among them, is the predicted state at time k, is the estimated state at time k-1, F is the state transition matrix, B is the control matrix, and u k-1 is the control input at time k-1.

[0024] Preferably, the tethered floating navigation and communication subsystem includes 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. By receiving the dense area calculated by the dense area calculation module, it locates the coordinates of the dense area as the interception airspace, and calculates the interception and 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 move while loading a generator, a navigation and communication module, and a cable assembly; the generator is fixedly installed 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 tether cable with high strength 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 device group includes a mobile launch device, which is deployed in S1;

[0028] The mobile launch device is composed of a mobile vehicle, a direction machine, an elevation machine, a launch box, and a projectile body. The mobile vehicle is the load-bearing and transportation carrier of the mobile launch device. An integrated direction machine and elevation machine are installed on the mobile vehicle, which has the ability of two-axis movement. The launch box is fixed on the integrated direction machine and elevation machine. The projectile bodies are stored separately and are installed in the launch tubes in the launch box when the launch projectile bodies are installed during the deployment of the subsystem in S1 before use. When the interception kill matrix is calculated, a launch command is issued, and the launch box can launch the projectile bodies into the interception airspace by means of rocket launch;

[0029] The rear section of the projectile body is a rocket engine, and an interception unmanned aircraft group is arranged in the front section. The interception unmanned aircraft group is used to form an interception kill matrix with the interception airspace as the center point.

[0030] Preferably, each interception unmanned aircraft group includes one control node unmanned aircraft and six kill unmanned aircraft;

[0031] When the control node unmanned aircraft is started, it communicates with the control node unmanned aircraft of other interception unmanned aircraft groups through self-organizing network communication, 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 unmanned aircraft sends a formation instruction to the kill unmanned aircraft of its own group according to the interception kill matrix formation calculated by the navigation and communication module, and each kill unmanned aircraft completes the formation according to the positioning signal of the navigation and communication module, forming an air interception kill matrix.

[0032] Preferably, the control node unmanned aircraft is equipped with navigation communication and on-site reconnaissance equipment, which is responsible for on-site detection of enemy unmanned aircraft. When it is found that the enemy unmanned aircraft enters the interception kill matrix, it can remotely control several kill unmanned aircraft closer to the incoming unmanned aircraft to detonate and destroy the incoming unmanned aircraft, including the following postures:

[0033] Posture 1: When the kill unmanned aircraft detonates, the interception kill matrix is updated through self-organizing network communication of multiple control node unmanned aircraft;

[0034] Posture 2: When a certain control node unmanned aircraft crashes or fails, the control node unmanned aircraft of other interception unmanned aircraft groups take over the kill unmanned aircraft of its own group.

[0035] Preferably, the rocket engine is used to reduce the flight speed after the projectile body flies to the interception airspace. The anti-thrust deceleration device on the projectile body reduces the flight speed, and the projectile body automatically unlatches the on-board unmanned aerial vehicle (UAV). The control node UAV and the kill UAV deploy the rotors and start the UAVs by means of flight inertia and attitude. Other parts of the projectile body open the parachute to decelerate and land.

[0036] Preferably, the subsystem deployed in S1 further includes a UAV recycling station, which is used to search for and fly to the recycling area and land through the navigation beacon after the interception mission is completed, and recycle the unused control node UAVs and kill UAVs.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] The present invention designs an interception system and application method for an unmanned aerial vehicle (UAV) "swarm", adopting the method of using a "UAV minefield" against a "UAV formation", solving the difficulty of only detecting and intercepting a single target in the existing anti-UAV technology, using a UAV minefield interception system with a lower cost, intercepting the enemy UAV "swarm" in a "multi-layer and multi-time" manner, forming a continuous interception and killing mode for the enemy UAV "swarm", greatly improving the interception success rate and reducing the use cost. 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 composition of the mobile launch device of the present invention;

[0041] Figure 3 It is a schematic diagram of the launch of the interception UAV group of the present invention;

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

[0043] Figure 5 It is a schematic diagram of the operation of the UAV recycling station of the present invention;

[0044] Figure 6 It is a flowchart of the usage method of the present invention.

[0045] The meanings of the various reference numerals in the figure are as follows:

[0046] 1. Multi-rotor UAV; 2. Navigation and communication module; 3. Tethered vehicle; 4. Mobile launch device; 41. Mobile vehicle; 42. Steering gear; 43. Elevating gear; 44. Launch box; 45. Projectile body; 5. Control node UAV; 6. Kill UAV; 7. UAV recycling station. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0048] Currently, the systems or equipment that have been actually verified to have a certain anti-small unmanned aircraft capability are mainly divided into kinetic energy killing types, kinetic energy interception types, directed energy types, and interference deception types, etc.

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

[0050] Kinetic energy interception type equipment mainly includes interception entanglement nets that can be launched into the air or carried into the air by one's own unmanned aircraft, and methods of using unmanned aircraft to directly impact to damage or shoot down enemy unmanned aircraft. There are also "special" means of using trained raptors to capture threatening unmanned aircraft from the air. This type of equipment is mainly designed to intercept single or a small number of unmanned aircraft and requires high operation ability and accuracy;

[0051] Directed energy type equipment mainly includes directed energy weapons represented by high-energy lasers and high-power microwave weapons. Due to their characteristics such as strong damage, fast response, low support requirements, and small attack costs, they are considered to be the preferred means for dealing with small unmanned aircraft targets at present. High-energy laser weapons are mainly designed to intercept single targets and burn them by continuously irradiating the targets with high-energy laser beams, which requires line-of-sight conditions and a relatively high atmospheric environment. In order to accurately attack targets, an extremely sensitive target recognition, tracking, and aiming system is required, and the overall structure is extremely complex and costly; High-power microwave weapons are mainly designed to use high-energy microwaves to destroy electronic devices within a certain range to disable enemy weapons and equipment. Their killing range is greatly affected by the output power and the action distance is short. If the emission direction is not well controlled, it is easy to cause accidental injury to our own equipment and personnel.

[0052] Jamming and deception equipment mainly blocks or deceives the control or navigation signals of UAV "swarms" through jamming and blocking technologies, or blinds the sensors of UAVs to make them out of control. Commonly used types include electronic jamming, laser jamming, and acoustic wave jamming. Electronic jamming mainly targets the communication signals and navigation signals of UAVs, transmitting co-frequency high-power electronic signals to cut off their communication links or prevent them from accurately positioning, thus making the "swarm" out of control or forcing it to land; Laser jamming mainly uses low-power lasers to emit laser beams at UAVs, disrupting the observation, tracking, guidance and other systems of enemy UAVs, or blinding the optoelectronic, infrared and other sensors of UAVs to reduce their reconnaissance, tracking, and recognition capabilities, so as to weaken or destroy the performance and functions of UAVs; Acoustic wave jamming is to emit ultrasonic waves to make the gyroscopes of UAVs resonate and interfere with their accelerometers, so that they cannot obtain correct position and attitude information and disrupt their normal and stable flight, thus causing the target UAV to be disabled or fall.

[0053] Although the above-mentioned types of anti-UAV systems or equipment can play a role in anti-UAV to a certain extent, due to their design objectives not being aimed at anti-UAV "swarms" and the limitations of existing technologies, there are still the following deficiencies and defects:

[0054] (1) Kinetic energy killing equipment is basically designed to kill single high-value targets, and requires early warning detection and intelligence systems to provide real-time, accurate and continuous single target information data. Its effective range against small UAV "swarms" attacking in clusters is short, and its response ability is poor. Only medium and small caliber anti-aircraft guns using AHEAD ammunition may still have a certain interception effect. Moreover, the cost of this type of equipment is high in terms of construction and use, and the cost-effectiveness of dealing with UAV "swarms" is very low;

[0055] (2) Due to its short effective range, kinetic energy interception equipment not only requires high operation accuracy, but also needs the launcher to approach the target UAV to obtain a better interception effect. Most importantly, its ability against UAV "swarms" is limited;

[0056] (3) Due to its working characteristics and the physical properties of directed energy, the effective range of directed energy equipment is also relatively short, and it is easily affected by the battlefield environment and weather, reducing the use effect, and it is also prone to cause collateral damage. In addition, laser weapons require a certain energy storage time for use, and the firing speed is limited, so they cannot deal with a large number of UAVs;

[0057] (4) Jamming and deception equipment has a short effective range and limited effect on autonomous mission UAVs, fiber-optic controlled UAVs or self-organizing "swarms";

[0058] In summary, in the combat against Class I and II small unmanned aerial vehicle (UAV) "swarms", according to the capabilities of existing equipment, the range of 3 - 5 km is the weak area in terms of capabilities, the range of 5 - 10 km is the area lacking capabilities, and beyond 10 km is the area with no capabilities. All countries have an urgent need to enhance anti-UAV "swarm" capabilities. Please refer to Figures 1-6 To solve the above problems:

[0059] As Figure 6 shown, one of the objectives of the present invention is to propose an anti-swarm method for quickly clustering and deploying an aerial killing matrix, including the following steps:

[0060] S1. After receiving the mission, deploy each subsystem of the system according to the mission requirements and standby;

[0061] S2. Collect and analyze the UAV threats in the defense area. When detecting the threat of a UAV "swarm", calculate the overall flight data of the incoming UAV "swarm" and plan an interception plan;

[0062] S3. Issue launch instructions and takeoff instructions to enable the control node UAV to control the killing UAVs to reach the predetermined interception airspace and complete the formation, forming an interception and killing matrix;

[0063] S4. By continuously detecting the flight state and track changes of the UAV "swarm", the control node UAV adjusts the formation and spatial position of the interception and killing matrix. When the UAV "swarm" enters the matrix, the control node UAV remotely controls the killing UAVs at the corresponding positions to detonate, destroying or injuring the enemy UAVs;

[0064] S5. After the enemy UAV "swarm" leaves the interception airspace, when one interception and killing matrix fails to completely intercept the enemy UAV "swarm", the system instructs other interception and killing 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 and killing matrix are recovered or detonated in a safe area.

[0065] The present invention designs an interception system and application method for UAV "swarms", adopting the method of using a "UAV mine array" against a "UAV array" to solve the difficulty of only detecting and intercepting single targets in existing anti-UAV technologies. Using a lower-cost UAV mine array interception system, intercepting the enemy UAV "swarm" in a "multiple layers and multiple times" manner, forming a continuous interception and killing mode against the enemy UAV "swarm", greatly improving the interception success rate and reducing the usage cost.

[0066] As Figures 1-5As shown in the figure, the second object of the present invention is to provide an anti-swarm system for quickly clustering and deploying an aerial killing matrix, including a floating intelligence collection and analysis subsystem, a key point communication unit, a tethered floating navigation and communication subsystem, and an interception device group. The floating intelligence collection and analysis subsystem, the key point communication unit, the tethered floating navigation and communication subsystem, and the interception device group represent each subsystem in S1;

[0067] The floating intelligence collection and analysis subsystem collects image data of the battlefield through airborne detection equipment, issues the launch command and take-off command in S3 when perceiving the characteristics of the drone "swarm" in the image data, 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 device group. It locates the position of the dense area through the tethered floating navigation and communication subsystem, locks the interception airspace and issues the launch command and take-off command, so that the interception device group forms the interception and killing matrix in S3 with the interception airspace as the center point, and can effectively protect against the attack of the drone "swarm" within a certain distance and range. By deploying an aerial killing minefield matrix in a specific direction within a few minutes, it provides the anti-drone "swarm" protection ability 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 the formation in real time according to the shape of the enemy "swarm", with strong flexibility.

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

[0070] 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 vision system to collect data, connects to the rear intelligence system, and transmits battlefield data in real time through the tethered floating navigation and communication subsystem 200;

[0071] The feature perception module preprocesses the image data collected by the vision system through denoising and contrast enhancement to improve the image quality and enhance the visibility of target features. Using image segmentation techniques, such as threshold segmentation, edge detection, etc., it extracts the area containing the drone "swarm", and uses a shape feature extraction algorithm to extract the shape information in the image, and detects and identifies the boundary and overall formation of the drone "swarm";

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

[0073]

[0074] Among them, 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, construct a virtual image based on this, and divide the virtual image into multiple grids. Each grid represents a specific area. By traversing the 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 and defined as the dense area.

[0079] In the battlefield environment, due to reasons such as enemy interference and bad weather, there are often situations where satellite positioning and navigation cannot be used. Therefore, it is necessary to set up navigation and communication facilities for positioning, navigation, and formation grouping in the area close to the battlefield. At the same time, since the volume of the kill explosion drone group is very small, it cannot carry large airborne computing devices and communication devices. Therefore, it must rely on the communication module on the tethered navigation and communication platform to receive enemy drone data, launch instructions, and takeoff instructions. The tethered aerostat 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. By receiving the dense area from the dense area calculation module, the coordinates of the dense area are located as the interception airspace, and the interception kill matrix is calculated with the interception airspace as the center point.

[0081] The tethered vehicle 3 is usually an electrically driven unmanned vehicle, which is used to load the generator, navigation and communication module 2, and 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 tether cable with high strength and a power supply cable, which is coiled on a roller. One end is connected to the navigation and communication module 2, and the other end is connected to the tethered vehicle 3.

[0082] Before startup, the navigation and communication module 2 is fixedly placed on the takeoff and landing bracket of the tethered vehicle 3. When the tethered vehicle 3 reaches the designated position, it receives the launch instruction and takeoff instruction to start and take off. The floating height is usually between 200m and 500m. To ensure the accuracy of positioning and navigation, usually multiple navigation and communication modules 2 are required in an interception kill airspace. One end of the cable assembly is fixed on 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 part 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 supply power to 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 moored aerostat navigation and communication subsystem 200 is 3 - 10 km away from the ground projection of the protected target and is close to the possible interception and kill matrix position. To ensure the positioning and navigation accuracy, multiple subsystems need to be deployed in all directions to provide more accurate positioning and navigation support.

[0084] The interception device group includes a mobile launch device 4, which is deployed in S1;

[0085] The mobile launch device 4 consists of a mobile vehicle 41, a traversing gear 42, an elevation gear 43, a launch box 44, and a missile body 45. The mobile vehicle 41 is the load-bearing and transportation carrier of the mobile launch device 4. The integrated traversing gear 42 and elevation gear 43 are installed on the mobile vehicle, with the ability of two-axis movement. The launch box 44 is fixed on the integrated traversing gear 42 and elevation gear 43. The missile body 45 is stored separately and is installed in the launch tube in the launch box 44 before use when deploying the subsystem in S1. Usually, the mobile vehicle 41 is an unmanned vehicle that is towed or automatically travels on the ground. When necessary, other launch devices such as air-based rockets can also be modified into launch vehicles. In the air or at sea, it mainly uses air-based or sea-based rockets / navigation launch devices modified. The traversing gear 42 and elevation gear 43 are similar to those used in general rocket launch equipment. The traversing gear 42 can rotate 360 degrees horizontally, and the rotation range of the elevation gear 43 is set according to the rocket model to be launched. When the interception and kill matrix is calculated, a launch command is issued. 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 unmanned aerial vehicle groups, including a larger missile body and smaller missile bodies;

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

[0087] Each interception unmanned aerial vehicle group includes a control node unmanned aerial vehicle 5 and six kill unmanned aerial vehicles 6;

[0088] When the control node unmanned aerial vehicle 5 starts, it communicates with the control node unmanned aerial vehicles 5 of other interception unmanned aerial vehicle groups through self-organizing network communication, 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 unmanned aerial vehicles 5 sends a formation command to the kill unmanned aerial vehicles 6 of this group according to the interception and kill matrix formation calculated by the navigation and communication module 2. Each kill unmanned aerial vehicle 6 completes the formation according to the positioning signal of the navigation and communication module 2 to form an aerial interception and kill matrix;

[0089] The control node UAV 5 and the kill UAV 6 adopt the coaxial dual-rotor UAV form. The aircraft body is cylindrical and can be combined with various common rocket engine modifications such as existing 57mm and 82mm to form a rocket body. In addition to basic flight control and communication equipment, the kill UAV 6 is equipped with a kill warhead with a kill radius ≥ 15m. The warhead is equipped with a remote control fuse, and the air combat time ≥ 3 minutes. The kill UAV 6 can communicate with the navigation and communication module 2 to receive flight and detonation commands.

[0090] The control node UAV 5 is equipped with navigation communication and on-site reconnaissance equipment, responsible for on-site detection of enemy UAVs. When it is found that an enemy UAV enters the interception and kill matrix, it can remotely control several kill UAVs 6 closer to the incoming UAV to detonate and destroy the incoming UAV, including the following postures:

[0091] Posture 1: When the kill UAV 6 detonates, through the self-organizing network communication of multiple control node UAVs 5, the interception and kill matrix is updated;

[0092] Posture 2: When a certain control node UAV 5 crashes or fails, the control node UAVs 5 of other interception UAV groups take over the kill UAVs 6 of this group;

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

[0094] As Figure 4 shown, after each group of control node UAVs 5 completes self-organizing networking, it sends a formation instruction to the kill UAVs 6 of this group according to the interception and kill matrix formation calculated by the floating intelligence collection and analysis subsystem. Each kill UAV 6 completes the formation according to the positioning signal of the navigation and communication module 2 to form an air interception and kill matrix. The control node UAV 5 uses the on-board sensor to start detecting the incoming UAV; if the control node UAV 5 finds that the incoming UAV group enters the range of the interception and kill matrix, it sends a detonation instruction to the kill UAV 6 near the incoming UAV to attack the incoming UAV;

[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, deploy multiple aerial intelligence collection and analysis subsystems, multiple tethered aerial navigation and communication subsystems, and an interception equipment group in the deployment area; complete the deployment tasks of each subsystem and standby under the control of relevant operators. The deployment area is usually within our controlled area. Among them, the aerial intelligence collection and analysis subsystem has an altitude of 1000 - 1500m and a ground projection distance of about 3km from the protected target. To ensure detection and intelligence analysis capabilities in all directions, multiple subsystems can be deployed. The tethered aerial navigation and communication subsystem has an altitude of 200m - 500m and a ground projection distance of 3 - 10km from the protected target, close to the possible interception and kill matrix position. Multiple subsystems also 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 can be launched in all defense directions; at the same time, a drone recycling station 7 can be deployed. The drone recycling station 7 is a ground device or vehicle-mounted and is deployed at a concealed position on the ground near the interception and kill matrix;

[0100] Collect image data of the battlefield through airborne detection equipment. When perceiving the characteristics of the drone "swarm" in the image data, send out launch instructions and takeoff instructions, and real-time calculate the flight data of the incoming drone "swarm". Analyze the flight data provided by the aerial intelligence collection and analysis subsystem through the key point communication unit to calculate the image data of the interception equipment group from the launch start time to the moment of hitting the target, and identify the dense area of the drone "swarm" in the image data through parsing the image features and transmit it to the tethered aerial navigation and communication subsystem;

[0101] The tethered aerial navigation and communication subsystem provides navigation positioning and communication support for the interception equipment group. Locate the position of the dense area through the tethered aerial navigation and communication subsystem, lock the interception airspace, and send out launch instructions and takeoff instructions to enable the interception equipment group to form an interception and kill matrix with the interception airspace as the center point.

[0102] By continuously detecting the flight state and track changes of the drone "swarm", the control node drone regulates the formation and spatial position of the interception and kill matrix. When the drone "swarm" enters the matrix, the control node drone remotely controls the kill drones at the corresponding positions to detonate, destroying or injuring the enemy drones;

[0103] After the enemy drone "swarm" leaves the interception airspace, when an 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 complete interception of the enemy drone "swarm" is completed, and recycle the unused kill drones in the interception and kill matrix or detonate them in a safe area.

[0104] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended 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, the coordinates of the densely located area are used as the interception airspace, the interception killing matrix is ​​solved with the interception airspace as the center point, and the missile body is deployed. The missile body includes a rocket engine set at the rear section, and a killing drone and a control node drone set at the front section. A launch command is issued to enable the launch box to launch the missile body into the interception airspace by rocket launch. After the missile body flies to the interception airspace, the control node drone and the killing drone are automatically released, and the rotor is unfolded with the help of flight inertia and attitude, so that the killing drone communicates with the navigation and communication module to receive flight and detonation commands. The take-off command enables each group of control node drones to send a formation command to the group of killing drones according to the interception killing matrix formation to take off, and each killing drone completes the formation according to the positioning signal of the navigation and communication module, 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 module and trajectory prediction module; 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, including 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, 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 an electrically driven unmanned vehicle, and is 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 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 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 missile body (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 missile body (45) is stored separately. When the S1 deployment subsystem is installed, the missile body (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 missile body (45) into the interception airspace by means of 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 the rapid clustered aerial killing matrix 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 an ad hoc 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 air 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 and killing matrix, it can remotely control several killing drones (6) that are relatively close to the incoming drone to detonate and destroy the incoming 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 intercepting 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) unfold the rotor and start the drone by means of flight inertia and attitude, 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 after the interception mission is completed through the navigation beacon, and to recover the unused control node drone (5) and the killing drone (6).

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