Mooring type unmanned aerial vehicle detection countering system based on power line carrier control

Abstract

The invention relates to the technical field of unmanned aerial vehicle detection countering, and discloses a mooring type unmanned aerial vehicle detection countering system based on power line carrier control, and the countering system is composed of a radio interference module, a drive-by-wire unmanned aerial vehicle control module, a four-direction mooring positioning module, a system integration control module and a performance optimization module. The radio interference module is composed of a high-power radio transmitter, a frequency selector, a signal analyzer and an interference mode switcher, interference signals are accurately controlled and adjusted through the multi-component design, it is ensured that all key links including control, navigation and video transmission links are covered, the interference mode switcher is switched among different interference modes, and the interference mode switcher is switched among different interference modes. The unmanned aerial vehicle is controlled in a wired mode, the influence of radio interference on the unmanned aerial vehicle is avoided, the stability and reliability of the unmanned aerial vehicle in a radio interference environment are ensured by the wired control mode, and the beneficial effects of effectively sending countering signals to the ground, minimizing a shielding blind area and maximizing countering efficiency are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle detection and countermeasures, and in particular to a tethered unmanned aerial vehicle detection and countermeasures system based on power carrier control. Background Art

[0002] Radio countermeasures against drones mainly rely on high-power radio equipment to interfere with the control, navigation, and video transmission links of drones to complete countermeasures. At present, the deployment of countermeasures is mainly ground-based, and there is no large-scale promotion of cost-effective aerial countermeasures against drones. First of all, there is a contradiction between drone countermeasures and drones themselves. In the general sense, drones rely on radio for control, but drone countermeasures happen to be used to counter radio. Mounting them on drones just creates a contradiction.

[0003] Drone countermeasures are mainly installed on the ground. Since the interfering electromagnetic waves propagate in a straight line and are restricted by the terrain and blocked by buildings, trees, hills, road signs, and light poles, the counter electromagnetic waves in that direction are greatly weakened or even disappear, resulting in an interference blind spot. Summary of the invention

[0004] Technical issues solved: In view of the shortcomings of the existing technology, the present invention provides a tethered UAV detection and countermeasure system based on power carrier control, which has the advantages of effectively sending countermeasure signals to the ground, minimizing blind spots and maximizing countermeasure efficiency; increasing the stability of the aircraft and improving the countermeasure efficiency, thereby solving the problems of the above-mentioned technologies.

[0005] Technical solution: To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a tethered UAV detection and countermeasure system based on power carrier control, the countermeasure system is composed of a radio jamming module, a wire-controlled UAV control module, a four-position tethered positioning module, a system integration control module and a performance optimization module; The radio jammer module is used to jam the control, navigation and video transmission links of the UAV, and is composed of a high-power radio transmitter, a frequency selector, a signal analyzer and an interference mode switcher; The control module of the controlled-by-wire drone controls the drone by wire to avoid radio interference; The four-position tethered positioning module is used to maintain the relatively stable position of the drone through tethering technology when the GPS signal fails; The system integration control module is used to integrate the aforementioned modules into a unified control platform to provide overall management and monitoring functions; The performance optimization module is used to improve the countermeasure efficiency and stability of the system; The radio interference module expression is: the drone control signal is S, and the transmission process through the wire control system is expressed by the following formula: On the ground side, the control signal Converted into a power carrier signal :

[0006] Power carrier signal The signal at the receiving end is transmitted through the tethered line. It is expressed as:

[0007] Power carrier signal Transcoded into control signals : .

[0008] Preferably, the radio interference module also includes a flight control system control, and the flight system control expression is: control signal Flight control system used to control the drone: .

[0009] Preferably, the control signal conversion expression in the control module of the wire-controlled drone is:

[0010] in: It is the ground control signal. is the conversion function, It is a power carrier signal; The power carrier signal transmission expression in the control module of the wire-controlled UAV is:

[0011] here, is the transmitted power carrier signal, is the attenuation coefficient during transmission, It is the power carrier signal at the receiving end.

[0012] Preferably, the control module of the controlled-by-wire drone further includes a signal decoder, and the signal decoding expression is:

[0013] here, is the power carrier signal at the receiving end, is the decoding function, is the decoded control signal; The control module of the controlled-by-wire UAV also includes a flight control, and the flight control expression is:

[0014] in: is the control signal, is the response function of the flight control system to the signal, It is the flight control command of the drone.

[0015] Preferably, the four-position mooring positioning module includes a mooring line tension balance, and the mooring line tension balance expression is:

[0016] in: are the tensions of the four mooring lines, is the total weight of the drone; Relationship between tension and stability:

[0017] in: is the ideal tension for each tie-down line, is the total weight of the drone.

[0018] Preferably, the four-position mooring positioning module further includes a mooring line tension adjustment, and the mooring line tension adjustment expression is:

[0019] in: It is The tension of the root system, It is Elastic coefficient of root tie line, is the ideal altitude for drones: target altitude, It is The actual height of the root tie-off point; The stable expression of the UAV position in the four-position tethered positioning module is:

[0020]

[0021] in: and is the change in the relative position of the drone, and are the lengths of the mooring lines on the left and right sides, and They are the lengths of the mooring lines on the front and rear sides respectively.

[0022] Preferably, the system integrated control module includes a comprehensive control signal, and the comprehensive control signal expression is:

[0023] in: It is the control signal of each submodule. It is a function used to integrate the signals of all submodules into a comprehensive control signal .

[0024] Preferably, the overall management and monitoring function expression in the system integration control module is: Overall status monitoring:

[0025] in: It is the status information of each submodule. Is a function used to integrate the status information of all submodules ; The comprehensive functional expression of the control platform is:

[0026] in: It is the functional information of each submodule. Is a function used to integrate various functional information .

[0027] Preferably, the system integration control module further includes a feedback signal adjustment function, and the feedback signal adjustment expression is:

[0028] in: is the integrated control signal, is the feedback signal obtained from the system, is the adjusted control signal.

[0029] Preferably, the expression for improving the countermeasure efficiency of the system in the performance optimization module is:

[0030] in: is the optimized system countermeasure efficiency, is the performance improvement factor, Indicates improved efficiency, Indicates reduced efficiency, It is the basic counter-attack efficiency of the system when it is not optimized; The expression for improving system stability in the performance optimization module is:

[0031] in: is the stability of the optimized system, It is the basic stability of the system when it is not optimized. is the stability improvement factor, Indicates improved stability. Indicates decreased stability.

[0032] Compared with the prior art, the present invention provides a tethered UAV detection and countermeasure system based on power carrier control, which has the following beneficial effects: 1. The present invention adopts a radio interference module composed of a high-power radio transmitter, a frequency selector, a signal analyzer and an interference mode switcher. The multi-component design accurately controls and adjusts the interference signal to ensure coverage of all key links: control, navigation and video transmission links, reducing blind spots. The interference mode switcher switches between different interference modes, adjusts the interference intensity and frequency according to actual needs, optimizes the interference effect, and effectively covers the target area. The UAV is controlled by wired means to avoid the impact of radio interference on the UAV. The wired control method ensures the stability and reliability of the UAV in a radio interference environment, ensuring that the countermeasure signal can be stably transmitted to the ground. The power carrier signal is transmitted through a tethered line, avoiding the interference and signal loss problems that may be encountered in conventional wireless transmission. This effectively reduces blind spots and ensures the stability of signal transmission. The four-way tethered positioning module maintains the stable position of the drone through tethering technology. It can maintain the relative stability of the drone even when the GPS signal fails, ensuring that the drone can perform counter-measures continuously and accurately, thereby maximizing the counter-measure effect. By adjusting the tension of the tethered line, the stability of the drone in different environments is maintained, the blind spots are further reduced, and the coverage of the counter-measure signal is optimized, achieving the beneficial effect of effectively sending the counter-measure signal to the ground, minimizing the blind spots, and maximizing the counter-measure efficiency.

[0033] 2. The present invention uses the module to fix the drone in the air through four tethering lines. Even if the GPS signal fails, the drone can be kept in a stable position through the tethering technology. The method effectively prevents the drone from accidentally moving in interference or other unstable environments. The tension balance and adjustment of the tethering line is as follows: The tension balance formula of the tethering line is T1+T2+T3+T4=W to ensure that the total weight of the drone is balanced by the tension of the four tethering lines and remains stable. By adjusting the tension T of each tethering line i =k i *(hh i ), compensates for the height deviation caused by the change of the drone position or environmental factors, and further enhances the stability. Formula and The relative position change of the UAV in the four-azimuth tethered positioning module is described, and the adjustment ensures the stability of the UAV in different directions, reduces the tilt or displacement caused by the change in the length of the tethered line, and achieves the beneficial effect of increasing the stability of the aircraft and improving the countermeasure efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the system of the present invention; DETAILED DESCRIPTION

[0035] 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.

[0036] See also Figure 1 , a tethered UAV detection and countermeasure system based on power carrier control, the countermeasure system consists of a radio jamming module, a wire-controlled UAV control module, a four-position tethered positioning module, a system integration control module and a performance optimization module; The radio jammer module is used to jam the control, navigation and video transmission links of the drone. The radio jammer module consists of a high-power radio transmitter, a frequency selector, a signal analyzer and a jammer mode switcher. The control module of the wire-controlled drone controls the drone by wire to avoid radio interference; The four-position tethered positioning module is used to maintain the relatively stable position of the drone through tethering technology when the GPS signal fails; The system integration control module is used to integrate the aforementioned modules into a unified control platform to provide overall management and monitoring functions; The performance optimization module is used to improve the system's countermeasure efficiency and stability; The radio interference module expression is: the drone control signal is S, and the transmission process through the wire control system is expressed by the following formula: On the ground side, the control signal Converted into a power carrier signal :

[0037] Power carrier signal The signal at the receiving end is transmitted through the tethered line. It is expressed as:

[0038] Power carrier signal Transcoded into control signals : .

[0039] Specifically, the radio interference module also includes flight control system control. The flight system control expression is: control signal Flight control system used to control the drone: .

[0040] Multi-component interference: The radio jammer module consists of a high-power radio transmitter, frequency selector, signal analyzer and jammer mode switcher. The multi-component design accurately controls and adjusts the jammer signal to ensure coverage of all key links (such as control, navigation and video transmission links) and reduce blind spots.

[0041] Interference mode switching: The interference mode switcher switches between different interference modes, adjusts the interference intensity and frequency according to actual needs, optimizes the interference effect, and effectively covers the target area.

[0042] Wired control: Controlling the drone via wired means avoids the impact of radio interference on the drone. The wired control method ensures the stability and reliability of the drone in a radio interference environment and ensures that the countermeasure signal can be stably transmitted to the ground.

[0043] Power carrier transmission: Power carrier signals are transmitted through tethered wires, avoiding interference and signal loss problems that may occur in conventional wireless transmission. This effectively reduces blind spots and ensures the stability of signal transmission.

[0044] Stability guarantee: The four-way tethered positioning module maintains the stable position of the drone through tethering technology, and can maintain the relative stability of the drone even when the GPS signal fails. The stability ensures that the drone can perform counter-attack operations continuously and accurately, thereby maximizing the counter-attack effect.

[0045] Tension adjustment: By adjusting the tension of the tether line, the stability of the drone in different environments can be maintained, blind spots can be further reduced, and the coverage of the countermeasure signal can be optimized.

[0046] Comprehensive control signal: The system integrated control module integrates the control signals of all sub-modules into a comprehensive control signal, provides overall management and monitoring functions, integrates and optimizes the coordination between modules, and ensures efficient transmission and processing of countermeasure signals.

[0047] State monitoring and feedback adjustment: Through overall state monitoring and feedback adjustment, the system can adjust the control signal in real time to cope with dynamically changing environments, thereby maximizing countermeasure efficiency.

[0048] Improved efficiency and stability: The performance optimization module further enhances the system's countermeasure capabilities by improving the system's countermeasure efficiency and stability. The optimized system can effectively cover the target area in a wider range and reduce blind spots caused by unstable factors.

[0049] Specifically, the control signal conversion expression in the control module of the wire-controlled drone is:

[0050] in: It is the ground control signal. is the conversion function, It is a power carrier signal; The power carrier signal transmission expression in the control module of the wire-controlled UAV is:

[0051] here, is the transmitted power carrier signal, is the attenuation coefficient during transmission, It is the power carrier signal at the receiving end.

[0052] Specifically, the control module of the wire-controlled drone also includes signal decoding, and the signal decoding expression is:

[0053] here, is the power carrier signal at the receiving end, is the decoding function, is the decoded control signal; The control module of the fly-by-wire drone also includes flight control. The flight control expression is:

[0054] in: is the control signal, is the response function of the flight control system to the signal, It is the flight control command of the drone.

[0055] Specifically, the four-position mooring positioning module includes a mooring line tension balance, and the mooring line tension balance expression is:

[0056] in: are the tensions of the four mooring lines, is the total weight of the drone; Relationship between tension and stability:

[0057] in: is the ideal tension for each tie-down line, is the total weight of the drone.

[0058] Specifically, the four-position mooring positioning module also includes mooring line tension adjustment, and the mooring line tension adjustment expression is:

[0059] in: It is The tension of the root system, It is Elastic coefficient of root tie line, is the ideal altitude for drones: target altitude, It is The actual height of the root tie-off point; The stable expression of the UAV position in the four-azimuth tethered positioning module is:

[0060]

[0061] in: and is the change in the relative position of the drone, and are the lengths of the mooring lines on the left and right sides, and They are the lengths of the mooring lines on the front and rear sides respectively.

[0062] Specifically, the system integrated control module includes a comprehensive control signal, and the expression of the comprehensive control signal is:

[0063] in: It is the control signal of each submodule. It is a function used to integrate the signals of all submodules into a comprehensive control signal .

[0064] Specifically, the overall management and monitoring function expression in the system integration control module is: Overall status monitoring:

[0065] in: It is the status information of each submodule. Is a function used to integrate the status information of all submodules ; The comprehensive functional expression of the control platform is:

[0066] in: It is the functional information of each submodule. Is a function used to integrate various functional information .

[0067] Specifically, the system integrated control module also includes a feedback signal adjustment function, and the feedback signal adjustment expression is:

[0068] in: is the integrated control signal, is the feedback signal obtained from the system, is the adjusted control signal.

[0069] Specifically, the expression for improving the countermeasure efficiency of the system in the performance optimization module is:

[0070] in: is the optimized system countermeasure efficiency, is the performance improvement factor, Indicates improved efficiency, Indicates reduced efficiency, It is the basic counter-attack efficiency of the system when it is not optimized; The expression for improving system stability in the performance optimization module is:

[0071] in: is the stability of the optimized system, It is the basic stability of the system when it is not optimized. is the stability improvement factor, Indicates improved stability. Indicates decreased stability.

[0072] Tethering technology: The module uses four tethering lines to fix the drone in the air, and can maintain the stable position of the drone through tethering technology even in the event of GPS signal failure. This method effectively prevents the drone from accidentally moving in interference or other unstable environments.

[0073] Tension balance and adjustment: The tension balance formula of the tether line is T1+T2+T3+T4=W, which ensures that the total weight of the drone is balanced by the tension of the four tether lines and remains stable. By adjusting the tension T of each tether line, the drone can be stabilized. i =k i *(hh i ), compensating for altitude deviations caused by changes in the drone’s position or environmental factors, further enhancing stability.

[0074] Position stability: Formula and The relative position change of the UAV in the four-direction tethered positioning module is described. The adjustment ensures the stability of the UAV in different directions and reduces the tilt or displacement caused by the change in the length of the tethered line.

[0075] Multi-level interference: The module is composed of a high-power radio transmitter, a frequency selector, a signal analyzer and an interference mode switcher to achieve comprehensive interference against drones. Accurate interference mode and frequency selection improve the effectiveness and coverage of the interference signal, thereby improving the countermeasure efficiency.

[0076] Flexible switching of interference modes: The interference mode can be adjusted according to the interference target and environmental changes to optimize the interference effect, ensure that the countermeasure signal can cover all key links, and reduce interference blind spots.

[0077] Wired control: Wired control is adopted to avoid the influence of radio interference and ensure the stable transmission and effective countermeasure of drone control signals.

[0078] Power carrier transmission: The power carrier signal is transmitted through a tethered line, which reduces interference and signal loss problems in wireless transmission and improves the stability and reliability of the countermeasure signal.

[0079] Efficiency improvement: Performance optimization module through formula E total =η*E base It expresses the counter-attack efficiency of the optimized system, where η is the performance improvement coefficient. By optimizing various aspects of the system, the counter-attack efficiency can be significantly improved.

[0080] Stability Improvement: Formula S total =S base *(1+ΔS) illustrates the improvement in system stability. By adjusting the stability factor ΔS, the system’s countermeasure capability and stability are further enhanced.

[0081] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tethered UAV detection and countermeasure system based on power carrier control, characterized in that: The countermeasure system is composed of a radio jammer module, a wire-controlled drone control module, a four-position tethered positioning module, a system integration control module, and a performance optimization module; The radio jammer module is used to jam the control, navigation and video transmission links of the UAV, and is composed of a high-power radio transmitter, a frequency selector, a signal analyzer and an interference mode switcher; The control module of the controlled-by-wire drone controls the drone by wire to avoid radio interference; The four-position tethered positioning module is used to maintain the relatively stable position of the drone through tethering technology when the GPS signal fails; The system integration control module is used to integrate the aforementioned modules into a unified control platform to provide overall management and monitoring functions; The performance optimization module is used to improve the countermeasure efficiency and stability of the system; The radio interference module expression is: the drone control signal is S, and the transmission process through the wire control system is expressed by the following formula: On the ground side, the control signal Converted into power carrier signal : Power carrier signal The signal at the receiving end is transmitted through the tethered line. It is expressed as: Power carrier signal Transcoded into control signals : 。 2. According to claim 1, a tethered UAV detection and countermeasure system based on power carrier control is characterized in that: The radio interference module also includes a flight control system control, and the flight system control expression is: control signal Flight control system used to control the drone: 。 3. According to claim 1, a tethered UAV detection and countermeasure system based on power carrier control is characterized in that: The control signal conversion expression in the control module of the wire-controlled drone is: in: It is the ground control signal. is the conversion function, It is a power carrier signal; The power carrier signal transmission expression in the control module of the wire-controlled UAV is: here, is the transmitted power carrier signal, is the attenuation coefficient during transmission, It is the power carrier signal at the receiving end.

4. According to claim 3, a tethered UAV detection and countermeasure system based on power carrier control is characterized in that: The control module of the controlled-by-wire drone also includes signal decoding, and the signal decoding expression is: here, is the power carrier signal at the receiving end, is the decoding function, is the decoded control signal; The control module of the controlled-by-wire UAV also includes a flight control, and the flight control expression is: in: is the control signal, is the response function of the flight control system to the signal, It is the flight control command of the drone.

5. According to claim 1, a tethered UAV detection and countermeasure system based on power carrier control is characterized in that: The four-position mooring positioning module includes a mooring line tension balance, and the mooring line tension balance expression is: in: are the tensions of the four mooring lines, is the total weight of the drone; Relationship between tension and stability: in: is the ideal tension for each tie-down line, is the total weight of the drone.

6. The tethered UAV detection and countermeasure system based on power carrier control according to claim 5 is characterized by: The four-position mooring positioning module also includes a mooring line tension adjustment, and the mooring line tension adjustment expression is: in: It is The tension of the root system, It is Elastic coefficient of root tie line, is the ideal altitude for drones: target altitude, It is The actual height of the root tie-off point; The stable expression of the UAV position in the four-position tethered positioning module is: in: and is the change in the relative position of the drone, and are the lengths of the mooring lines on the left and right sides, and They are the lengths of the mooring lines on the front and rear sides respectively.

7. The tethered UAV detection and countermeasure system based on power carrier control according to claim 6 is characterized by: The system integrated control module includes a comprehensive control signal, and the comprehensive control signal expression is: in: It is the control signal of each submodule. It is a function used to integrate the signals of all submodules into a comprehensive control signal .

8. The tethered UAV detection and countermeasure system based on power carrier control according to claim 7 is characterized by: The overall management and monitoring function expression in the system integration control module is: Overall status monitoring: in: It is the status information of each submodule. Is a function used to integrate the status information of all submodules ; The comprehensive functional expression of the control platform is: in: It is the functional information of each submodule. Is a function used to integrate various functional information .

9. The tethered UAV detection and countermeasure system based on power carrier control according to claim 8 is characterized by: The system integrated control module also includes a feedback signal adjustment function, and the feedback signal adjustment expression is: in: is the integrated control signal, is the feedback signal obtained from the system, is the adjusted control signal.

10. The tethered UAV detection and countermeasure system based on power carrier control according to claim 1 is characterized in that: The expression for improving the countermeasure efficiency of the system in the performance optimization module is: in: is the optimized system countermeasure efficiency, is the performance improvement factor, Indicates improved efficiency, Indicates reduced efficiency, It is the basic counter-attack efficiency of the system when it is not optimized; The expression for improving system stability in the performance optimization module is: in: is the stability of the optimized system, It is the basic stability of the system when it is not optimized. is the stability improvement factor, Indicates improved stability. Indicates decreased stability.

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